reversing the path as parameter

[redto0]

basically we want to reverse the path so it starts form the top instead of form the bottom so we find the interception point farthest from the robot instead of the closest one!

a bunch of files where changed by the reformat command though so dont worry about it too much

[andyblarblar]

Code seems fine, is this solving the situation where the lookahead matches two points, and you want to use the further of the two? Like when the kart is significantly to the left of the path it avoids it taking a super tight arc.

Otherwise if you just want far points you can tune the lookahead and k

[redto0]

@andyblarblar yes avoiding the issue of the path having two intersections was the point that was precisely

[andyblarblar]

Nice, LGTM then