Use distance and ball detection for auton path validation

[superpenguin612]

This may be better placed under 2022-robot, but I’m putting it here since we may need to do some extra data format changes to get validation on auton paths.

[superpenguin612]

For more context: we may run into a situation where a ball has been moved by another robot, or we aren't directly in line with the ball. We can correct our angle or entirely skip a ball in the path using the Astra.