Add DJA Exclusion Zone

[thenetworkgrinch]

Make the DJA generate a path between the current point and setpoint

• Use interpolation to figure out most direct path to setpoint
• check interpolation points to ensure points are out of exclusion zones.
• adjust points in exclusion zones to be 2in out of exclusion zone
• Slim points down based off linear regression

or copy this

https://github.com/RAR1741/RA23_RobotCode/blob/master/src/main/java/frc/robot/subsystems/arm/Arm.java#L201-L264