Add back smooth changes in heading and speed + add some noise and controller challenges

[tylerlum]

[tylerlum]

https://github.com/UBCSailbot/local-pathfinding/blob/bd939882ea9ce553e3b577d84e9cdf8b752aaa84/python/MOCK_controller_and_boat.py
Before we had smooth changes in speed and heading here, but they were lost when we moved to MOCK_sensors.

Update this code: https://github.com/UBCSailbot/local-pathfinding/blob/master/python/MOCK_sensors.py

[tylerlum]

The exact lines of code for reference: https://github.com/UBCSailbot/local-pathfinding/blob/bd939882ea9ce553e3b577d84e9cdf8b752aaa84/python/MOCK_controller_and_boat.py#L58