Small comments in change_state.m
Put getting vcom into a function
Removed transition to STOP stances.  Small change to ball_proximity.
Added ability to take extra steps in the event of an unstable footing
Added extra stability controllers.  Need tuning, though.
Merge branch 'master' of https://github.com/awdavies/cse490p
Slightly different stability approach...
Finished decent (ish) controller.