Epiphany=code-rewrite. (Not started yet.)

The old algorithm still has its uses, which is why I am making new files
to store it in.
New swerve drive.

THIS MIGHT WORK OMGOMG
Debugging... Not working :(

I think I need a modulo math refresher.
More debugging. Kinda works.
WORKING VERSION!!! (too much debugging :( )
Small convenience tweaks

Really doesn't deserve a separate commit; only separated because I
didn't want to accidentally mess up the previous commit.
Deleted un-usable swerve drive code
Condensed & expanded the comments.
Merge pull request #30 from OlyCow/swerve-drive

Swerve drive might work now!
Moar commenting. Moved stuff around.

Not tested. But this might work  O.o
Safety fix (encoder values)+fixed sensor config

Have yet to make gyros work :P
Merge pull request #31 from OlyCow/swerve-drive

Hotfix for swerve drive.
Fixed gyro compensation + more clarity.
Added a vector rotation+minor fixes
Fixed servo/encoder wraparound @ 360 deg.

Deadzones are now deadbands. :P
Minor fixes+moar wraparound changes

Even prepared to reverse the encoders.
Added a locking mechanism trigger

+easter egg :) And I updated the controller scheme documentation.
Added possible transmission controls

*If* Ian would only make them... *ahem*
Updated servo ports for Sandbox.c

not final, subject to change :P
Added motor power cut if pods not aligned.