Added resetCalculatedMovePWMs function. This allows each maneuver to start off at the same default speed. That said, I should probably put in an integral term to the PID to avoid overshoot at the beginning, the robot moves in a very jerky way then.
Comment change only.
getIRWallForwardDistance has been redone and is, hopefully, right. Old move function has been converted to backUp to move the robot backwards a bit when needed. Still no PID but it does have odometry now.
Add comment regarding the reset function; best to call that through the robot, rather than here.
Fixed some significant bugs in the sonar alignment functions. A new version of getIRPointOnWall now in place and working well.

Pilot rewritten to try to find wall again after it is lost, via alignments. Duplicate and redundant code eliminated. Making better use of new odometry functions.

RobotTester.h has an important new testing function that calls Pilot, thus operating at a higher level than others.