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.
BUGFIX: added missing `for` loop

Just sync this commit already! Y U READ DESCRIPTION
Bugfixes: no normalization; error not abs()
Fleshed out alignment vs motor power
Minor fix: normalization is now "momentary on".
Added a "crab" drive at Ian's request
Switched to using joystick for rotation
Adding a kI term to the PID control loop (WIP)
Merge pull request #32 from OlyCow/swerve-drive

Swerve drive is semi-working! (rounding error)