Now the thing actually stops

after a period of time.
Changed omni turning constants
Fixed Gyro Reading

switched from constant rate to fast-as-possible reading using timers.
Fixed gyro again (last fix actually broke it)

Changed timer reading system, last one did not work (integer division
again).
Merge pull request #1 from Ernest314/patch-1

Now the thing actually stops
Merge pull request #1 from OIyRobo/master

Changes from the core team