Obstacle module with inputs, outputs in place.
Adds secondary directions to arm info.
Hooks up the obstacle module.
Merge branch 'master' into arms
Fixes not getting vision joints, inertials.
Adds sonar buffering, averaging. Runs on only sonars.
Hooks up behaviors to use obstacle.
Dodging just based on sonars. Interesting.
Makes us stop dodging if an obstacle is gone.
Adds feet stuff, too easy to get false positives. Still set up to use only sonar.
line loc looking ok, needs to handle verticles better
Remove accidental file from commit
Adds visionObstacle back in for dribbling. I am an idiot.
Merge branch 'master' into arms

Conflicts:
	src/tool/VisionTool.cpp
Deal with vertical lines well
Some cleanups (possible post linking)
Takes out foot bumper stuff. Too unreliable.
Lower sonar threshold.
Added line system into VisionSystem and include global transformations
added line endpoint data as per EJ's request