Modified to have ping history to follow wall parallel
Tweaked MOVING and added basic TURNING_RIGHT

Adjustments to go parallel respond quicker, and has basic progressive
right-turning capabilities that will handle 90deg and 180deg turns
similarly. Still needs tweaking to optimize performance. MOVING only
stays parallel, has no distance correction yet.
Failed right turn attempt

Can't see the 45deg angle of knife edge, going to try hard coded 90 deg
Right turns with deadreckoning 90deg
Too close/far handling for wall following
Merge branch 'tom_attempt' of https://github.com/rmmccann/CS503-Robot-Controller into tom_attempt
Edit too close/too far distance code
Crazy shit

I dunno.
Current working state (mostly)

Works almost 100% of the time except occasional premature additional
right turns. Possibly due to sensor detecting the wooden wall holders
momentarily before the actual wall so it thinks it's another right turn.
About to raise the sensor higher to test again.
Checking the front sensor during a right turn

If the front sensor detects something < 100mm away, it immediately
transistions to the left turn state.
Added PCM audio library