updateHeading function implemented, Controller implemented digitally and Ucmd is utilized in a 1:3 ratio when governing PWM duty cycles for differential motor drive
Wrote updateHeading for Drive module.

updateHeading function implemented, Controller implemented digitally and Ucmd is utilized in a 1:3 ratio when governing PWM duty cycles for differential motor drive
Updated the Controller code to account for corner cases, it is more robust and will take the optimal path to the desired waypoint
Merge pull request #34 from ddeo/master

updateHeading function implemented.