Added routines for creating a TCP/IP socket connection to the VirtualME, and have started rewriting the main loop to use real-time data from the robot. Currently working on creating a new function to record the position history of the robot so that I can get sane plots. In its current state, the program uses the current position poled from the robot, but the software is still recording the calculated state trajectory to record the path history.

In the current state, the code compiles.
Adding files related to last commit.