Put an option in move(forward, left) function to reset the world frame to match the robot frame, and default that to true. Simply put, dead reckoning for multiple maneuvers does not work well.

Removed auto-detection of need to go backwards in goToGoal, for various reasons that doesn't work right.
Add timeout function, if too much time has passed since the last update, reset the odometer and ignore any maneuvers made during that interval.

Renamed the confusing goalHeading (which was not, in fact, the heading needed to reach the goal point) to targetHeading -- the heading we want at the end of a turn.

Put in a guard against divide-by-zero in calculateDeltasRefined. Also commented out the Odometer delay function, it was causing crashes.
Tweak parameters for wall following.