Merge pull request #27 from OlyCow/master

Swerve drive-alpha!
Merge pull request #36 from OlyCow/master

Updated code (refactored!)
Updated our README.md

Now reasonably up-to-date.
Merge pull request #49 from OlyCow/documentation

Readme update.
Merge pull request #52 from OlyCow/autonomous

[PRE-COMP] Final dead reckoning tuning.
Merge pull request #53 from OlyCow/autonomous

According to Raven, these aren't done :P
Raven's (minor) changes.

Mainly readability issues.
Merge pull request #54 from OlyCow/teleop

Raven's (minor) changes.
Merge pull request #55 from OlyCow/master

[PRE-COMP] Miscellaneous updates.