Rewrote MobileRobot, Localizer, and got line detections to work when
correction is on. OdometryCorrection uses a timer now, which makes more
sense than using a continuously running thread. The problem was the
"getPosition" method in Odometer. For some reason calling this method
from OdometryCorrection caused the timedOut method to never be entered
again. So I have gotten rid of the getPosition method and instead just
use the normal getX getY and getTheta methods.