Bug fix

Make sure motor is stationary at start..
Improve avoid green mat code

Improve avoid green mat code by making sure we turn the right
direction..
Enable define statements around stallDetect

Enable define statements around stallDetection.
Prevent goal avoidance resetting goal search time

Prevent goal avoidance resetting goal search timer by recording how long
we have been in each state and adding them.
Use camera to prevent driving into goal

Use camera during goal avoidance to prevent driving into goal.