added values to autonomous.cpp

the turning and driving functions should be better
polishing the code here and there
Fix compile errors
Merge branch 'master' of git://github.com/swarage/612-2013 into swaraj

Conflicts:
	auto_encoders.cpp
	auto_encoders.h
Merge branch 'swaraj'

Conflicts:
	auto_encoders.cpp
	auto_encoders.h