Required Functionality! Used move wheel functions to make turns work (shown in main.c), but still need to fix delays to make turns meet the requirements. Still need to comment code and fix to make more readable.
Created initialize funciton, created general move forward, move backward, turn left, turn right, and stop robot functions, deleted commented out code (except for in main to test the more modular code). This edit was done primarilly for modularity purposes.