Added definitions for newly added distance sensors.
Added function that uses robot coordinates to get the current territory.
New threaded sensor manager. Currently averages the distance sensor readings for more reliability.
Added compensation for decceleration distance to straight movement routine.
Many tweaks to the manager to allow the robot to successfully approach the capture/mine.
Moved gyro transform constant into the bot state struct.
Figures out what team the robot is on in usetup.
Robot uses encoders to keep track of position when VPS isn't working.
Removed direct use of vps coordinate data in favor of the information tracked by the sensor thread.
Added definitions for the new contact sensors mounted on the front arms.
Now checking for obstruction by looking at the expected versus real velocities of the robot.
During move_to the robot retries until it either reaches the location or times out.