Working code with new firmware
Reinforcement learning and head behaviour near complete
Old, working code reimplemented untill new headbehaviour tested and trained
Changes to files outside of behaviour and RLearning reviewed
erronius return statement removed
Walk parameters updated to mostly stable walk. Main issue is turning and freezing when the robot falls.
RLagent Headbehaviour implemented.
Final head behaviour push. Code cleaned up and permanent head behaviour agent implemented.
Merge https://github.com/nubots/robocup

Conflicts:
	Vision/Modules/segmentfilter.cpp