Added some documentation. Removed the c_controller folder since it isn't being used.
Moved the controllers into their own folder to help clean up the main directory.
Tiny bug in leader.py fixed (cleaning up what a_star_cont should be). Got rid of out of date controllers as well as experiments. Could have updated them all, but most won't be necessary and those that will need to be regenerated anyways.
Working on the noise addition problem. My solution is to have an adapter that adds noise, and can be specified in the .cfg file. This alows the use of the art_pot_driver yet still does not require recompiling of stage. Plus it is easy to paramaterize.