Several things to note

We need a different or smaller map representation - the current one
just bogs down the arduino.

PDLineFollow still needs to be tested - it should be sound as I checked
it against my work in 603 and it matches up well. I couldn't make much
sense of what was going on in the PD control side of things as things
were fairly erratic. It turns out that there are several bugs in
encoders that I debugged. I spent a good deal of time finding and
fixing these bugs as without reliable odometry PD control isn't really
possible.  I think the code is alright, but we have an issue with
hardware - the sensors do not reliably track tick increments. As it
stands I do not think we will be ready for the demo tomorrow.