Added a "subroutines.h".

Overlaps slightly with "initialize.h".
Deleted a bunch of commented-out stuff

Also got rid of all warnings (except one)!
Added minor functions for joysticks.

And deleted more stuff *and* renamed a task *and* added/renamed "file"
scope variables.
Added lift magic.
Vector-ized stuff. :D Almost done :)
Finished up vector-ization.
Added a PID loop for the lift.

Possibly non-functional.
Renamed and moved vars for clarity.
Converted all pre-existing code :D

That took a while.
Fixed up troubleshooting display.

I wish I could put this into a loop.
The display now works as expected! YAY
Added a small utility for testing sensors.

May come in handy for autonomous (IR seeking) ;)
Added climbing functions.

And reassigned motors, etc.
GYRO WORKS!!! Also added debugging stuff

The RotateVector function wasn't getting passed to by reference. And the
gyro value wasn't supposed to be multiplied by 4 (idk why I did that).
STUFF
Merge branch 'autonomous' into teleop

Conflicts:
	RobotC/Auton-Omni_L.c
Reverted unnecessary changes in merge

derp derp derp
Merge pull request #44 from OlyCow/teleop

Much changes. Also includes stuff I worked on that's autonomous :P