Updated capturing method and stabler recursive avoidance
First pass at tower building, capture and finish line methods changed
Merge branch 'master' of https://github.com/mattgray7/DPMFinal.git

Conflicts:
	DPMFinal/src/Master/Navigation.java
Updated communication protocol between odometry correction and
navigation
Merge branch 'master' of https://github.com/mattgray7/DPMFinal into nick

Conflicts:
	DPMFinal/src/Master/BTSendController.java
	DPMFinal/src/Master/Navigation.java
	DPMFinal/src/Slave/Lift.java

Merged with the current master branch (once again...)