Entered the real point values for the manager.
Fixed encoder addressing to reflect the actual pins.
Fixed behavior of math bound function. Now hard limits value between specified min and max.
Nav system reorganized to allow finer and separate control over rotational kinematics.
Fixed bug where robot tires can't be driven in reverse.
Attempted to fix bug in FSET command. Likely still doesn't work due to pointer math issues.
Misc. small tweaks to the navigation system. Still doesn't work as expected.
Moved navigation settings to the robot state struct for better organization and clarity.
Added navigation functions for turning in place and driving straight for specified distances. Navigation system WORKS.
Fixed problems with the within(min, val, max) function. Was using ints and duplicating functionality of bound(min, val, max).
Tweaks to the nav_move_straight and nav_turn_to functions so they work better. PID also now takes the shortest turn.