Changes for new drivetrain, with wheels coupled directly to motors, and larger.
Make sure all calls to turn use radians, not degrees. nudgeForward function now uses alighment information based on new FirefighterRobot function getIRWallForwardDistance.
Now using NewPing library rather than Ultrasonic, as we avoid the deadly 1s pause if the sensor times out. Changes made to related sonar functions and better testing of wall following.