Fixed key bug in Pilot for 180 degrees turn. Added ability to switch from wall following to a forward check if appropriate. Improvements made to fightFire function, getting closer to candle, a bug fix in the second straight blast.
Also put in code to improve getMisalignmentAngle, this has not been tested yet.
Return home code is now implemented. Alignment sonar values are  better filtered to throw out readings that are closer than the minimum. Some changes made in nudgeToAlign to avoid endless recovery loops, though this is not tested and if we need to use it we are probably dead anyway. More tweaking for the island room.