Collision Avoidance Fixes

- Changed the brake function to work properly (was not actually breaking
when throttle up on car), and re-mapped the distance sensor. Collision
avoidance is now functional, but could use further fine tuning if time
permits.

- Removed extraneous call to motorAlphaControl in main loop; should have
never resulted in a change in speed

- re-added the RSSI code

- Formatting fixes