Add stall detect code

Stall detect code in ball search.
Bug fix

Make sure motor is stationary at start..
Improve avoid green mat code

Improve avoid green mat code by making sure we turn the right
direction..
Enable define statements around stallDetect

Enable define statements around stallDetection.
Prevent goal avoidance resetting goal search time

Prevent goal avoidance resetting goal search timer by recording how long
we have been in each state and adding them.
Use camera to prevent driving into goal

Use camera during goal avoidance to prevent driving into goal.
Leave green mat if align to goal takes too long

Leave green mat if align to goal takes too long.
Reverse direction of goal align if time is up.

Reverse direction of goal align if time is up.
Add check that beacon is close

Add check that beacon is close.
Bug fixes

Typos!
Improve code for getting off green mat

Improve code for getting off green mat.
Added stall detect to reverse direction

Added stall detect to reverse direction.
Use US to help navigate forwards

Use US to help navigate forwards.
Add dumb reverse for stall detect.
Make touch sensors use dumb delay

Make touch sensors use dumb delay so that they always reverse full
distance.