Changed from deprecated type (prog_uchar) to type (const uint8_t PROGMEM); this allows me to use gcc 4.7.0.
Added markPosition and frame transformation functions.
move function no longer alters the world frame. driveTowardGoal has been broken out of goToGoal to allow interpolation of sensor checks by pilot and fightFire. markPoint is being used by pilot. New function to determine where IR sensor hits wall has been introduced (but not tested).