Added Ultrasonics

Added Ultrasonics
Use ultrasonics to reduce DRIVE_OVER_MAT time

Detect the beacon using the US to reduce how far onto the mat we travel.
Update threshold values & filter colour sensors

Update threshold values for current IR Sensors.
Update threshold values for current colour sensors.
Filter Ball type.
Drive Brushes
Updated DriveForward code to prioritise turns

Set ability to change the state when driving forwards no mater which
part of the turn we are in.
Added Motor Class

Re-organised files to use libraries.
Added motor class
Updated DIRECTION definitions for debug program

Updated DIRECTION definitions for debug program so that they are
pre-pended with "DIRECTION_"
Implemented Filter Class

Implemented Filter Class.
Implemented IR Class

Implemented IR Class
Update motorRight pinnout

Update motorRight pinnout.
Clean up code
Implemented Colour Class

Implemented Colour Class.
Updated colour thresholds.
Reversed motorBrushes pinnout.
Update colour threshold values

Update colour threshold values.
Remove colour hysteresis from HW_Hockey.ino

Remove colour hysteresis from HW_Hockey.ino as there is filtering in
ColourSensor class.
Update colour threshold values.
Cleaned up code

Removed un-necessary code and variables.
Implemented TouchSensor Class

Implemented TouchSensor Class.
Cleaned up code.
Improved logic in state machines

Improved logic in state machines.
Added a GOAL_KICK_DELAY state.
Implemented Camera Class

Moved camera code into class.
Moved thresholds & constants to config file.
Cleaned up camera code

Cleaned up camera code.
Removed un-necessary delays.
Add filter to TouchSensor Class

Add filter to TouchSensor Class.
Improve goal align code

Improve goal align code by rotating to face goal after stepping off mat.
Improve goal avoidance and wall follow

Improve goal avoidance and wall follow.