Behaviors, Motion, and Everything Else

I am about to pull this myself, but I'm making it a pull request to make the following notes. The reason we're pulling this with so many problems is that we want people to start working off of a common master to minimize the merge conflicts.

* Fall protection in this branch is pretty broken, and the robots won't stand up if they do fall. However, they will definitely lose stiffness if they happen to fall, so this is at least safer. I know @wdawson is on this.

* The goalie is playing pretty well and none of its states crash, but something isn't working with its return from penalty routine. I will fix this.

* pBrunswick plays okay, but approaching the ball is SERIOUSLY broken. @jzalinger should be looking into this?

* Now that we figured out why vision stopped working earlier today, @bmende should put the nicer image access back in and see if it works. Or have you done this? It's not in this branch.