Merge pull request #34 from Happydude11209/master

Found a bug (minor update)
Merge pull request #35 from Happydude11209/master

Found a pretty large bug.
Added variable for return to state, now asks the user if the turtle should return to start (default no)
fixes #38, wrong function name
fixed resuming without gps, works almost perfectly now, yay, fixes #17
also added in a few lines for the gps stuff
added a bit more robustness to safeForward and safeBack, fixes #37, hopefully
fixed position of the returntohome variable