Changed servo calibration routine to reflect the proper range of 0 to 511 rather than 0 to 255.
Added version of the move to function that does point to point movement. Robot turns to face point and then drives the calculated distance using the encoders for feedback.
First time robot makes it all the way around the arena.
Now differentiating between acceleration and decceleration.
Moved vps distance conversions and encoder sensing to the sensor source.