Added calibration routines. They get included in umain's loop to be used.
Cleaned up object files and residual sources.
Cleaned up last remnants of object files.
Implemented speed ramper for smooth acceleration.
Correct course when we think we're driving straight. FAILS strangely.
Changed gitignore so that log files are ignored.
Deleted distance-checking garbage.
Merge branch 'master' into less_pid