Introduced macro-movement functions which run for one tenth of a second. Fixed nasty bug in declaration of pins as object (order ignored). Added sense function and generalised all sensor operations to use the list of sensors of a given type. Added error handling for setup() launching iterator twice. Implemented navigateLine() macro and followLight() macro, which need to be put in a while loop to execute their logic. Added stop() function to prevent runaway motor. Added end function to tidy iterator and (hence) close UART properly.