Epiphany=code-rewrite. (Not started yet.)

The old algorithm still has its uses, which is why I am making new files
to store it in.
New swerve drive.

THIS MIGHT WORK OMGOMG
Debugging... Not working :(

I think I need a modulo math refresher.
More debugging. Kinda works.
WORKING VERSION!!! (too much debugging :( )
Small convenience tweaks

Really doesn't deserve a separate commit; only separated because I
didn't want to accidentally mess up the previous commit.
Deleted un-usable swerve drive code
Condensed & expanded the comments.
Moar commenting. Moved stuff around.

Not tested. But this might work  O.o
Merge pull request #30 from OlyCow/swerve-drive

Swerve drive might work now!