Merge pull request #2 from yusuftor/master

Getting updates
Merge pull request #9 from RC93/master

Including wall following
Merge pull request #10 from RC93/master

Stuff for tom
started mouse work
Merge pull request #11 from RC93/master

Update
Merge pull request #12 from TCollier92/master

mouse work
Merge pull request #4 from yusuftor/master

Toms mouse stuff