Longer distance for more accurate measurement.
Macros for easy switching between printing human-readable debug traces and data for the bot_grapher script.
Removed buggy nav_straight_stop method.
Added pngs generated by bot_grapher utility to gitignore.
Added the ability to turn off the navigation system temporarily for precise maneuvers.
Improved go_to corrects path (by zeroing gyro against VPS once during trip.
Removed useless sharp distance sensor code.
Default to first territory (for dead-reckoning).
Moved measured headings for mines and captures points to a comment to make room for the fudge factors.
Sensor keeps track of rotational velocity in degrees/second.
Sensor keeps track of arena state.
Improved capture routine (first one that actually captures) with retries.
Working mine routine that uses contact switches to square the robot against the wall before mining.
Exploration path based on team.
Fixed bug in get_best function where a valid territory could get a negative score.
Improved explore routine using the go_territory function.
Rewritten bot_graph displays position, path, waypoints, mines, capture points, heading.
Tweaks to mining to improve performance - turn off navigation and smaller timeouts.
Bot graph saves screen on error or exit.
New circle routine that uses a PID to maintain the correct radius.