Rewrote bump detection to use luminance and magnetic field. Removed obsolete bump detection and test code.
Reduced bump check rate; currently checking 15 times per second.
Added support for rotation of current structure relative to the goal structure around the structure's center.
Removed unnecessary debug messages.
Changed bumpiness parameters to be more forgiving in dark situations.
Merge branch 'goal-structure-rotation'
Merge branch 'bump-detection-with-luminance'