+ Addition of the Sharp IR sensor code to the MicroBot.

* Some refactoring and commenting for both the MicroBot and Cherokey code.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
* Fixed an issue with rounding numbers close to 6.28 in face by accounting
  for it in rotate_to().

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
* Fixed a boundary issue when opening maps with regard to adding an uneeded
  boundary cell.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
+ Added buzzer output for more user feedback.

* Accounted for gyro settling issue using testing while loops.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
+ Added more test results from the winter trials.

* Work on the System Design chapter of the thesis.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>