Merge pull request #34 from jesseniemisto/master

Audio performance boosststsst.
final report's introduction and idea chapters
Merge branch 'master' of https://github.com/domewolf/raspimobot
Merge pull request #35 from leomuona/master

final report's introduction and idea chapters
Merge branch 'master' of https://github.com/domewolf/raspimobot