Gyro re-enabled, now gets heading

Super important update.

Was having problems getting heading from encoders. Re-enabled gyro features on Z axis and increased baud rate for accurate readings.

Still not getting proper distance travelled data from encoders. Needs more work.

Will now take a 'goto(x,y)' command that sends it on its way. Problems with this include:
- Cannot interpret negative values from the serial input line
- Does not receive coordinate values, for whatever reason. Does not stop when reaching destination.

 Still cool though!