cleaned up the majority of the code in Robot.h and Robot.cpp by editing methods and adding comments.All positional methods were edited to remove magic numbers as much as possible. drawLine was fixed to include the interpolate method, which helps us to draw as straight a line as possible. Relax was also edited to contain interpolate.
Motor movement was also cleaned up and edited in simlar ways. The drawLine function was changed to include an additional paramter: the BioloidController object, which contains the interpolate method.