Assume the ideal values when sensor are out of range
Reduce the amount of code

Put the long if else statement into its own subroutine.
Added better dectection algo

Added a new range that should help out with making fine adjustments
with out having to resort to the high range. I may implement an
algo that is contineous. Will have to see.
Merge branch 'centering'

Merge the detection centering branch back with our master branch.