Update panning (ultrasonic and light, goes in main.c)

Finished basic framework and the light sensor code; I'll work on ultrasonic code tomorrow morning and during lunch. Ultrasonic is going to be tough to implement; it's basically a really complicated regression problem. Sort of. We're going to need to construct two lines out of the points (which will be in polar form. We know that the two lines are perpendicular, so maybe we have some 'quasidistance' function, where quasidistance is the smaller of the distances from a particular point to the two lines. Then we try to minimize the sum of all of the quasidistances by varying the angle of the two lines relative to the robot and the robot's distance from the lines.

So yeah. It's a really complicated mathy regression problem. I'll try to get started on an algorithm for that.