stick_sampler: Make the controls less janky.

left = x + y, right = x - y

Also, make telecommand packets send -1.0 < speed < 1.0 and make
classrobot override the current task with manual commands when they come
in
waypointtask: classrobot: Move WaypointTask into separate module
linetask: Improve logic for line following

Better line following ability. The "lost" routine is a bit naff, but
better than nothing
wheel: Wheel tweaks
tinyenc: Reduce logger verbosity
tanksteer: reduce verbosity
packetcomms: fix stupid errors in Server
do_often: actually wait for timeout...
main: better logging infrastructure

Add the option to log to a fifo and a file
Make remote commands go over serial (bluetooth)

Add a serial->socket class and modify the stick_sampler to use serial
port instead of socket.
main: add "macro" for 3-point-turn challenge
main: add macro for line following challenge