Merge pull request #175 from PJTNT11/master

sync up
Merge pull request #176 from PJTNT11/master

sync up after 2/17 session
Merge pull request #14 from pstephen43/master

sync up before 2/18 session
Merge pull request #177 from PJTNT11/master

sync up
Merge pull request #15 from pstephen43/master

sync up
latest code base
latest code base... again
Merge pull request #178 from K-McK/master

sync up
gyro robustness
final again
more gyro updates
Merge branch 'master' of https://github.com/pstephen43/FTC5037GR
Merge pull request #179 from K-McK/master

final again
Merge pull request #16 from pstephen43/master

sync up
Merge pull request #180 from PJTNT11/master

sync up
sent back
newest 1
Merge pull request #181 from K-McK/master

sync up
newest 2
Merge pull request #182 from K-McK/master

newest 2