Walking working okay, but the Droplet gets stuck on the floor. :(
Merge commit.
Working on debugging the firefighting code.
Going to make a new branch to store the code used for the TaskAllocation video. Note that this code has a fix to ir_comm code that hasn't yet been tested.
Doing the fancy thing where we get rid of main.c
Cleaned out the task_allocation stuff, and created new user_template.* files in DropletHardware/ (not DropletHardware/src or /include). This represents a further layer of abstraction for user code. Removed the main function. This should make it easier to have multiple working code files in the repo, with different functionality.
Working on debugging Kansuke's code. I think that things will work better if the code doesn't rely on just sending a message once and counting on all the necessary robots got that message. Instead, should stay in the relevant state for at least a little while, periodically sending the appropriate message. Will need to change other code as well, so that robots don't do the wrong thing if they get a message more than ocne.