Several changes to the robot main, accmag driver

made the driverstation send the joystick values as ints to take less
data, added calibration to the accelerameter driver, implemented
inDigArea(), turnRight, turnLeft
improved toDigArea

improved toDigArea to incorporate orientation and ovioding walls
changed pingDigi to ping

We thought we were going to need another ping sensor that would be on
analog, so we set up a class for it, then found the renaming to have
been unnecessary