Several changes to improve localization behavior

- Turns down resampling rate
- Adds print statements
- Changes renormalizing to just use logs only
- Reduces probability multiplier of false sonar
- Adds reduction of probability on sonar miss when not expected
- Fixes a bug in motionUpdate with signs
- Adds soft vs. real radius to allow some leeway in robot
  position estimate (useful since robot can physical get closer to
  the wall than our conservative path planner used to do)