Lots of tweaks.

-The gain for dead reckoning should always be 1. It had a weight
applied to it, which was causing the dead reckoning values to lag. Only
the bluetooth should be weighted
-If the position ventures out of bounds, then A* will constantly fail
-Changed Knn K val
-Tweaked sensor fusion weights
-Changed the way weighted averages are calculated to give much less
weight to lower signal strength values (because they’re noisier)
-**WE** DID THIS    /s