Re-factored to add SkidSteering class.
Move steering code into bespoke class.
More re-factoring
More re-factoring
Comments update
More re-factoring
Merge remote-tracking branch 'origin/master' into feature/cleanup1
Moved newline for debug output
More re-factoring,  build a status string instead of writing to the serial console
Refactored: function to convert float to String