Cleans up kick decider and adds goal score detection
Turns on sonars in ObstacleModule
Simplifies math for calculating global kick allign headings
Fixes bug in decider when ball is to our left
Merge branch 'master' of git://github.com/northern-bites/nbites into kick_decider
Fixes bugs in kick decider and orbit ball related to angle normalization
Stays in NB fall down detector longer after sweet move
Merge pull request #681 from joshimhoff/kick_decider

Kick decider (and fall down detector fix)