interesting behavior

accidently creating strong fuzzy outputs by creation a dividing by zero,
which results in almost balancing upside down and resulting in faster
movement because of rolling instead of driving.
Merge branch 'value-limitations'

Conflicts:
	_2014_05_27___wiliams/_2014_05_27___wiliams.ino
refactored code base

no new functionality.  Just completely refactored loop() code
to improve efficiency and build supporting functions with a
single task where possible.  This will need another round of
refactoring, but its a lot further along.