Minor stuff

changed the setup so we have 2 sensor ports for controllers, slight
formula changes, nothing too major
backups and a BUNCH of drivers, and got IR to work

Made some backups, will be deleted soon, moved Drivers folder, FINALLY
GOT AUTONOMOUS WORKING
MOAR BACKUPS, IR works 90% ~

slight compass formula changes. The I/R code also now adjusts for our
drift increasing dump potential.    Also, mad a new file that got drift
fixed.