Revert "Sensor and Motor Controller changes"

This reverts commit d5837f016239e5526c268f49ad5f67afa8c0af6d.
Revert "testIR"

This reverts commit 6ad0930dfcfc4276c72c2ca5e1bf17f81cb3dd74.
Revert "Revert "Sensor and Motor Controller changes""

This reverts commit 97bb2aa6944bb68a68d8265dd69aadea66eb89d5.