A somewhat neutered SLAM system produces results.

For very short distances, it works within the margins of
acceptable error. Longer distances don't work for now, because

  a) The current system for associating landmarks is crappy. (It
  doesn't use the validation gate, it just checks that the
  distance is less than a certain value.)
  b) Right now, the algorithm only runs after each successive
  SetMotor command, and it pretty much has to run
  continuously while the robot is moving if we want to have any
  hope of associating landmarks correctly.