fixed some bugs.  improved tune_facing play
tuned angle PID and pivot multiplier for simulator.  closes #110
TempFix #114 by stopping fixAngleRadians from going into infinite loop
fixed CompositeBehavior.remove_all_subbehaviors()
added has_subbehaviors()
added microcontroller reference manual
fixed role_requirements() for PivotKick
Merge branch 'master' of github.com:RoboJackets/robocup-software
added RoleRequirements.__str__()
added basic soccer diagram. #119

needs some work though
Merge branch 'master' of github.com:RoboJackets/robocup-software into albert/simulatorFixes