Merge pull request #17 from OlyCow/master

Latest changes *elsewhere*
Made PID work better
Tried to correct un-straight driving (failed)
First half kinda works
[BUGFIX] got rid of bytecode error
Auton parking

it's a copy-paste job.
cross your fingers and wear your lucky socks
no guarantees
NIGHT BEFORE COMPETITION AGAIN
COMPETITION AAAAAHHHH
Merge pull request #19 from OlyCow/autonomous

Last changes before new robot
Merge pull request #22 from OlyCow/master

Last changes before new robot