REFACTOR - movement.py has been refactored, specific ovement functions eg square have been pushed down into the scripts that run them, setup and library functions such as conversions and renaming of direct pi functions eg startmotors anr in setup.py, week4 stuff is in week4.py also remove redundant stuff and restructure files, docs in docs, Will's controls stuff in controls experiment.
forgot git rms also moved conrads mapping dictionary into week4, not used yet
so now it is actually runing the algorithms, but i am getting a weird overflow error, maybe we need rounding?