--Starting to work on how to automate the scoring/accuracy process to get a score of correct/total by rows and columns
--Abandoned work on using normalize_orientation() to get positive angle differences (as well as sigmoid() to scale 0 to 1) and instead went back to using negative values with fabs() since that seemed to be working well.  Still dividing everything by PI so will have values [-1,0].
--Still observing values less than -1 for front and behind--need to look at the math of those functions to see what I'm doing wrong--fixed this by using a normalize_orientation() inside the fabs(angle - (+/- PI)) I had been using.