Block Avoidance and Block Detection working

-requires light sensor to be parallel to surface of block

todo:
	use ratios to allow the light sensor to work from multiple angles
	add localization
added speed parameter to rotate() method
added Karim's Localization methods

(couldn't git merge becasue egit is stupid and cygwin isn't available)
added localization code from Karim's main method
Combined Localization with Block Avoidance and Recognition