--Started merging emperor.{cpp,h}, run-sensors.{cpp,h}, and log_to_track.cpp all into the-force.{cpp,h}.  The idea is to have everything running out of a single executable b/c the different threads will be able to more easily communicate that way (probably through pipes/fifos, or shared memory as my threads had done before).  The threads reading sensor data will send readings to a new thread that will do the Kalman position calculation and then send that data to the motor control thread.  Motor control thread will also be able to send motor speed settings to Kalman thread in order to incorporate the control data into the Kalman calculation (current setup ignores this).  Immediate goal is to do the merge of emperor and run-sensors and get that to compile and run w/o issues before bringing in Kalman code.