Angle Fixed (mostly)

Rotating works... Error with the offset of the rotated points...
Possible more errors with offsetting new points
Fixed Angle Completely
Added functions and private variables
Fixed turning completely found issue with forward

Need work on going forward and getting position
Fixed screwed up spacing
Fixed starting robot
Fixed errors all around
Added logging, expanding
Finished expanding array
Added enums instead of numbers
Started get nearby...possible errors
Fixed curve (mostly) finished nearby

Curve has problems with orientation after curve and doing curves that
are greater than a half circle... Also curves with turns is just a no so
far
Fixed > half circle curve, work on orient & angle
Fixed errors with curving, further testing needed
Updated stuff