Merge pull request #33 from pstephen43/master

sync up nuff
changes
Added a way to bring up the abdd faster
Merge pull request #195 from K-McK/master

cleaning up the comments
made it so the robot slowed down enear the line
added a way to make the robot slow down when its about to stop driveing
Merge pull request #34 from pstephen43/master

sync up
comments
merging code
Added a way to make the robot slow down when its about to be done

(NOT TESTED)
added some doxigen stuff
Merge pull request #198 from PJTNT11/master

Added tags for doxigen
fixed merge issue
merging
merge
cleaning up refernces that were not updated during 2 gyro feature
Merge pull request #200 from K-McK/master

the EOPD update
a small cleanup
cleaning up stuff
bending metal