Fixed bug with null termination for negative numbers
Revised Gyro to use 250 deg/sec and increased BW
Revised CartPosition computation for bearing to point. Uses 90 - atan2() and runs clamp360() on result.
Revised incremental encoders to use int, removed unnecessary variable, changed logic for zero speed
Removed printf
Removed gyroBias for now; was unused. Changed flags to volatile to fix bugs. Made file globals static to reduce scope.
Removed low pass filter on gyro correction. Updated comments. Commented logging of gyroBias until later if I add that
to Kalman Filter.