--Thinking about how to do Near and Far from an obstacle...since there's no 'max' distance from an obstacle, maybe take linear distance from obstacle to edge of field (along line from robot to obstacle) and use that as the max.  But what to do when another obstacle lies along that line (and how do we detect that)?
--Still working on angle orientations, picking up where I left off Wednesday.  I think my best course is to have all my differences on the range of [0, pi] and then use n inverted  sigmoid to have the difference values closer to 0 output numbers closer to 1.  I also thought about just dividing my difference values by pi, so the values will be on the range of [0,1], but still with better values closer to 0.  Don't know if this gives me any benefit, but I can use it for troubleshooting to quickly find values that come back higher than pi.