Playing around with interrupts. Probably not going to be necessary, but this version might be useful for debugging
It looks like URF ECHO width ranges from ~25000 ticks - ~550000 ticks.
The IR sensor is just crazy though--very material sensitive. Not sure how to get good results from it yet.
mostly works
added adc0 stuff
adding a somewhat tuned PID thing. Encoders now register in both directions
updates for Xb stuff
added the rest of the files to get the xb uart working
Moved global stuff to extern. Moved gpio config structures to gpio.c.
Added gpio.c
Wrote rxPS2Struct() and txPS2Struct() to send joystick data. These do bitstuffing for an arbitrary frame of data.
removed blocking stuff from uart code. May have accidently done something stupid with line endings...
Merge branch 'devel'

Conflicts:
	src/main.c