Merge pull request #1 from OlyCow/atmel

Marginally usable LED debugging
Merge pull request #2 from OlyCow/atmel

Basic gyro stuff added
Merge pull request #3 from OlyCow/atmel

Adding in lots of updates
Merge pull request #4 from OlyCow/atmel

Working SPI links
Merge pull request #5 from OlyCow/teleop

Teleop is done?
fixed some casting problems

float vs. int
Merge pull request #6 from OlyCow/teleop

auton skeleton done
BUGFIX + improved lift jerking + added gyro code

added delays so tasks switch better
Added watchdog and finish condition to encoders
Tuned lift PID
auton turning stuffs
Fixed RobotC not compiling
Moved functions around for readability
Started adding a debugging display for more PID
Started updating debugging display. Not done
Completed most of the outline for auton (w/ IR)
Wrote a lot of theoretical auton :)
Fixed up watchdog. Still doesn't work
Merge conflict resolution

YEAH
THINGS WORK QUICK COMMIT