Pre-Duluth Commit

That's a wrap for the build season! (Officially!)

- Tidied up OI. Removed RobotBuilder comments, so changes will have to
be made manually.
- Added a default fudge factor. CHANGE THIS FOR ATLAS.
- Correctly negated the arm switches.
- New hot goal routine that drives forward, then checks for the hot
goal.
- Coded a double blind shot routine. Still mostly untested. FOR ATLAS:
replace the indicated text.
- Tuned our single blind shot. It's awesome.
- Trained RoboRealm. Added the training images/roborealm files to the
repo.