Localization Started

We’re about halfway through localization. Just wanted to back up
Localization Complete isn probably maybe lol idk

Localization complete except for filtering outliers. Not yet debugged.
Saturday 11:00PM

as;dlkfjas;ldkfja;sd mwii prints things out but theta is zero.
Works near + or - 90

I think the problem with the vertical orientations is that it starts
getting a lot of 1023s. Really need to work on the data filtering. Also
realized  my localization in MATLAB might not even be right.
Theta works very well. Backwards.

Only thing left to do is the rotation matrix to give us the position.
Merge pull request #1 from seavargas/master

Localization Started