fixed error in turn
Merge pull request #20 from rajaths/vehicle_refactor_2014
calibrated slerp in turn and swithced turnto back to step trajectory
fixed error in DVL kalman filter and added sonar navigation
Made fixes to Buoy search state to work around motion bug
Merge branch 'vehicle_refactor_2014' of https://github.com/rajaths/tortuga into ram-merge

Conflicts:
	packages/python/ram/ai/new/testing.py
	packages/python/ram/ai/new/utilClasses.py
LED bars and Separated Grabber actuation

Modified old HOST_CMD_SET_BARS commands to run new bars off of IC3 via
I2C.
Added options to actuate left and right grabbers separately
Added Checkpoint states, allowing a routine to save positions and then return to them later.
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/motionStates.py
Added preliminary version of Bins task, also made some other fixes
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into ram-merge

Conflicts:
	packages/python/ram/ai/new/Buoy2014.py
	packages/python/ram/ai/new/testing.py
renamed gate to Gate2014, uprights added and renamed to Uprights2014 and uprights
square pattern sped up. Attempt untethered run? sonarNavigation added. Testing is modified to test uprights. utilClasses, hasQueryBeenFalse fixed and
a few syntax errors fixed