--Started to work on automatic driving.  Created ~/source/the-force which will be where I write the program.  The idea is to have Dan's log_to_track code running inside a modified version of run-sensors so that the sensors can output a position in real time.  Then I'll modify the emperor code to remove everything about waiting for commands and add waiting for a trace (as a series of x,y,theta points).  Modified emperor (aka, the-force) will then loop through the points and do the following: compare own position/heading to position of and heading to point, turn/drive as necessary, wait a certain amount of time, check again, if within a certain radius of point declare success, get next point.