converted angles from degrees to radians.  closes #45

it's possible i missed a few places though...
Revert b52d32ab, which disabled encoder check for 2011 bots.  closes #79

This reverts commit b52d32aba12871e56d9b103ac8d8c70115e5aaa8.
fixed diagram generation by removing circular imports.  closes #103
Merge branch 'master' into arch