wrote first draft of improved search, doesn't work
There is some bug with this where it doesn't explore the maze like I think it does.  Basically the exploration algorithm should always direct the robot to the least traveled location.
fixed some problems, still doesn't work
Forgot to set the default direction to left...
removed commented lines to avoid confusion
posHistory for now will be incremented immediately after driveForward() in robot_run.  This will probably be put inside the robot_driveForward() function becuase it is a lot cleaner that way.
fixed problem
There was an issue with the mazemap_one_ahead_direction.  Don't use [variable]++ with pointers :(.
}
right hand rule now followed by default
The robot will try and stick to the right hand side if it can...
added commments
make code sections easier to understand by splitting it up
explained the maze finding algorithm
Still needs to be implemented, i'll do it later.  For now we will have to merge broken code onto the main branch to transfer over the bugfixes we did earlier...
Merge branch 'search_improvement'
code is currently broken but needed to move over some bugfixes in this branch.  I don't want to forget about doing that and delete this branch!  In the future, don't include general fixes in a topic branch.  My bad...