merge commit.
Merge branch 'master' of https://github.com/correlllab/cu-droplet
Hi.
Blah
Revert "Blah"

This reverts commit df4f2bea6f0aa0af5e67a41f92c8a1211eaad940.
FIXED HARDWARE BUG THAT MADE MATH.H NOT WORK. IT_sensor.c had relevent comments.
Also added droplet_time.h/.c
SOme things work. Others don't.
committing all the changes on the droplet computer so I can work on my computer.
Merge branch 'master' of https://github.com/correlllab/cu-droplet into task_alloc
Should have put this in its own branch earlier, but oh well. Working on implementing the tile-assembly algorithm developed with Ayan.
Made some good progress. For now, about half of the droplets dogpile the seed droplet. Not exactly assembly, but entertaining at high speeds?
Hacky(?) fix for range part of range_and_bearing.
More assembly progress. Things are almost working. Need to add code so that the layers keep expanding, and need to figure out why more bots are getting assigned then there are spots.
assembly basically actually working now. Some issues to be resolved still.
committing before pull
Merged DropletCustomTwo.cpp to match with HEAD.
Assembly working much better. I think the main remaining task is to improve our collision detection/avoidance scheme.
Mostly works better, though at the moment there's a bug that makes it look pretty bad.
Assembly actually kind of working. It isn't perfect, but we never expected it to be.