Created Proportional control for rudder position.

Different numbers for tack and minor adjustments need to be tuned. void
position(int angle) needs to be written by builders. Flow will need to
be significantly altered if we want to use integral control as well.
PID control added

not tested, general, updates to Navigator struct exist. does not
implement integral atm.
Merge branch 'master' of https://github.com/joshpfosi/trst_algorithm

Conflicts:
	state_rep.h