Support serving certain static resources and write a simple html page which polls the server for the battery level using javascript
Add basic support for allStop to the web page
adjust the steering coefficient calculations.

This is a re-write which worked the first time but I haven't even tried to compile it this time!
whitespace and comment tweaks
How did these end up on one line?
merged changes from ashirley
Merge branch 'ashirley-python-control' into bettercomms