Merge pull request #32 from pstephen43/sr_dev

sync up
teleop fix
defencive work
defence and S3
Merge pull request #224 from K-McK/sr_dev

sync up
the s2 fix
Merge pull request #225 from K-McK/sr_dev

the s2 fix
adding variable to control drive speed
S4 changes
Merge pull request #226 from K-McK/sr_dev

S4 changes
Merge pull request #227 from PJTNT11/sr_dev

code clean up
Merge pull request #55 from pstephen43/sr_dev

sync up