Bug fix

fixed gTurn function so it does not overshoot
fixed drive functions, drivebackforwrd, drivestraf
.
found error in LiftDown function and fixed it
Made a serious breakthrough

And got all of the sensors working onn the multiplexer.
.
Connor
Connor
Connor
Friday Connor Commit
C
Connor
Cleaned Up code

Cleaned Up code.
1. Got rid of useless comments
2. Made the lift code faster.
3. Added write to debug stream so if you need to debug it will make it
easier.
Removed test code and added coments
Merge pull request #9 from 8737/Connor

Connor