Code remix
Merged with master
Worked on navigation
navigation, USART for communications, twi fixes and EVERYTHING
Navigation and small TWI fixes
TWI beautyfication and navigation buttons
Control and navigation stuff
better move_to_std
reglering.
code styling
walking fixes
merge navigation and toblingong
flag for gang done
removed timer interrupt
navigation stuff...
navigation stuff
made a new algorithm for getting the median
merged the new median into navigation branch
Fixed a kind of T junktion, also made a better algorithm for medians
Navigation, added more checks and fixes