final version of target ai(in theory)
added mono pipe detector bindings to vision system
can send mono pipe now and targetDetector now uses aspect ratio
applied histogram equalization to gatedetector and it works
fixed minor issues with gatedetector color histogram and got orange pipe histogram up
Added gyro thresholding for when magnetometer is corrupt
Also added ability to system to declare imu's corrupt
Merge https://github.com/erudnick-cohen/tortuga
Merged Katzchen's code.