Tweaks to fine tune position tracking and navigation.

Updates:

• Increase speed to 4.0m/s HIGH, 1.0m/s LOW
• Add two tiered steering to make fine tune adjustments
• Make update processing happen quicker so we can go faster
• Change to 30m x 10m course rectangle

First fully working version with sensors

This has full tracking on the IMU for orientation and the wheel encoder for distance and correctly navigates some simple shapes.