Code isn't complicated enough

[jkuszmaul]

@katabeta if you are interested, I'd be happy to walk you through the code that we ran on the boat in 2017 and 2018 at https://github.com/wpisailbot/boat if you are curious. Last year, working with that code-base with nearly zero level of knowledge transfer was too much to make work well, but if you want to spend time on it, I'll respond to questions.