Changed around some small errors that would propogate through the turning angle calculation code

Reduced the number of globals needed and restructured the manual command state of the program to not rely on flags as much. Reduces the debuggin complexity immensely

Messed around trying to get the code to work on windows, did not succeed

Changed the naming on some of the functions, specifically calc_heading_state --> adjust_heading_state. Added a lot of documentation via comments to the current code, and cleaned up some of the time intervals between states

Is more accurate now, finds the goal quicker. I calibrated the computation of the heading angle and the necessary turn angle to get to the goal

Initial commit

Merge branch ''master'' of http://github.com/jhallard/RobotVisionControl

Initial Commit. Program is working but still a little buggy on the vision control movements. The turning angle and speed need to be calibrated to improve accuracy, and the order in which the program moves and then computes the heading vector also needs to be tuned, but it does generally work and will steer the robot to with 20 pixels of the desired location. The user can also override visual control mode by pressing the ''c'' key, which will allow the user to enter manual control mode and control the robot with the w,a,s,d keys.