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This is a working version of the code for the demo. It works on Bot 7, and partially on Bot 14. Due to the number of changes here, I'll list them by file:
traffic_navigation.hI added a #define for sendGraph, so its main won't be compiled unless defined. Uncomment the #define line at the top of this file to turn its main on. Make sure you also comment out the #define for main-new. Also, has the new #define for the node wireless packet type....
Added readSerail.sh which reads from a robot on USB and prints to a file named graphData. I'll modify it soon to print to stdout instead, but for now this works.