/**

Optimal Behavior for Mapping

Desired Properties
- Overlapping maps
- Shared origin
 * robots must know where they are in relation to each other



Actual Behavior
- make BOM contact with another robot
 * estimated distance reading would help
- try to follow another robot
 * could parallel path but moved over slightly 
   to give a wider view while also corroborating data
 * then treat as leader/follower in actions
 * get groups to link up with each other and then separate to 
   establish meeting point between maps
  
  
  
  
  
Thoughts on improving overall efficiency
----------------------------------------
Robot:
- use a shorter polling interval for rangefinders, 
  then average readings between wireless polling intervals
- if the rangefinder value = MAX, then mark it as -1
  so the program doesn't draw that point
- try bursts of data every second or farther apart
  containing multiple data points
 * this reduces stress on wireless timing and allows for 
   overhead created by token ring
- one solution to the 'master origin' problem for multiple robots
  is to start each robot at the same point with the same orientation
 * this isn't very useful and takes effort, but it works
 * could also establish an initial offset in robots,
   but accurate initial placement would still be an issue
  
Server:
- if the rangefinder value = MAX or -1, don't use that point
  or set it to infinity
- if robots have linked as leader/follower pair, use
  one point of origin for both robots
- when two or more robots meet, set one robot as the 
  master coordinates, and modify all other robots to use
  those master coordinates
 * easiest is to start a new map with one robot at the origin and
   all others starting based off that robot
 * backdating the coordinate change would be better
 * using both approaches is likely most accurate


  
*/