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Changed smart run-around from old version to new version, which seems kind of silly, since the rangefinder functions didn't actually change.
Replace smart_run_around_fsm.c with the one that simulator has been using, which apparently uses the new rangefinder interface.
Some changes to match the updated library.
Changed the robot dir to drive and added a dir to work on autonomous mapping
Cleaning up, trying to be safe.
Maybe all of this nonsense will go away now?