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updated recharging code for the dragonfly. added doxygen comments. should be merged to trunk soon.
fiddling w/ run_around. i wrote a function that does move(0,0) and delays whenever transitioning between moving forwards and backwards. it calls wl_do() simultaneously, and wireless still appears to work.
tweaked smart_run_around for recharging...from now on, it will be known as smart_walk/crawl_around. slowing everything down seems to make recharging much more stable. maybe demo-ready.
minor changes to autonomous recharging on the dragonfly. still experiencing problems with run around.
Somewhat working version of recharging.
More progress on charging... Sometimes the token ring drops out.
Updated recharing, software somewhat works.
Recharging code for the robots now compiles. It is entirely untested.