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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.
replaced smart_run_around with demo version from trunk. works much better now.
minor changes to autonomous recharging on the dragonfly. still experiencing problems with run around.
Minor updates to recharging, but the charging board no longer appears to tell us when we're done.
Recharging still doesn't work with analog - analog not giving correct values.