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fixes #570 avrdude port detection
control law for speed starting to work.WARNING: can't use delay_ms with encoders_init
encoders.c works! there is a ton of debug output but I want to get the commit in before I am to tired and do something dumb.
added another function pointer to encoders which gets called after all bytes are recv'd.working on a behavior to drive in a straight line, but encoders are giving invalid on robot 5