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fixes #570 avrdude port detection
Branch for the library fixes
Odometry works but the precision is awful. Angles are measured fairly accurately, but distance readings are consistently lower then expected.
Quick update before I do something stupid.
Changed some odometry stuff. Interrupt is called now.Still some problem that is not updating x and y data.
odometry compiles - timer issues, interrupt never called.
Cleaning up, trying to be safe.
Wrote some odometry code. I had the timers the way I wanted them a couple of days ago, but then subversion ate up my code. I have the right interrupt vector now though...