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Moved comments to headers. That was painful.
Created simulator branch. Sorry for adding new branches, but I am planning on rearranging the library.
Reversed the left wheel. Encoders increment when the robot is moved forward.
Added spi and encoders to the trunk. Tested and worked. Encoders still read out directions backwards - i.e. there isn't a defined 'direction' forthe encoders to go with the wheels yet. I'll fix this about now.