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Updated all makefiles. You may need to update the port settings to get your project to program the robots again.
fixes #570 avrdude port detection
fixed speeds, stop distances for bfs
added slowing feature to bfs as it approaches its target, and fixed some rangefinder distances.added code to allow for better transitioning to seek the final robot in a multiple robot scenario, but needs testing.
merged orbit branch (orbit, bfs) with trunk