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.
bfs for multiple seekers works as long as they all have line of sight. bfs without line of sight needs work in the transition from the followed robot to the target robot.
merged orbit branch (orbit, bfs) with trunk