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fixes #570 avrdude port detection
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...