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Small modifications to odometry. I'm all but committed to using floating point.
Cleaning up, trying to be safe.
Minor changes (maybe).
More work on odometry code. (Really want to use floats but am avoiding temptation for now.)
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...