Fixed race condition in GUI, hopefully.
Cleaned up code, removed all compiler warnings.
added some error checking
sped up simulator!
changed the delay to be less and removed spamming of printfs from world.c
Added file to check for collisions with circles
Robots now draw in correct location.
rangefinders are in fact working now
Draws polygons in the environment.
small chnage to motion.c, going forward and backwards should now be consistent
added a sample world, updated main to load the sample world
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