fixes #570 avrdude port detection
implemented averaging with older data to smooth out object detection values
object detection has been integrated. can distinguish green object from wall and swarm said object. has issues keeping the token ring going, but wireless packet transmission is fine.
added andrew's ident code files
code works good with button press. waiting for object detection code. need several robots and charged batteries for demo video.
obj manip - swarm to an object (using button press to detect object)
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