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Obstacle avoidance

Ethan Wu requested to merge obs-avoid into master

Turn away from obstacles before moving to next cell to avoid hitting them

ToDos:

  • Turn away from obstacle
  • Resume moving straight once past obstacle
    • Largely unnecessary for now, issue can be created if it matters later
  • Back up and give up if obstacle in middle of robot detected after moving short (5cm?) distance
    • No real point to doing this

Closes #33 (closed)

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