This is a big update to the code base with a many improvements. The big news is that it is running really well. It's fast, mostly correct, and has a much nicer interface. It's now down to 1.6s/step so it can make it around the park in less than 10 minutes with a bit more than 3 minutes spent running the motors to move. You can also do a full data collection run with all the photos in less than 30 minutes.

The big list of improvements in this release:

• Using the video_port on the camera with JPEG images allows fast picture capture which was a big portion of the time.
• Cleaned up the control loop to make sure we did prediction and actions correctly. There were cases where the loop can stall and multiple actions could overlap causing incorrect behavior.
• The same angular app at http://HOST:8080/web/index.html can now be used for either autonomous or data collection.
• The control loop now runs without any additional delay.
• Doing a training loop down the middle of the path which always said "Turn Left" did a lot to improve the ML. Before it would wander out to the middle of the path and have left/right cycles which triggers the work around.
• Actions into automatic mode have strong probabilities. 
• Training sets can now have custom routines for generating labels. That's allowed me to drive down the middle of the path and having the labels all say left.

What's next?

• The bench is still my nemesis. It will drive straight at it, so I have to manually drive around it. I suspect I just need a lot more training material around the bench to reinforce the need to move to the middle of the path, instead of follow the left edge.
• I'm curious what would happen if I flipped all the images horizontally and flipped the left/right and did a training run. I suspect that would allow it to drive along either the left or right side of the path, but it might zig zag.
• I could increase the speed and shorten the duration of drive steps to improve the speed around the park.
• I should make the new interface the default and remove the original interface.
• It's getting to the point I should test different models, so being able to switch models from the user interface would be a nice feature.
• If others want to contribute to the project, I'm going to need to create more documentation to get them started. Now is a good time to jump in if you're interested.