Check it out!

Expanded system testing with offline ability to quickly check to make sure your changes haven't broken anything. This testing covers most of the happy path code from Procedure Generator to RunProcedure.

Added functionality for wheel control now, including an algorithm to follow a line or general directions to get to another location.

Also included is the ability to use a differential drive as an azimuth control to the robot segment, making zero radius turns to change azimuth angle.

A general multi-variable optimization algorithm that finds the best values to fit a repeatable system, without knowing anything about the system. This can be used for curve fitting, pattern matching, and another application I've implemented:

A PID tuning algorithm. Finds the best values for PID controlled motors on your robot. PIDs are a simple solution to non-stepper motor control. This give you the ability to use cheap DC motors for movement rather than the more expensive stepper motors. In addition to being cheaper, they can move faster when needed.