Steph made several updates to the wandering algorithm.

• The robot now has IR sensors as well as sonar, and uses them to detect walls.
• If any sensor finds that the robot is going to run into a wall, the robot goes into emergency behavior.
• The robot is capable of using line fit methods to determine whether or not it is following a real wall, but we do not yet use these methods in wandering.
• When the robot takes a sonar reading, it also checks the IR sensors and camera.
• The robot sends information about its progress to the mapping program. Every time it stops, starts, or turns, it sends movement and sensor data. Whenver the camera sees a landmark, it sends movement data, sensor data, and landmark data.