Fixed bugs in turn to point. Changed relative movements to move relative to the last target coordinates rather than wherever you are after the last movement. For example, if you tell your robot to move 10 units "forward" and then 5 units "left" and 2 "forward" arms will compute the target coordinates for the first movement and then compute the target coordinates for the second movement based on the first target coordinates, NOT the robot's position at the start of the second movement. We also added the ability to move a set distance along a vector projecting from the front of the robot. See #103 for more. We also added a minimum speed to all movements.
Pull requests:
#103 (Relative movements)
#104 (Lower bound speed for movements)
#107 (Turn to point)
Have fun, and open up GitHub issues if you encounter any issues!