odometry

There are two branches. The main contains the recently updated Odometry file using proper objects and classes. The other branch contains old verisons. Odometry follows a two wheel, inertial pattern. One wheel for y axis and the other for x axis along with inertial sensor to tell heading. All code was written for vex v5 System. As such it uses two quad encoders and the vex v5 inertial sensor following a tank drive chassis.