Wall switches, locomotion fixes & schematic

Yay, upping PWMs across-the-board and cranking up the left wheel's backwards rotation in the corner worked wonders. PWMs are all 60+ now, motors don't turn reliably below that.

Chatter happens b/c of a blind spot on our right corner; if we move the switches right next to each other instead of leaving a gap, we can get rid of it, but the new placement may interfere with the roller wheel. :( Mike's thought: put in a timer? Easiest fix, gonna try that first.

Here's a pseudo-schematic of everything, since the physical prototype is a mess of alligator clips & wire:



Before I forget: put LEDs in tomo so we know which switches are being activated! (EDIT: Done! BUT right front switch is on a floppy end of cardboard and no longer contacts the walls reliably, so the timer is hard to test. I hope we can use the masonite frame tomorrow...)

Updated code & schematic have been put in the dropbox, and apple juice & tangerines have been put in the fridge. Remind me to bring more Cheez-Its.