Member Drive::Drive (const int MotorPortRight, const int MotorPortLeft)

Add a variable to compensate for differences in engine speed with the same control

Improve linedetection with something like: "where was the line first detected" and NOT with a (nonblocking) delay. This would allow to change the speed and still detect all lines correctly

Member DriveCtrl::pController

Improve controller and make it adaptive to speedchanges

File EnvironmentDetection.h

Implement the Vision for a better BoxDetection

Implement Sonar for obstacle detection

File Hoist.h

Make private variable const where necessary

Refactor private variable name -> pHoistServo

Member LineDetector::deviation ()

Use some Matrix Bit Magic for more efficency

Improve handling in case of error of impossible sensor values