main module

Main Program.

Implements generator “run function” for all tasks. Sets motor power to 0 when a KeyboardInterrupt occurs. The romi chassis follows a line until it gets in range of an obstacle, which it will circumnavigate to get back on the line. It goes until its coordinates indicate it is at the finish, then turns around and goes to the start. Motor control task handles both encoders and both motors in one instance QTR Update task handles both QTR sensors at once and returns just a composite position (s_pos = pos)