Rework + Better Navigation

I decided to rewrite the entire pygame display since whoever wrote it before did it totally backwards and it had caused my algorithms to break and a bunch of other problems. So after that pygame refresher, I also reworked my algorithm because tuning the linear max offset seemed to be too unreliable for a broad range of environments and using something like a reciprocal function would make the algorithm amplify noise because my lidar often picks up random particles that are super close to it’s surface (I tried wiping it with a dry cloth; it didn’t work). Anyway, the new algorithm turns the unit circle into a histogram of angles and then calculates the average distance in each interval to determine which direction is the furthest away. The algorithm then picks that direction since it is the best direction that the robot can move in for autonomous navigation (you know, finding new areas?). Anyway, this algorithm is still pretty elementary but it worked first try (well, technically second because of an optimization).