Long sweeper turns would rock

[jwalthour]

Right now, our autonomous approach to the side gear lifts consists of:

1. A dead-reckoned straight drive
2. a pivot in place
3. Another dead-reckoned straight drive
4. Camera-guided final approach
5. A short dead-reckoned charge

It would be really sweet if this was replaced with:

1. One long sweeping turn ending in front of the gear lift
2. Camera-guided final approach
3. A short dead-reckoned charge

This would remove the parts of the approach path where the robot comes to a dead stop. This could potentially increase our average speed.