Day 6: Real time angle adjustment

Gonna keep it short and sweet today; The last few days have been spent on debugging locomotion for each leg, in an effort to make it walk. The MPU was not working properly, and in our folly we decided to ignore it and just try to make it work without the MPU, which took a long time and didn't yield much. So today the MPU was fixed and is now working, and we have now made the robot able to adjust its own angles based on outside force (i.e. pushing it). It is able to stand in no matter where its being pushed from, with an acceptable success rate for now. Next step will be to integrate this into its locomotion, so that it can do live angle adjustment based on its own live movement :-)