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I'm getting up the courage to do a readability/extendability refactor on deBroglie before I then get back to adding in the features that are still missing.

I'm hoping to go the anti "I'm the only one working with this code anyway so who cares" route because I'd like to show the source to my CS/engineering students once I'm done. Doing a trace of exactly what happens on a single onScannedRobot() with every called method having a readable comment explaining it would be a treat. :)