Progress

I've discovered that there are some really weird cases that happen when trying to run a Precise predictor on a bot that is already against the wall... and dealing with it properly means adding all sorts of extra distance checks into the code with extra sin()s and cos()s hanging out all over the place... it's an affront!

And it means sometimes the prediction angles are crazy tight, meaning that when those waves actually reach the real bot, it's well beyond them.. meaning Guess Factors >> 1 are getting into my data. Eww!

Blah.. Sorry. Just venting.