Rework light localization to make use of the two light sensors.

[L3gume]

localization.pdf

[L3gume]

Localization is almost completely done. It missing a few things:

• failsafe when a sensor fails to detect the line.
• use a reference position and angle.
• determine where the robot is with respect to the point.

[L3gume]

Update on parts that are missing:

• arbitrary positions (will have to wait for wifi implementation).
• Ensuring the robot doesn't snap on lines that are parallel to it.