waitforHand() fix

[4ndr3w]

Reimplemented waitForHand()

• Uses a state machine

• Averages IR sensor values

• Measures gyro movement over 100ms instead of looking at heading since last reset (last implementation would reset randomly due to drift)

• Orientation now starts in the state where it uses interrupts for gyro integration - This is the default state coming out of a run.

Potential fix for #82

[ghost]

Tested on the robot. Robust and consistent.