Minor changes to calibration functions as well as wait_for_light #193
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When setting up our robot for the tournament, I noticed that calibrating the gyro and accelerometer took too long. So, I made changes to speed up the calibration process to just 500 milliseconds. I also fixed a problem where calling the gyro calibration method multiple times would add bias, affecting the accuracy of the low pass filter.
We also found that in the wait for light, a camera flash to trigger the light threshold caused the robot to wait longer than necessary. To solve this, I made the robot check the light level continuously after the flash. As soon as the light level drops below the threshold, indicating the end of the flash, the robot tries again without waiting the full two seconds.