Long day's documentation (22+ person-hours of work)

Amanda, Soni, Myles and I did a documentation sprint today. We were adding docstrings to the various service modules. Still some of that still-to-land tomorrow. Anyway, very tired now, worked more than 10 straight hours myself. Seneca also did some work toward her idea of a Turtle "robot" built out of cheap motors using the laptop.


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