No more resetting

It was actually two things causing the resetting. The way the ir rangefinders pulse created a lot of noise which reset the PIC. A couple decoupling caps fixed that. The second problem was the servo, it was simply drawing too much current. We isolated it's power supply so it doesn't touch the rest of the board and that fianlly fixed our resetting issue. Right now, Dave's putting on some on/off slider switches because we moved over to battery power. After he's done that we're going to get started on wireless communication again.