Updated Switch case for state changes

Merge branch 'master' of github.com:finger563/agse2015

Updated UIP

Updated code to get proper sample orientation every time. Also committing the changes to markerdetector and payloadbay_detector.

Updated code to hopefuly get proper sample orientation every time.

Updated code to hopefully get correct sample orientation. ALso lowered angle offset between gripper and camera.

Updated code to use atan2 function to calculate angle offset based on radius.

Updated offset.

Updated code to not rely on goals for opening payload bay.

Updated states to have change in order.