controller modified, marker detection needs more investigation

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...Robot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp

...obot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~

MobileRobot/AugReaMarker/CamMark/devel/lib/camtomar/camtomar

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MobileRobot/Controller/PID/devel/lib/dock/dock

MobileRobot/Controller/PID/dock/src/dock.cpp

MobileRobot/Controller/PID/dock/src/dock.cpp~