text: /* Station Keeping
  *
  * As taken from the sailbot 2018 events website:
  * Challenge goal: To demonstrate the ability of the boat to remain close to one position
  * and respond to time-based commands.
  *
  * Description: The boat will enter a 40x40 m box adn attempt to stay inside the box for 
  * 5 minutes. It must then exit within 30 seconds to avoid a penalty.
  *
  * This code was written by Sydney Fisher and Sierra Palmer as part of the WPI 
  * 2018-2019 Sailbot team to accomplish this task
  */
  
  
  #include "stationKeeping.h"
  
  int main(){
  	// Set the clock to 0 and have it start running for the duration of the 
  	// event
  	clockTimer();
  	sailThroughGate(); // sail into the box
  
  	while(timer < keepingTime){ // Has the boat count down the time to stay inside box
  		resetPoints();
  		centerTackAndLocate();
  		createObstacleFence();
  		boxSailing();
  	}
  
  	time = 0;
  	resetPoints();
  
  	while(timer < exitTime){
  		sailThroughGate();
  	}
  }
  