Programming the board:
	You will need:
	- Atmel studio (download it for free from the web)
	- A programmer that can do Atmel JTAG. I used an AVR dragon, but AVR JTAGICE mkII or AVR ONE! should also work
	- A cable that allows you to split the 10 pin JTAG header into individual strands. A set of female-female jumper wires such as http://www.adafruit.com/products/266 would suit
	- A power supply to power the board. 7.2V is ideal
	- The supplied files, or write your own
	
	Because there is no JTAG header on the expansion board, the assorted jtag signals are available on the ISP and ADC header pins. The pinout is as follows:
	TDO - ADC pin 3
	TCK - ADC pin 4
	TMS - ADC pin 5
	TDI - ADC pin 6
	GND - connect both to any GND pins on the servo headers
	VTref - ISP header pin 2
	nSRST - ISP header pin 5
	nTRST - leave disconnected 
	
	- Page 9 of this document has the JTAG pinout: www.atmel.com/Images/doc8169.pdf
	- The board must have power supplied in order to program it. Nothing special needs to be done to program it except having the programmer correctly connected and the board powered on
	- It should automatically reset itself after programming

Other notes:
	- Read the testing section of my thesis, it covers a lot of the things wrong with the board and how to deal with them
	- Minimum power supply voltage in is actually 5.7V, not 5V
	- The ADC can only read up to 1V. If you want to read distance sensors you will have to use an external voltage divider
	