Fixed issue #1478, #1599, #1709, motors being opposite, updated turning algorithm

libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino

@@ -23,6 +23,8 @@
  */
 
 #include <ArduinoRobot.h>
+#include <Wire.h>
+#include <SPI.h>
 
 // use arrays to store the names of the pins to be read
 uint8_t arr[]  = { M0, M1, M2, M3, M4, M5, M6, M7 };