A full and happy Sharkbot :)

I've reached points like this before, where I feel Sharkbot is relatively complete. There are a few things I'll be poking and prodding on in the background, but all his basic functions work here (I think? smooth still needs to be stress-tested a bit) and there are no big modules I'm daydreaming about for the future. So, this seems like a good time for a first release. Yay stability!