Revert "Tried to use async comms. Forget it"

This reverts commit e337666b05f339efe0466b354a5865c1fe4066d6.
Revert "Added functionality to be debugged for timeout communic"

This reverts commit 3e275f11ee00c5205ac8e3082ad19cf6d03310cc.
Added a P controller to the simulation

Trying to get a feel for how it works.