Fixed a big localization problem

I now keep adding values to the filter as the robot turns, so that when it
gets out of its sleep, it does not see any values obtained from right
before its sleep.
Lowered the wall distance to 35cm

If a blue block is close to the starting point, it may screw up the US
localization! Hopefully not any more.
Wall dist 35cm was too small, now 45
Ok, made median filter smaller

It seems to always rotate until it basically facing the wall. It seems
like the code isn't even loading into the brick... 55cm is quite large,
but it stops when it faces about 12 cm. Maybe it's because the median
filter is too large and the filtered values lag.
Fixed US localization

Lways does rising edge now. Had problem where it could not recognize a wal
when it went from no-wall to wall.
Turned on left CS light

It was turned off in light localization, so it wasn't used during odo
correction!