Tested US loc.

- Made robot spin faster during US localization.
- Tested turnTo(90 deg). Works OK.
- Added method to find initial position during US localization. Works
  medium well. (Tweaked values, US diagonal walls...)
- Noticed problem in light localization. I'm probably not calling some
  turnTo() method because it seems to take fro granted that the first
  angle is on the y axis.