Rotations now are much more precise and don't take forever to finish. Standard forward distance set to 15cm. Works ok. To do: Wall alignment while on forward.
Merge branch 'mapping' of http://github.com/TheiaRobo/Theia
Created a dedicated controller for adjustments based on walls. To allow corrections on the forward and forward_wall behaviors. Will try to adapt it to perform alignments when the robot is still.
Forward behavior should now try to align and keep it's distance to nearest wall.
BUG SQUATTED. Forgot to update the wall I'm seeing while on forward()
MORE BUG SQUASHING.
WORKS ALMOST PERFECTLY: at least one bug in logic and the rotations aren't spot on.
Small changes in the forward behavior: Will reduce linear speed if there is no lateral wall in sight, but otherwise will move at full speed. If seeing a wall that wasn't the last wall to follow, will align with it and only keeps the distance if the original dist is less than dist_ref.
Merge branch 'logic_test' into mapping