Changed encoder counts per turn to 10800
Changed encoder steps to 360/rev

This has been verified on the hardware.
Matched k_p, k_i to encoder step change
Merge branch 'movement'

simpleMove (straight movements / on-the-spot turns) now works.

Conflicts:
	arduino/KTH_Robot13_rev2/KTH_Robot13_rev2.ino
non-functional changes
merge conflicts resolution
Navigation logic: might work now...

Also added responses when movements are finished to the simpleMovement code.
Control logic tested, nearly works

The wall following seems to need some tuning.
Merge branch 'movement'

Conflicts:
	movement/src/simpleMovement.cpp
Also added a modulus operation to simpleMovement that accounts for the arduino odometry theta being limited to +/- pi.