Attempting to stop-start after rotation to avoid encoder errors
Wall hugging improved with stop-start
Merge commit 'cbd34aa4bdd865f8c4605f8d17a9cc1bb803a506'

* commit 'cbd34aa4bdd865f8c4605f8d17a9cc1bb803a506':
  Wall hugging improved with stop-start
  Attempting to stop-start after rotation to avoid encoder errors