Removed the variable delta angle, and added - boundry to compensate | added move_rudder_left, move_rudder_right and stop_rudder functions | added ramp_up_rudder_left and ramp_up_rudder_right functions | fixed problem with not ramping when changing directions | added comments | fused finding direction and moving together | deleted integer rudder_moving | deleted variable duty and added find_rudder_duty, for computation time optimation