Code Cleanup
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.
Arduino odometry: Theta now limited to +/- Pi.
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.