NEw path planning, now we can use a smaller grid for closer targets

Signed-off-by: eldrad <nikofinas@gmail.com>
New config for the new pathplanning

Signed-off-by: eldrad <nikofinas@gmail.com>
New head controller

Signed-off-by: eldrad <nikofinas@gmail.com>
Merge branch 'master' of github.com:kouretes/Monas