First commit :)
The controller is decreasing gradually the velocity while it advances to towards a wall that is closer to inf_thres until it fully stop.
Some small details were corrected. The general behavior is the same.
Updated the function for following the wall. Now we are decreasing the velocity proportional to the velocity
Some bugs were fixed. Such as reading values of wrong IR sensors.

Some comments to be discussed later are added

The next step is to control while following the wall
ir_wall was updated in order to calculate properly the values of the angle

there is now transtion between forward to following walls. This is done because before when we were in following the wall we stopped following the walls after !walls detected. The problem was that we were not able to come back. All these problems will change after the brain is implemented.
Reuploading some minor changes
Created a function that sets the value of the distance at which we will drive. This is the closest wall if there is one.
Implemented controller to follow the wall at a certain distance.
Bug correction and tunning the controller.
Merge branch 'logic_controldraft' into logic