Refactored

Some 'slight' refactoring. 'Should' be NO-OP, but there's been a lot of shoulds lately... Pull it down and see if it compiles, this should have less mental overhead and be more readable for externals (ie Ludovic).

Some of the changes:
  * Introduce a function stopDriving() to save the slightly harder to interpret Off(OUT_MOVE).
  * Add a map and vocabulary, to make sure the reader knows what we're talking about
  * Declare and initialize all flags and variables at the top
  * Break large functions up in smaller, easily digestible pieces with descriptive names
  * Reuse these smaller pieces where possible (like crashAndAlignWithWall in both the wall routine and the opening       movie)
  * Ensure camelCase on variables and functions
  * Remove a couple of redundant statements that became clear after refactoring (like stopping after turning)