Turn more aggresively when further from the line

Now behaves almost well. Doesn't handle long sharp right turns well.
Remove unused commented code
Reverse slowly when in confusing situation (by default)
Remove debug output from `run`
Disable (comment out) debug output
Make pin indices `const`
Handle simple T-sections gracefully

Go to the right.
Read button state
Merge branch 'master' of git@github.com:filipbartek/nail028.git