Resolve stop bug

Sometimes the robot get stuck in a position because it didn't have enough power
Merge remote-tracking branch 'origin/mapping' into developer
Merge remote-tracking branch 'origin/mapping' into developer
Change the stop cond

Now the robot doesn't stop when it finds the white color but is based on the rgb values, so there can be some errors
Merge branch 'developer' of https://github.com/Oroles/MazeSolver into developer
Revert "Merge branch 'developer' of https://github.com/Oroles/MazeSolver into developer"

This reverts commit 280fed8a4c0037253a7b16ca62595208e811fc25, reversing
changes made to 283fc3ed934e2eb78d780c4933063ab0094bd99f.
Resolve bug

When the robot had to search the shortest path from 0,0 to a negative pos, the robot didn't find anything, the problem was in stop condition and heuristic function. Now looks ok
Resolve mapping bug

When the robot makes a 180 turn than the map is not corect. Now the previous cell is also updated
Change init mapping

Now the mapping starts only after the robot has initialize
Merge from developer 2