use two p controllers for both walls
Merge remote-tracking branch 'upstream/master'
use filtered distance publisher directly
add motor constant calibrator
more outputs at the right place
use lowpass filter
give initial filter value
use hysteresis for constant application
do not accumulate p in wall follower
remove accumulation
parameter adjustments
more output lines
add paranthesis. just to be safe
use parameter for w convergence again. Parameter tuning
new turn controller based on odometry theta
fixes and adjustments
working turning
use gradient hysteresis
adjust gradient hysteresis settings
disabled i for now. parameter adjustments. reset hysteresis when there is no input.