Revert b412191..e5dfee4

This rolls back to commit b412191278dea68bbfa90f805f6caf521c864699.
Revert "Revert b412191..e5dfee4"

This reverts commit 95744bb6ddd6d5bff3e928143efc98d2455189b9.
Merge branch 'master' of https://github.com/fromeijn/Robotica