Merge pull request #20 from francois-keith/master

Remove hard coded data (foot order), cleanup+simplify the code.
Correct bug introduced in 846be4ab58282d87.

The symptoms only appear when walking and turning.
After a turn on the stop, the robot may start turning
in the other direction (even when asking for a straight walk).
[Travis] Use submodule.
Leave debian repository in the debian branch.