determine pwms to power up motors and pwms to sustain motion while moving
exchange hysteresis for pwm spiker
constant calibrator working
bugfixes and parameter adjustment. Motion looks good
inverse turning direction to the right side
reset pid and pwms when standing
pid adjustments. i term included again
turning adjusted
Merge pull request #37 from mlosch/master

Removed hysteresis. Added pwm spiking. Calibrated pid. I-Term included again