Merge pull request #39 from mlosch/master

Faster turning. Forward velocity is now a parameter.
new wall alignment for one wall, half tested
some fixes
Merge remote-tracking branch 'upstream/master'
remove aligning to a set distance
Merge pull request #42 from tobiasandersson/master

clean up
Merge pull request #43 from mlosch/master

automatic forwarding to facing wall when possible
Merge remote-tracking branch 'max/master'
Merge remote-tracking branch 'max/master'
Merge remote-tracking branch 'max/master'
goto fixes
merge