Logic changes following the switchup to the positioning sensor:

No need to initialise the position by reading in a table
Changes to the odometry function
No need to write the starting positions of the robots in the lua file. also simplify the python stuff
overhaul the convergence to goal part:

Math formula behind it changed
cleaner implementation
switchup to positioning sensor
fixes of latent bugs, typos and errors in signature (wtf?)
switched to long range distance_scanner + fixes:

various fixes
less magic numbers
much flexibility