Makes log controls work and adds proper turning

Vastly improves the PID controls for turning, and finally gets proper
log controls, which was working the wrong way previously.
Dampens overshoot, adds straight driving

This commit vastly dampens the overshoot the robot has when turning by
setting the speed as a power of the angle of the turntarget. Also it
adds a compile option (which is kind off hacked into a feature where
you can switch the kind driving with the joystick 8 button) to disable
compass compensation, so that the front of the robot always stays the
front for the driving.