Run around now uses R4 and R5.
Smart run around produces more of a wall-following behavior at this point. Rangefinder readings are clearly not in cm. I have assumed that theygive the distance in mm but 50 mm too large. I don't think this is correct, but the robot does not crash, so I left. The states do what they are ...
Created new directory for development of new smart run around. Although thismakes no sense WRT the structure of the repository, it will allow autonomousmapping to continue to function during the development of the new smart runaround while still keeping the new smart run around conveniently close to...