My Wall Smoothing

Hey Everyone,
I just wanted to show you the progress I've made on my wall smoothing. 
 Unlike the other iterative wall smoothing techniques this one calculates 
your turning radius and speed in a single calculation.  Essentially 
allowing you to get within a single pixel of the walls.  It works when 
traveling both forward and backward and with left and right turns.
I simplified my test bots movements in the video below to showcase how it 
works.  Once I test this further Ill add the code to the robowiki.

Thoughts?

p.s. sorry for the lame music.  When I redo the video Ill remove this.

https://youtu.be/RhM7TeZyMRw



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