Wall avoidance

While that would minimize the codesize, it would make the wall avoidance much more pronounce (and much worse).

I come back time to time to see if I can make a better wall avoidance for this robot. But so far I have failed terribly.

ahead(.222222 * (direction = -direction));

And here I was hoping you would come up with some amazing wall avoidance technique. :)

That's probably more in Mike's territory, but I could give it a try.