Moving code back to using angles for obstacle avoiding, based on updated sensor code.

Fixing algorithm.

Fixing init error in Borg (nav).

Refactoring gyro usage in turning methods.

Changing how motors are initialized in Borg

Adding gyro sensor code.

Fixing GPIO of US sensors.

Fixing motors and sensors init

Fixing US sensors init

Fixing motors initialization (missing connect), wrong accessor in bimotors and direction of fwd/bwd moves.

Fixing BorgModelA ultra sonic sensors initialization

Fixing motors multipliers.

Changed baseline: now require PharoThings server CI image to work.

Missing accessors.

Fixed baseline.