Motor controllers finished

The motor controllers have been working for about two weeks now, however the blogging had a little delay. There used to be a problem with reversing the direction and the problem was found to be in the abs() function. This function returned an int, while floats were required for the controller calculation. The robot drives in a straight line with input values a speed and a reference distance in mm and it is able to turn with input variables angle in degrees, turn speed and direction.