Implemented collision detector to check whether the robot hit a wall. Changed event loop to stop motors if the robot hit a wall. Use a static image provider for the robot image to prevent multiple file openings. Extend motor and tacho such that the motor stalls if the robot hits a wall. Also, there is an expected and an actual motor position for the desired position that the regulator tries to achieve and the measured from the encoder, respectively.
Change coordinate system such that the y-axis points up (satisfy right hand rule). Implement robot movement on arc.