Abort target_straight if the robot turns too much

[Peque]

In example: if it turns more than 180º, we should report collision detected.

This is probably the reason why the robot sometimes spins like crazy... In turns, actually, we have a time limit.

Could a watchdog help here?

We could also simply set straight movements to finish at the ideal time, just like we do with turns, instead of waiting for the average micrometers to reach a given value. Will this be more or less precise when there is a lateral correction applied during the straight movement?