Mitigation for the Final Demo

Due to the significant drop in speed when the robot rotate upward against gravity, accompanying with multiple unsolved electrical issues, it is natively impossible for our robot to complete the mission with 100% coverage in 3 minutes. Moreover, the robot can't even rotate to the degree we command. Currently, we decide to command the robot to make a larger turn while using the reading from IMU to amend. That means our goal will be redirected to simply making the robot walk and clean on the window, which is actually not simple at all!