Improving controller

- Controller emit events
- Log directly to csv file in example repl
- Consider state stable after some delay
- Playing wit PID coefficients (not ideal yet)

tests/simple.js

@@ -4,10 +4,15 @@ console.log("The test is broken. Will have to write proper tests :-)");
 var autonomy    = require('..');
 var client      = require('./mock/client');
 
-var controller  = new autonomy.Controller(new client(), {state: {x: 0, y:0, z:1, yaw: 0}, debug: false});
+var controller  = new autonomy.Controller(new client(), {state: {x: 0, y:0, z:1, yaw: 0}});
 
 console.log("State: %j", controller.state());
 
+controller.on('controlData', function(data) {
+    console.log("%j", data);
+});
+
 controller.go({x: 1, y: 1}, function(state) {
     console.log("Reached state %j", state);
+    controller.disable();
 });