Walls can be added / changed after algorithm has made decision to move

Subtask of #11 (closed)

Walls are unconditionally set with current readings (which may be incorrect)

• Override / "which reading is correct" logic (#26)

 

• Algorithm does not update pathing with new wall changes (#46 (closed))

Wall may be set behind robot after it is moving because front sensors detect a wall when side sensors don't and there is no wall

• Results in wall being placed behind the robot after it reaches the new cell - could "trap" the robot in its internal map (#21 (closed)) DONE