If slowing down in STATE_PERI_OUT_STOP and the bumpers are triggered, the rover wouldn't notice.
This PR fixes this. When bumpers trigger in state STATE_PERI_OUT_STOP the rover immediately stops.
This is the same behaviour as it would be when in STATE_FORWARD_ODO
If slowing down in STATE_PERI_OUT_STOP and the bumpers are triggered, the rover wouldn't notice.
This PR fixes this. When bumpers trigger in state STATE_PERI_OUT_STOP the rover immediately stops. This is the same behaviour as it would be when in STATE_FORWARD_ODO