Provide tools for stacked strategy

[m3d]

Not necessarily "three-layered" architecture, but maybe yes. At the moment it would be maybe enough to extend monitors like EmergencyStop to others ("VirtualBumper", "LoRa Pause"). The programmer of "go straight" function should not worry about collisions and remote commands but he/she would have option to select what all has to be handled "on background". The robot can be remotely paused during "Go 1 meter", terminated or returned on traversed trajectory.