Update controller mechanism
Update controller mechanism

- avoid checking robot's back

project-capo/app-drive-and-visualize,project-capo/app-drive-and-visualize,project-capo/app-drive-and-visualize,dev-navi/navi-python-main,dev-navi/navi-python-main,project-capo/app-drive-and-visualize,dev-navi/navi-python-main,dev-navi/navi-python-main