Motor Pins 7 & 8 changed, Case 8.1 & 8.2 conditions changed, check_voltage...

Motor Pins 7 & 8 changed, Case 8.1 & 8.2 conditions changed, check_voltage changed from number based to time based, backward_factor & search_factor changed (needs revisit)

requested review from @jannis.kampmann

assigned to @jannis.kampmann

mentioned in commit e51f533b

merged