Ideas to improve Recovery_delayed/direct

[NotAnyMike]

• Give much less time to recover in recovery delayed
• Use the discount rate (or think if it would be useful)
• Add bias towards acceleration of zero
• Check if outside track
• Punish behaviour in which goes to the track really fast, get in the track and continue going fast so it leaves the track again
• Punish behaviour in which the recovery ends with sliping (due to very fast acceleration)

[NotAnyMike]

There is no point in keeping these two apart, merging into only one module