added a timing system for critical telemetry methods
clear a little of the RoombaCreate file clutter
change log message
Telemetry is started by the controller automatically
remove old printout
Major revision: telemetry on request + clean shutdown

1) A new mode for telemetry has been implemented because it seems that the
streaming cannot be always processed in a timely manner on a Android
device (works fine on a PC). The new mode is asking for a single telemetry
message, then reads it, and repeat (there is currently a sleep to limit
the number of request per seconds).

2) A new "shutdown" method allow to terminate cleanly the various threads.
use the new roomba shutdown method to try to terminate more cleanly
added a bunch of test (nothing to do with grannyroomba, just for personal sanity)