An Upgrade to Robocam

I have made quite a few changes to the Robocam class. 

It now uses several functions to judge each detected particle in order to determine if any are targets. Further, it detects which target it is looking at based on the camera angle. Finally, it computes how far away the target is from the robot.

The command using the camera and servos was also simplified.

*** This includes the code for Issue #90 ***