Adding preliminary circle finding

There is still some tuning of the various parameters that needs to be
done in order for this to have any hope of working.
Reformatted code to project standards.
Removed new ROI class and replaced with existing Rectangle class as they served the same purpose.
Updated TinygDriver to handle movements that are too small to produce any actual movement. Hack, hack, hack.
Removed dead comments
Adjusted some method modifiers.
Merge branch 'MikeSandford-develop' into develop