Added capturetest.py which includes:
 - use cv2
 - multithreaded picamera capture and processing
 - threshold, erode, dilate, contours

Easily captures and processes at 10 frames per second on RPi
Add multi-threaded image capture and processing with robot communications
Add robot.py - New Robot class, including Go, Track, Servo, RemoteControl
Simplified main program on basis of new Robot class.
Minor fixup