Added Confirms to execution

voids for some functions changed to ints to RESULT_OK and RESULT_FAILED.
To get confirms of an execution completing
Major Changes

- The code is now expandable to other robots, not just Nao
- renamed NaoHandler to RobotHandler

Nao Functions
- Added Say(text) function with RESULT confirmation

SpeechHandler
- No longer uses Timer, now uses sleep between pauses