compiles and ready for testing on the robot
cleaned up the files a little
Functional Helen_bot

  - added time management to the bumper controller
  - tuned the control vector values to give a balanced
  response on both CW and CCW turns.
  - corrected the pin numbering in the main sketch for how the
  physical bumpers are actually wired.
Updated system diagrams
updated the readme for the helen_keller bot