improved contour detection

improved ball tracking and explanations

introduced distance contour relationship

Goal Tracking-(adaptive thres unstable)
balltracking ready to be paired with the Beagle bone

returns coordidnates of goals
Merge new tcp code with ball.py updates.
added ball and goal files to tcpserver
added calculations of distance from pixels
edited tcp, arbi test and goal python
return x,y,angle of goal, code cleaned
Rewrite server to use UDP. No tabs in code.