* SerialProxy.cs: * Patch for the threading issue.
- Removed some unused code.

* SLAM.userprefs: 

* Robot.cs: - Removed some unused code.

* RobotState.cs: * Refactoring.

* SLAM.cs: * Patch for the threading issue, added GDK locking.
+ Add various UML diagrams.
* Some changes.
* SerialProxy.cs: * Conflict resolution.

* Robot.cs:
* RobotState.cs:
* Integrated thread patch.
+ Added more UML diagrams.