initial framework of high-level algorithm

This commit adds an initial PSUEDO_CODE view of the
	high-level hierarchy and framework that ties
	all bits of the robot together.

The arduino will also need a Configurator object that
	can communicate (should be only once at startup)
	with the master process.

The ArduinoInterface may need some sort of serial
	communications library -- will need to look
	into this.