* Changed the SerialProxy to be a singleton class.
* Moved commands into the Robot model class, which are sent via the
singleton SerialProxy.
* SerialProxy.cs: * Removed some comments and format changes.

* SLAM.userprefs: 

* SlamController.cs: * Stopped writing Robot odomety to the console.

* RobotUpdateEventArgs.cs: * Updated ToString() to reflect changes in
  Robot model.

* Robot.cs: * Fundamental changes to how odometry is calculated, now
  using Pythagoras's theorem to calculate displacement relevant to
  heading.

* MapView.cs: * Changes to the view to adapt to new calculations in
  the model.

* MapWindow.cs: + Added simple command interface via a text field.

* RobotView.cs: * Changes to the view to adapt to new calculations in
  the model.
* Changes to the Robot header.