Robot now reverses and turns right on obstace detection.
True subsumption implemented with the modules handing over control smoothly.
Removes LeJOS based Arbitrator and Behavior classes since these are replaced by the much better module architecture.
Adds logs for tacho count on both motors.
Implements functionality in both Module and Processor allowing the program to be exited gracefully.
Fixes error in DetectObstacle when it attempts to exit the program.
Uses rotate() with an angle specified rather than a timed turn to make the right turn.