Began work on incorporating the Scanner to Rover_Plant
changed filenames

  - changed filenames for two different behaviors: whisker control
  alone and then whisker & bumper control.
added whisker controller files...lots to debug
renamed files
basic functionality for whisker_bot

  - I still need to clean up a lot of the functions, but now
  I've got the scanner class added to the Glow_worm blocks
  which was the largest and most complicated transition I've
  had to make.
  - The whisker bot needs some tuning to come up with control
  vectors that I like too.
updated system diagram to include Whisker_bot
Updated system diagrams
updated readme to include whisker branch