First Cut at Fixing Calculating Planner

Added calculations for most of the planner height/width calculations.
Added Tests for Planner
Removed PERCENT / Added Tests

Removed the _PERCENT and changed those constants to floats. This removes
a bunch of "/ 100.0" in the code at the expense of the constants not
meaning quite as much.
Moved a Few Constants / More Tests
Simple Alignment of Comments
Merge pull request #16 from slabounty/calculate_row_column_4

Calculate row column 4