Clean up basically.

- Move color tracking to a separate CMUColorTracking class, so as to not have it depend on Swing.
- Remove NotStartedException and replace with IllegalStateException
- Renaming ColorTrack to the more appropriate ColorTrackingPanel, as it now is just a panel showing the data
- Move a lot of the stuff in SerialTestMain to CMUColorTracking
- Remove unused methods from CMUUtils
- Rename DebugWindow to CMUCamJavaWindow as it isn't just a debug window