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