Final comments in main.cpp for GUI. Updated Doxygen. Added readme.md for Doxygen. Added final documentation.

and main

Added the sensor data into the movement, and fixed the snprintf to send both the movement position with the gui

microseconds to milliseconds

Added to the sensors code, finished up the terrain code, need to edit movement and finish figuring out what the ground sensors can detect

Insured that the robot run everything unhindered. Did some changes to the command parser to make it more readable. Made sure everything runs like it supposed to.