RepSpider Alpha Build

[jmccartney]

I have added a mount for a cheap ultrasonic ranger as "eyes" for my spider. I also have bluetooth up now. I am not terribly interested in having a "remote" control spider at the moment, I am playing with more autonomous behaviors that can be monitored using BT. I am using working on finite state machines using the SM library which has been a lot of fun. I have the BT working just fine in a concurrent SM without a loop and it works perfectly.