Rename identifiers

[tygamvrelis]

This picks up where #189 left off for #159 and primarily works on renaming identifiers, argument names, etc. Also refactored RobotGoal/State and Communication.h/.cpp

Testing

• Robot_F4 and Robot_F7 build & unit tests pass

Remaining work

• Need to do this identifier renaming in component/UdpDriver too, did not get a chance to do that yet
• There were a few cases where I used the namespace directive to introduce the soccerbot namespace to avoid excessively long names (I put a TODO besides these). I think we can get rid of these once we separate the threads into different files

[rfairley]

Going to be making some edits to change some of the current class and file names to be more consistent with the style guide (will work from this branch and open a separate PR - as changes here look good). Can also do the Udp identifiers while at it