More robot stuff, start in on path planning and cleanup rmcd a bit.
* robots/emc/emcd.c: Update for obstacle-related changes in mtp.
* robots/mtp/mtp.x, robots/mtp/mtp.h, robots/mtp/mtp.c,
robots/mtp/mtp_send.c: Add messages for requesting/reporting robot
sensor contacts, plus some cosmetic changes to the obstacle_config
Add support for sending "contact" reports, which contain points
where the sensors have detected an object.
* robots/rmcd/GNUmakefile.in, robots/rmcd/obstacles.h,
robots/rmcd/rclip.c, robots/rmcd/rmcd.c: Cleanup and add in some