Soar

Changes
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* ARCOS now handles cryptic serial port errors better, hopefully making debugging easier.
* Changed the way PioneerRobot displays its information, to include the port it is connected on.
* Added attribute `serial_device` to PioneerRobot, which represents the serial port it is connected on.
* PioneerRobot can now play notes or songs through the piezoelectric speaker.

What's New
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* A `raw-sonars` option for `PioneerRobot`. Setting this to `True` at robot initialization will stop Soar from casting out-of-range sonar values to `None`--they will instead be seen as `5.0` meters.
* ARCOS now waits several seconds for sonar values to arrive before releasing its `on_load` function.

What's New
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* A `tkinter_wrap` hook, designed to be a better, more efficient replacement to `tkinter_hook`.
* In addition to the `raw_print` hook, passing `raw=True` in a `print` call in a Soar brain will prevent Soar from prepending the three carets `'>>>'`

Bugfixes
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* Fixed an error in the version update checker that would cause it to incorrectly compare development versions to non-development versions. Since development versions are never pushed to PyPI, this is a very small issue and unlikely to have been encountered by non-developers.

Bugfixes
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* Fixed error where `PlotWindow` methods were wrapped so as to run on `Tk`'s event loop multiple times, resulting in a thread waiting to complete an event trying to run on that thread.

What's New
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* The ARCOS client's `send_command` method now accepts `bytes` objects *or* strings as data.

Bugfixes
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* Another `PlotWindow` fix. Due to the way `PlotWindow` methods were overridden in Soar, other methods of matplotlib's `Figure` or `Axes` (like `stem`), could not be used. This has been fixed.