Implement logging

[dfarrell07]

Much of the code is using print statements in place of logging. As we work towards integration and testing, let's all try to convert these print statements to logging calls and add additional logging calls for increased visibility. See controller.py for examples.

[dfarrell07]

I'd really like to see us get this done before we start trying to do integration this weekend. I think it will be extremely helpful to have a unified, time-stamped view of what's going on in every process, and we're not going to be able to do that with simple print statements (or, it's much easier to do it with logging code). Please let me know if you need help implementing this.