Rewrite of Qbo code

I've started to rewrite Qbo's standard startup code (PiFaceFast.py)  but I'm stuck on Qbo's controller (more specifically the head, cfr. later posting). Face recognition has been improved with tracking, python 3 is partially supported, better logging and I think I have improved the python code's readability. It works (!) but the head movements are not yet what I wanted it to be. I see horizontal movement not vertically. I think I have to research Arduino coding a bit first (totally new for me) because I suspect some code issues there (or I don't understand it yet).

I didn't manage to get snowboy (hotword recognition) already Python 3 compliant so only interactive-gassistant (Google Assistant) mode works fine.

For those interested in trying out...

1. Connect to Q.bo using VNC
2. Copy the attached files PiFaceFast_CBv2.py, QboController.py, QboTalk.py, QboWatson.py, QboGAssistant.py, QboDialogFlowV2.py to the /home/pi/ directory
3. Press Ctrl+Alt+T to open a terminal
4. Enter

   sudo pkill python
   sudo pkill chromium

5. To get Qbo's python 3 default installation base compatible, enter

   sudo apt-get install libjasper-dev
   sudo apt-get install libqtgui4
   sudo apt-get install libqt4-test
   sudo pip3 install pyyaml
   sudo pip3 install imutils
   sudo pip3 install opencv-contrib-python

6. Enter

   sudo cp PiFaceFast_CBv2.py /opt/qbo
   sudo cp QboDialogFlowV2.py /opt/qbo/assistants/
   sudo cp QboGAssistant.py /opt/qbo/assistants/
   sudo cp QboTalk.py /opt/qbo/assistants/
   sudo cp QboWatson.py /opt/qbo/assistants/
   sudo cp QboController.py /opt/qbo/controller/
   python3 -u qbo /opt/qbo/PiFaceFast_CBv2.py

Cheers,
Christian.