chore: replace print with logging and make robot conditional

All print statements in the main program, and components used by the main program, have been replaced with appropriate logging statements. The connection to the robot now only gets made when it's possible, otherwise only the microphone will be run.

ref: N25B-119

state.py

@@ -1,3 +1,4 @@
+import logging
 import signal
 import threading
 
@@ -16,12 +17,12 @@ class State(object):
 
     def initialize(self):
         if self.is_initialized:
-            print("Already initialized")
+            logging.warn("Already initialized")
             return
 
         self.exit_event = threading.Event()
         def handle_exit(_, __):
-            print("Exiting.")
+            logging.info("Exiting.")
             self.exit_event.set()
         signal.signal(signal.SIGINT, handle_exit)
         signal.signal(signal.SIGTERM, handle_exit)