NOT TESTED!

-Added softuart dual port library.(Tested transmit operation)
-Added more PIDs to the protocol file.
-Made a header file for mcontroller functions and changed the int2str
implementation to handle negetive values.
-Added mcontroller to the Makefile.
Working STREAM command

STREAM command now generates a response for some PIDs, namely:
-PID_VOLTAGE
-PID_VELOCITY (In case the DRIVE command is not implemented it should be
removed)
-PID_VELOCITY_LEFT
-PID_VELOCITY_RIGHT

STREAM_PAUSE_RESUME is also working.
15ms timer is generated for STREAM command. On overflow, senesor data is
sent to the master.
Merge branch 'uart_parser'