Basic firmware for skid-steer rover testing
Bogie: Address hard-coded but functional
Bogie: Now uses 32Mhz clock if external crystal isn't stabilizing.
Bogie: Magnetic encoder connected correctly.  Haven't tried period
measurement yet.
Bogie: Should print back current wheel speed over RS485
Bogie: speed feedback works
Bogie: Speed measurement also detects stop
Bogie: Direction detection kinda working
Bogie: Magnetic encoders are too glitchy to get direction feedback.  Don't use this commit.
Bogie: RTC works
Bogie: moved speed and turn into global struct
Bogie: ready to test PID
Speed PID working
On wheel and tuned!
Merge branch 'pid' into encoders2

Conflicts:
	bogie/BogieCommon.h
	bogie/BogieController.c
	bogie/Encoders.c
	bogie/Encoders.h
	bogie/makefile
Completed merge of pid into encoders.  However, the wheel speed feedback is no longer functioning.
(Perhaps the interrupt isn't running?)

- Marshal
Both encoders now work together

- Marshal