Added procedure for resyncing.

Just keep restarting until things start working. :P
Debugged the comm resync. Now works.

Theoretically, most of the time, probably.
Added logic to read in gyro/accel vals.
[BUGFIX] Read_ack works properly now
Lift now is controlled by 2 loops

One for up and one for down. At least it behaves like two loops.
Merge pull request #67 from OlyCow/teleop

Added some comms stuff; finalized changes over weekend