- optmized the pid lib
- commands can now be sent via xbee explorer
- added new commands:
	- brgx, brgy, brgz brs ->  to reset the gyro integrators
	- bche bchd bcre bcrd -> to en-/disable the controllers
		// TODO: reset pid on enable
	- btog -> to toggle main_enable
- code cleanup
- added lots of preprocessor switches to change program behavior quickly