Merge pull request #80 from OlyCow/teleop

Prototype board might work... So excited
Temp fixes for compilation.
Reorganized libraries
Cleaned up libraries and settings
Basically, Jeff's lib (header)

only the documented parts though
Fixed (finalized?) I2C lib
MPU lib source, then I gave up
Commented out stuff I'll never get to

also did some debugging :/
Debugging I2C (MPU)
Finished MCU->NXT interface!!! :D
Debugged (stepped through) &...

minor changes :)
Merge pull request #81 from OlyCow/atmel

Final, except gyro doesn't work yet :(