Changed motion calc to be more chanel orrientated.
System works by passing it a struct full of all the parameters for each chanel.

	modified:   motioncalc.go
	modified:   navicomp.go
Added mutex sync when accessing the Bearing data
Ran go fmt
Added basic TCP listner.
Module lacks code to handle lost coms/shutdown.
Also lacks code to limit the number of connections it can handle.

	new file:   tcpComs.go