Many organizational changes in code

Nearly all of the issues that have been listed are now fixed, but the
latest code is yet untested. This also includes multiple versions, but
from here out their should simply be one beta file, and it should be
uploaded to the beta branch until tested.
Main code updated + a feature demo

BETA - Untested with some know errors
The robot arm program was further organised. Also set to only print its
position when the position changes. A feature demo was created
showcasing the new features (encoder, button, force resistor)
Merge pull request #27 from LordGonk/Beta

Beta