Merge pull request #60 from OlyCow/autonomous

[HOTFIX] "Wait" programs.
Merge pull request #61 from OlyCow/teleop

Comm link rewrite and swerve 2.0 (still needs some attention).
Merge pull request #64 from OlyCow/teleop

Teleop finalization! Only some double-checking left
Merge pull request #67 from OlyCow/teleop

Added some comms stuff; finalized changes over weekend
Merge branch 'master' into autonomous