Cleaning up the I2C Library Code a bit

Signed-off-by: Dominic Baratta <dbaratta@buffalo.edu>
Updated file to use the uavPrint function and added in logic to wait for
I2C reads / writes to actually finish

Signed-off-by: Dominic Baratta <dbaratta@buffalo.edu>
Changed usartTransmitString buffer from 50 to 128

Signed-off-by: Dominic Baratta <dbaratta@buffalo.edu>
Adding in uavPrint function which is really just a wrapper call to the
super-long usartTransmitString

Signed-off-by: Dominic Baratta <dbaratta@buffalo.edu>