Rewritten Sabertooth code

Has not been proven to work. Libraries won't work for some reason.
Fixed typo
Working version of Sabertooth code.

Basic human interface. Responds to all cases correctly.
better working version of control code

placed state switcher in switch-case format for clarity. added e-stop,
manual, and status cases
Merge pull request #5 from spsuauv03/master

Getting this ready for makerfaire