Changed activeRequest and readyQueue to local definitions
Defined taskArray locally
Defined kernel structures localy to automatically place them on the stack.
Structures are pointed at by a set of static global pointers
Reversion of previous change
restored MAX_TASKS
made nextTID a local static.

made activeRequest local to main
updated where the check on available TDs is done
pass in a reference to activeRequest as a parameter to getNextRequest
and handle to keep consistent with how they are defined in the header
Revert "updated where the check on available TDs is done"

This reverts commit a5b79b5bd86a7c43686f1432066760fcb5243fc9.
Revert "made nextTID a local static."

This reverts commit c1fd0065e152b40217ceb97e2544ee3d1f7e1344.
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