Merge pull request #40 from pstephen43/master

sync up
Changed a comment
fixing some bugs
cleaning up log format
Merge pull request #207 from PJTNT11/master

sync up
Merge pull request #208 from K-McK/master

sync up
cleaning up logging
Merge branch 'master' of https://github.com/pstephen43/FTC5037GR
Merge pull request #209 from K-McK/master

the ramp changes and the EOPD changes
Merge pull request #24 from pstephen43/master

sync up