Created the index for the encoders
Created the Basic structure for the encoder protocol bridge
Still need to implement on getting the count on the encoder, but messages should be able to send via a function call
Index in lib_types.h updated to handle the the indexes for the encoder messages
Completed the protocol for the encoders. Still need to update the library for sending timestamps
Last part on encoder side is counting ticks.
B

Implemented the protocol for encoder. #closes 34