[master] Updated library with scan function
[master] Fixed searching and adding a sent count
[master] Added error checks and cleaned up

The controller code was getting really messy with all the debugging. I cleaned it up. The i2c sending logic is in its
own function now. I check that we actually get a ds4 object first. Also removed lots of the print outs and all
unnecessary variables
[master] Whoops, forgot to add result