non-compiling version of firmware
added new_firmware/main.cpp
added communication spec outline
witnessed the first glimpse of working new firmware
merging...

Merge branch 'master' of https://github.com/jwbowler/maslab-2014
updated main.cpp in new firmware; currently fixing java serial and about to add more device classes
Added digital in/out and pwm out devices to firmware

Not compiled!
changes which will hopefully compile
MaslabComm and new firmware are working with cytron, IR, and gyro
MaslabComm has ultrasound working
added encoder support to MaslabComm