Merge pull request #53 from pstephen43/sr_dev

sync up
added more doxigen stuff
Merge pull request #223 from PJTNT11/sr_dev

sync up
Merge pull request #54 from pstephen43/sr_dev

sync up
Merge pull request #224 from K-McK/sr_dev

sync up
Merge pull request #225 from K-McK/sr_dev

the s2 fix
changes unknown
adding variable to control drive speed
Merge pull request #226 from K-McK/sr_dev

S4 changes
Merge pull request #227 from PJTNT11/sr_dev

code clean up
Merge pull request #33 from pstephen43/sr_dev

sync up