added gtest-1.7.0 in the gtest folder
base station prog_uint8_t -> uint8_t

wouldnt compile with the old type
removed firmware/base_2009

Our current base station uses the 2011 firmware, the base_2009
stuff hasnt been used in a while, as far as I know
setup gtest!

run `scons test` to build and run all tests
add tests to test/SConscript to include them
Merge branch 'gtest'
Merge branch 'master' into motion-control-angle