Refactored txq functions into txq.h and txq.c and added txq_init()
Added subssytem enum, began work on handlers, finished rError and defined abort_command(). Started dispatch, added control global variable. settled on protocol. (start, signal, subsystem, subsystem commands, data, stop).
Updated status messages, fixed some comments.
Outlined all subssystem switch statements and function pointer array, outlined plan of action (HOW DO WE READ THE DATA FRAME???) need to check with David about ping.
Merge pull request #5 from asr1/master

Merging changes to rover's comm protocol