read's rfid now when motor is connected. goes in to a read state, moves arms towards reading area (not correct yet) and turns off motors then reads one at a time.
added a lot of comments with todos. probably not exosted.
added comment.
added more comments on improvements.
Added testcode for reading of tags (turning on led when recognizing tag,
check if tag is recognized without serial output).
fixed a curly braze bug in the new checktag function.