Fixed really stupid bug >_>
Clarified parity issue as a separate error value
Returning sane angles again

broke apart reading into raw_ and an averaging version
also added mirror code
rollover still broken
fixed rollovers.

dur
Improved error-handling functionality
Added a couple sanity checks

-reboot AS5050 on arduino initializtion (fixes issues caused by uploading a sketch during a read)
-initialized mirror
had bits in the error status backwards