Parses can_definition_sample.kcd

There were some naming discrepancies between what was in the parser function, and the included sample file. I've gone through and fixed all of the ones that I could find. 

KCD files that are created by [CANBabel](https://github.com/julietkilo/CANBabel) will now be parsed and can be used with [Kayak](https://github.com/dschanoeh/Kayak)