Added functionality for IR and Sonar Raw data. Added the OI_DUMP functionality (case 4 of the OI handler). Fixed misc. Compilation issues,
Sonar.c and IR.C now both use RX_FRAME(), probably does not use txq_enqueue properly. (Logistically unsure how to update data[] while still reading from data[]) Will seek clarification. Fixed the OI_DUMP functionality; it is no longer atrocious, now uses memcpy.
Merge pull request #16 from asr1/master

Pulled Alex's handlers for IR and sonar reading requests