Merge pull request #2 from dwtj/master

Ping/Echo fix and generalization
Refactored stuff, and split up the subsystems with current specifications.
Added functionality for IR and Sonar Raw data. Added the OI_DUMP functionality (case 4 of the OI handler). Fixed misc. Compilation issues,
Merge pull request #9 from asr1/master

oi, ir, and sonar functionality