This is the preliminary communication code for the Xsens MTi. Right now
it can connect to and read a single message from the motion tracker.
It then does its best to the print out the message in hex. It still needs
some massageing to make it easier to read and usable with all messages.

Also, I want to eventually send messages also. I am currently
investigaiting different formats the tracker can output/understand.

Also also, I added a basic checksum calculator called checksum.cpp.
It seems to currently work correctly and I plan on using it to calculate
the checksum values for the message I send.

The fix is in checksum.cpp, it has to do with HexCharStruct. Using this
seemed to fix my issues with converting from char to hex (int but not
really). Next I should try and use this struct in serial.cpp and see if
it fixes the issue. I also worked on structuring a message, should it be
in a vector? Should it just be a char buffer with spaces in between?
Should I instead look into String format instead of binary format on the
MT's side? Not really sure...

… xsensCom

Hopefully I did this merge correctly...

Added a function that takes in an abritrarily long vector of chars and
calculates the checksum for that message. This hopefully allows for the
autimatic calculation of checksum and message construction in order to
send messages to the MT.

Using the struct in checksum.cpp serial.cpp is now able to print out the
chars correctly for humans (except for leading 0s). The next step is to
send a message to the MT and also generalize reading output, right now
it requires "knowing" the number of bytes it will be reading, I guess
this should be already know because of how you program it.
The messages I will be constructing will be GoToConfig,
SetOutputConfiguration, and GoToMeasurement.
I also would like to investigate the String output mode on the device
because it seems like it might make the whole char converting uneeded. I
also need to work on a translator that can translate the hex code into
the actual values we want to read...

I believe I have gotten the conversion working. I am able to translate
the Euler Angles. What I need to do now is develop a better way of
captureing full messages from the MT. I have a plan for that, I'm going
to capute a large amount of bytes, look for where a message starts, and
then go to the correct index to get the data we want. Yeah...

… xsensCom

I think I did this correctly... we will see...