Revert "Revert "Merge branch 'master' of git.ece.iastate.edu:danc/MicroCART_17-18 into batch-setpid""

This reverts commit b9292f1c.

Yes, this is a revert-revert. Brendan broke all the things.

This reverts commit 293b9d07

There might be some lingering old uses of "xyzcontrol"
instead of "xyzparam", but whatever.

cmHandler ready for cmToStr() and strToCm() functions

Prepared for parsing the new data formats. Data isn't formatted
or parsed yet, though.

No more memory leaks! Unfortunately each memory leak was replaced
by a potential buffer overflow. Basically, the code was riddled
with functions that accept a char ** data, which
is malloced and then formatted. This was then leaked.
Now, it accepts a char * data, which is allocated on the stack
by the calling function. However, there is no bounds checking,
because that is slightly more involved.

See todos in format_command and parse_packet.

- Changed C standard
- Changed wpedantic to pedantic
- Deleted some unused code that used nonexistent time functions
- Fixed a bug with VRPN

Added nanosleep to make rate work right, also
switched from -t for total time to -c for count

Monitor should totally work, as should backend/frontend trackerdata updating