CheckNewMessage: Takes Nothing, Returns an unsigned char
If NewMessageReceived Flag is Set
	Clear NewMessageReceived Flag
	Return 1
Otherwise, No Message was Received
	Return 0




CheckTransmit: Takes nothing, Returns an unsigned char
If TransmitFlag is set
	Reset Transmit Flag
	Return 1
Otherwise 
	Return 0

ReturnDataSize: Takes Nothing, Returns an unsigned char
	Return byteCounter

QueryMesssage: Takes an integer Index, Returns an unsigned char
	Return messageArray at appropriate index number



InitComm: Takes Nothing, Returns nothing
For Transmission:
	Enable asynchronous serial transmission port
	Enable Transmissions
	Enable High Data Rate
	8-bit Transmit
For Receiving:
	Enable asynchronous serial reception port
	Enable Receptions
	8-bit receive
	Disable Address Detection
Baud Rate = 9600 bps (0x81)
Set all state flags and Counters to 0

EnableInterrupt: Takes Nothing, Returns Nothing
Set Interrupts On



ReceiveMessageSM: Takes Nothing, Returns Nothing
If current State is WAITING_FOR_START_BYTE
	If Byte Read is 7E
		Message Received, Wait for the MSB
		Start Timeout Timer
If currentState is WAITING_FOR_MSB
	If Timeout Timer has Timed Out
		Return to WAITING_FOR_START_BYTE State 
	If we received a byte
		If we received a 0
			Start Timeout Timer
			set nextState to WAITING_FOR_LSB
		otherwise message was corrupted
			return to WAITING_FOR_START_BYTE State



If currentState is WAITING_FOR_LSB
	 If Timeout Timer has Timed Out
		Return to WAITING_FOR_START_BYTE State 
	 If we received a byte
	 	Set Next State to WAITING_FOR_DATA
		Restart Timeout Timer	
		Initialize the CheckSum and Save the Size of Message
		Initialize the byteCounter



If currentState is WAITING_FOR_DATA
	 If Timeout Timer has Timed Out
		Return to WAITING_FOR_START_BYTE State 
	 If message was received
		Restart Timeout Timer
	 If messageLength is 0
		Set nextState to WAITING_FOR_CHECKSUM
	 Else	
		Set nextState to WAITING_FOR_DATA
		Decrement messageLength
		Add the ReceivedMessage to the running checksum Counter
		Store the ReceivedMessage into the messageArray
		Increment the byteCounter




If currentState is WAITING_FOR_CHECKSUM
	 If Timeout Timer has Timed Out
		Return to WAITING_FOR_START_BYTE State 
	 If message was received
		nextState is WAITING_FOR_START_BYTE
		If 0xFF - Checksum is equal to the received message
			Good CheckSum Received, set checksumError flag to 0
			Set NewMessagedReceived Flag to 1
		Otherwise
			Message was bad, set checkSumError flag to 1
Set currentState equal to nextState




CreatePacket: This function puts together a packet to send
	      Input Bytes(unsigned char): To Address MSB/LSB, Length, Options, Command Type, and Data Array 
set Packet 0 byte to START_MESSAGE
Set Packet 1 byte to 0x00
Set Packet 2 byte to Data_Length + 6
set Packet 3 byte to API_TRANSMIT value
Set Packet 4 byte to 0x01
Set Packet 5 byte to MessageAddress MSB
Set Packet 6 byte to MessageAddress LSB
set Packet 7 byte to Options
set Packet 8 byte to CommandType
Initialize Checksum byte to the sum of bytes 3 to 8
For the amount of bytes in the data message
	Store the appropriate bytes into packet
	Add the byte to the running checksum counter
After the end of the Packet Data, the Checksum byte is 0xFF - Running Checksum Counter
Save the Data_Length
Set the NewMessageFlag HI



TransmitSM: Takes Nothing, Returns Nothing
If CurrentState is WAITING_FOR_PACKET
	If transmit Timer has expired
		Turn off Send Debug LED
		If NewMessageFlag is True
			Clear NewMessageFlag
			Reset Counter to 0  
			Set CurrentState to WAITING_FOR_TRANSMIT
			Reinitialize the SEND_LED_TIMEOUT
			Turn on Send Debug LED
		Reinitialize Send Timer
If CurrentState is WAITING_FOR_TRANSMIT
	If Counter is less than Data Length + 10
		If Transmission is Ready
			Set the transmit register to the current Packet Byte
			Increment the Counter
			Set SendCounter to Counter
	Otherwise
		If Transmission is done sending
			Set Transmit Flag to 1
			Set Next State to WAITING_FOR_PACKET
ProcessMSG: Takes Nothing, Returns Message_t
If API Byte was API_RECEIVE
	If Receive Option is 0
		If Command Type is a Atoll Reply
			 If Message was ATOLL_SUCCESS
				Set ReceivedMessage to AtollSuccess
			 Otherwise if Message was ATOLL_FAILURE
				Set ReceivedMessage to AtollFailure
		If Command Type was FIND_TEAM
			 Set Message to TeammateACK
		Else if Command Type was COMMAND_C2B
			Set ReceivedMessage to DriveCommand
	Otherwise message was Broadcast
		If Message Command was BROADCAST_CAPTURE
			Set Received Message to AtollCaptured
			Otherwise if Command was FIND_TEAM
			Set Received Message to ColorBroadcast
Otherwise Message was a Transmit Status
	If message was a succesful reception
	Set Received message to ModemAck
Return the ReceivedMessage type