Add Support for Ultrasonics

[apozharski]

Add Ultrasonic support, with the following key features:

• Non-blocking
• Able to interrupt command state to avoid collision
• Send to jetson an alert when doing taking evasive maneuvers.

Possibly useful features:

• Query-able from the Jetson

[apozharski]

Moving this to co-processor per IRL with @geekman7473 and @syan6812

[geekman7473]

co-processor work complete. beginning work on basic collision avoidance.