4 states

[shardros]

Currently shepherd has the states:

• READY
• RUNNING
• STOPPED

Really there is a period of time between when the usercode is started and when it is ready to run, this is the "INIT" state. For now READY has been renamed to INIT but a new READY state needs to be re-introduced. In this state code has reached the break point in robot.Robot() but has not yet been sent the start signal.

Hopefully this does not block #3

[shardros]

This would allow us to kill or say something about the usercode if it doesn't reach ready within a timeout