Moved some sensors to different timers
Most notably, change the ROS millisecond counter to share the BOM 38 kHztimer instead of having its own. The range sensor and BOM rx will nowshare timer 5, but they both have to be fixed for the higher F_CPU.
Some fixes to BOM, which is now tested and it works
Added initial BOM code
Only the sending code has been tested; receiving will soon be tested aswell.