Merging a bunch of forks, cleanup, bug fixes #94
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I pulled together changes from various forks, did a bit of code cleanup, and changed resolved some issues. I do have a lot of proposed changes in this pull request, but I did my best to break things down into smaller commits to make it clear if it was a cleanup task, refactor, or making an actual code change. Things are tested and working on my hardware. I've executed a number of minor test scripts, as well as a 100Kb test file without any issues.