Added thread rework, and cleaned up Tacos startup

Tacos/include/sta/tacos/thread.hpp

@@ -61,13 +61,16 @@ namespace sta
 			/**
 			 * @brief This function is executed first when this thread is started.
 			 */
-			virtual void init() = 0;
+			virtual void init();
 
 			/**
 			 * @brief The body of the thread's loop. Has to be implemented by the user.
 			 */
 			virtual void func() = 0;
 
+
+			virtual void cleanup();
+
 		private:
 
 			/**
@@ -75,8 +78,10 @@ namespace sta
 			 */
 			static void entry_point(void* arg);
 
+		private:
 			osThreadId_t instance_;
 			osThreadAttr_t attribs_;
+			bool running_;
 		};
 	}
 }