BSHT: Signals and Commands Deep Dive, Ready for Review

As the title says. This is the first of several Deep Dive chapters.

Please read and comment!

https://docs.google.com/document/d/1Q2qKx2INVZI637h-_sthJCnL0nKDPD1qC_gnGhCYzPY/edit?usp=sharing

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