Ok I found the solution to my problem.

I needed to add some #defines to the config.h file.There is an ifdef in the uart header that wraps the functions for uart1 and if it is not defined true then that portion of the header is not included.

Here are the lines that needed to be added.

#define CFG_USE_UART1   1
#define CFG_UART1_RX_BUFFER_SIZE    128
#define CFG_UART1_TX_BUFFER_SIZE    128


P.S. Thanks Dave for all of the code you wrote for the robostix! It has saved me alot of time.