Basic Movement Classes

As the pieces slowly fall into place, more tangible progress is being made! There are now two abstract movement classes: Dynamixel and Robot. Both are fairly self-explanatory:

• A Dynamixel represents a single servo on the robot, and contains information about its protocol, id & current values as well as providing functions to move it
• A Robot is a group of servos, containing a Dynamixel object for each servo as well as functions to move them as a group

With this code, it becomes fairly trivial to start moving the robot around on the terrain. However, more improvements must be made to the code base before we arrive at that stage.