Update nuts_bolts.c

Removed __floatunsisf and used normal casting on line 81. 
This makes it compatible with the Arduino IDE.
Update planner.c

Removed inline from all functions. 

If this is really needed is there another way that we can get 
around using it? (The Arduino IDE does not recognize it) 
Merge pull request #201 from Protoneer/master

Made a few changes to make the code compatible with the Arduino IDE. Sorry about the tardiness!