Undo changes from master on herkulex and CortexM4.
Doxygen file headers, added author info.
No heap allocation for GetInstance.

Removed static member 'Herkulex::instance', instance is now a static variable
in 'GetInstance'.
New protocol

This is a rebased tree. Too much changes and I didn't care splitting properly the commits.
Merge branch 'Herkulex' into final

Conflicts:
	cartectrl/cartectrl/control_scripts/v2/proto.lua
	cartectrl/cartectrl/src/main.cpp