Fixed mathutils namespace

MathUtils were moved out of the common namespace and into the arch
namespace.
Adding PWMController class

This class can communicate with the PCA9685 through the I2C bus.
Adding test program

This adds a simple Makefile to compile under Occendentalis V2, a
config file to determine how the outputs work, a main file to run
the test program, and a gitignore file to ignore the intermediate
files.