added telemetry.c to handle telem functions, spilt cmd.c into used/unused. pid with hall + telemetry works. A/D (bemf) not working yet.
PD control working with signed velocity values. gyro not checked
gyro checked - works ok. Python updated to tolerate missing packets.
Added cmdGetPIDTelemetry to read one sample of state information
add timeout on getPIDdata in case missing packet
added independent duration for each leg.
minor fix on telem file heading comment to be consistent with telem_struct
scaled i_error for integral feedback to work
position control working after swapping motors and signs
Merge remote-tracking branch 'origin/cmds3' into cmds

Conflicts:
	doc/.gitignore
	doc/hall-velocity-ip2.5.ppt
	lib/.gitignore
	lib/cmd.c
	lib/pid-ip2.5.c
	main.c
	python/Data/.gitignore
	python/keyboard_telem2.5.py