ik_move_goal returns longest time for servomove
bugfix
bugfix

bugfix
Fix mismatched EOL's,

Add qMove handle into ik initialisation.
Tidy up centering of arm and delay menu until arm centered.
Use new ik_move_goal function. Update it so that it returns ms to delay.
Add additional ik_move mode into menu. Doesn't seem to work as envisioned.
Make sigmoid movement use delay until for additional accuracy.
Add rudimentary grabber recording in waypoint mode.
Merge branch 'with-menu' of https://github.com/wsheppard/ecd2012 into josh-emu

Conflicts:
	ik.c
	ik.h