added pwm and io C++ wrapper
added pin registration
misc bug fixes
completed pwm
changed pwm.cpp/.h to pca9685.cpp/.h
cleaned up file structure
general development
added rgb -> pwm led code for the robot face
added pan tilt functionality
general bug fixes
switching from bcm library to wiringPi due to i2c issues
merge
Makefile merged
ported gpio code to wiringPi
Merge branch 'dev' of https://github.com/tritonesub/robot into dev
added color palette to face
fixed rgb pwm defects