Removed unused file
Programmed leg_model.conf with valve deadband offsets derived empirically
Added get_deadbands planner - This planner moves the leg to a central position, then slowly ramps up the valve commands until it detects motion for all DOF.  It then records the required valve command
Added the empirically derived deadbands from the valves
Corrected bug in calculation of published angle values in degrees.  Added controller target angles to the published values
Added controller target angles to the published values