Merge branch 'josh-emu' into with-menu-waypoint

This includes the addition of menu and replay modules as their own entities and also implements waypoint based record and replay.

Manual ik-mode has also been started though is a little buggy for now.

ik module has been given an init function so that it already has a handle to the movement q.

ik_move_goal has been altered to return time of longest movement in ms.

replay and sigmoid move use delayuntil function to prevent cumulative error from scheduling.
Make sure grabber is recentered after mode change also
COuple of changes
ik mode kinda works but will spasm out at some point
Print non menu messages to stderr
Merge branch 'with-menu-waypoint' of https://github.com/wsheppard/ecd2012 into josh-emu

Use stderr for non menu messages

Conflicts:
	keypad.c
	manager.c
	menu.c
	menu.h
	movement.c
	sigmoid.c