Changed serial interface to use non-file commands.  Added dependency on libserial, instructions in readme.  Tested on hardware: writes to motor driver work
Started developing diff drive basecontroller node.
Update base_controller_node.cpp

Added Eigen for linear system solution of differential drive dynamics.
Debugged base_controller_node and CMakeLists so that it compiles and runs.  Needs testing still.
Added debugging output to base controller node.
Added fake physical parameters for testing and changed debugging output to print floats.
Changed parameter values in base_controller to more closely resemble prototype
Factored Base Controller and made math for differential drive work.
changed print type on base controller node to double.
Factored out one function, fixed stuff.
Minor commenting work done to motor_node
Merge branch 'BaseController' of https://github.com/SquadCollaborativeRobotics/CollectorBotReal into BaseController
Template for speed controller started.
Changes to Speed Controller
Removed arduino code after moving libraries to arduino repo
Changed Feedback controller and removed unnecessary import
Added a speed controller message for diff drive.  Changed Speed Controller from class to node.  Began Testing.
Updated Motor control with proper parameters and bug fixes.  Tested and works on Hardware.
Merge pull request #2 from SquadCollaborativeRobotics/BaseController

Looks good
Temp commit for merge