Addition of controller heartbeat
Interim commit
Interim update
Interim commit
Interim Commit
Interim Commit.  Added timing sighandler to controller to see if can get it to run at the frequency it is expected to.
cleaned tests out of the root code directory
cleaned unstaged deletes out of root directory
Significant refactoring and addition of timing code including rdtsc.  Converted actuator message timestamp to be compatible with ticks if necessary.