add most of the original controller material back in

Turns out that that SPD controller is way, way better than PID. Sounds good to me.
hook up controller with a fixed target.
add hubo libraries
We can read and execute refs!

Everything works except hands and head, which need extra
processing. Hands don't work because they have a single dof actuating
three joints, head doesn't work because it's a little tiny parallel
manipulator.