Merge pull request #10 from tician/master

More additions and fixes for BioloidController motion engine
Updated doxygen comments a bit.  Will probably be making some changes soon to enable multiple BC objects to utilize the same single "Play()" or "play()" function to update all servos used by all BC objects in a single call.  A bit like the DARwIn-OP where each object has a full list of servos and the central update function pulls goal positions in ascending priority from the objects.
Merge branch 'master' of git://github.com/robotis-pandora/ROBOTIS_CM9_Series