Modified to return the planner's controller in addition to the update function.
Removed leg_model.conf from the ControlsKit directory to avoid confusion.  leg_model.conf should be kept in the directory from which the main script is run.
Added support for deadbands in the leg_model.conf config files.
Commented a line that was bounding actuator commands unreasonably... need to research history of that line
removed a reference to the logger
Added bounding for actuator command.  Previously a command >1 or <-1 would create an error, now prints a warning.
Added debug messages
Added joint angles in degrees to the published values
Optimized robot layout in a design spiral w/ mechanical CAD open.  The proportions of the robot have changed slightly.