More Quad support+

Have PhantomX Quad working pretty well now.
Fixed some balance stuff.  Original Balance code for Hex needed tweak
for quad.
Needed way to set multiple init leg positions angles different than
servo horns.
How Gait Names are defined has moved...
Fixed Min/Max positions - Before I used actual values I saw from servos,
but legs on right have values inverted in code so need to use actual
logical angles instead.
...