Started to develop the save replay funcitonality.
Merge pull request #1 from wsheppard/ik

please merge me...Ik
Merge branch 'master' of https://github.com/wsheppard/ecd2012
Added will.c
Merge branch 'master' into will
Merge pull request #2 from wsheppard/ik

Ik
Adding to debug.
revert back to messageDATA

Now again using the 32bit messageDATA slot of the messaging system.
The bit map consists of b0 = direction, b1-b4 = servo id and b5-b20 as
the pwm value minus its 50000 offset.

The sending side of the calc_IK has been modified, but the receiving
side in move_main_task needs adjusting to unshift and un mask
everything...
msgMessage back to former glory - ik finished

The ik now sends a message conforming to the initial msgMessage struct
consisting only of ID and DATA.
The bitmap is as follows:
<31:21 -PWM_SPEED><20:5 - PWM_val - offset><4:1 -ServoID><0 - Direction>
Removed the hacky pointer way of writing to hardware, replaced with HAL provided macros.
Some changes to move towards the specific movement functionality.
Setting delays to 0 as force reschedule. That's all we need to do here.
Added some useful time-based macros
Odd permissions issues
Merge branch 'master' of https://github.com/wsheppard/ecd2012
More permissions weirdness.. probably becuase eclipse is windows based
Merge branch 'master' into SpecificMovement
Added another time macro
Added some more messages for the sigmoid movement. And implemented the code. This hasn't been tested yet.
Removed some unneccessary multiplys