updated message tested - ok, IK module crashes...

The IK module seems to starve off other tasks running... it is running
within the manager manager module, so it might need a higher priority...
IK angles work! servoVals not yet

The IK works given the current position as hardcoded and produced the
expected angles for each joint. The conversion of angles to PWM values
for the servo still needs work.
Some function to input a goal position is obviously still missing.