Moved to Fuzzy Logic Controller

Now running a fuzzy logic controller, more rules to be added with
simulations to test the behaviour
Some adjustments, FPU enabled

FPU is enabled, fuzzy controller code is used directly from where its
created
Moved to new HAL drivers for stm32
Updated control system & serial link

Corrective steering works, serial working (unstable), started work on
wheel speed feedback
Merge pull request #17 from hammerfet/Dev

Dev