Implemented 1D PID controller using 'fakeLeg' class that acts as one degree of fredom of a leg, tuned using the implemented PID class to reach a final value. Takes into account travel time of leg. Can tune PID parameters, travel time, max angles fairly easily. I will expose these for customization in later versions. Now onto tuning these parameters, matching them with the Raspberry Pi - Arduini serial line, and selecting proper refresh time (this will be limited by serial latency).

Also: Removed all of the cached Python files. These should never have been committed -- everyone should have their own local copy of .pyc files.