Renamed stubby and universal controller project folders
Merge branch 'master' of ssh://digitalcave.ca/~/avr
Renamed source files from hex to stubby
Basic ripple gait with the new chassis and leg design.  Works great on smooth surfaces; carpet is a bit more difficult due to raising the tibia.
Re-enable the controller; Stubby can now go forward, backwards, turn in place, and (in theory) veer (although the veering is not working great).
Adjusted delays and angles to give a more efficient gait.
Now that the frame is strong enough to support itself on three legs, we can use tripod gait.  This allows for much faster walking.
Deleted unused files, and increased stride length
A few tweaks to timing and angles
WIP on simplifying comm code for stubby / universal controller.  Does not currently compile.
finished converting to use the new universal controller protocol, which should make for cleaner, more procedural code.
Converted Stubby to use the analog joystick for movement.  While doing so, I updated the universal controller's protocol for reading digital buttons, and added a client library for projects using the universal controller (lib/universal_controller/client.h) which includes some defines which are helpful in reading the controller's output.
Change to comm code; we now report all analog stick values, without a dead zone in the center.  The dead zone logic is now handled in the gait calculations, where we now have four distinct cases: 1) only velocity, no direction 2) velocy and direction, velocity > direction 3) velocity and direction, direction > velocity, 4) only direction.  This allows for straight walking, veering at different speeds, and turning in place.
Change some macro functions to inline functions (more maintainable, just as fast)
Servo's set_angle function now uses the PWM batch setting.  Implementors MUST call servo_apply_batch() to apply the change.
Remove offset value in legs

With the new design, offset is adjusted mechanically using push rods.
Change delay step to be 20ms (same as PWM period)
Decrease initial startup delay
Better bounds checking for calculating leg step
Updated Tripod gait to take advatage of stepped servo movements

This makes for more natural looking movements, especially when walking
slowly.