Added readBytes function to I2CChannel

This method allows you to read multiple bytes at one time from an
I2C device.
Modifications to archdaq arguments and format

archdaq no longer accepts any command line arguments.  It also
prints out the results in a space-padded format so that it is easy
to read rows of data as the data is streaming by.
Made the magnetometer more efficient

The magnetometer now reads all the registers from the device over
I2C in one call.
Modified archd to work off of IMU

ARCHD now works off of a FreeSixIMU instance that gives it its
orientation.  The Stabilizer class now does the heavy lifting of
integrating a PID controller with the FreeSixIMU class to control
the outputs of the servos.

The ports of the sevos have been changed in the config file and the
PID parameters for the stabilizer have been added to the config
file.

The gain for FreeSixIMU was adjusted to make it home to north much
faster.  This may prove to be too much in later testing due to
magnetic interference.
Fixed bug in PWM controller

The PWM controller was not setting the frequency properly.
Made attitude visualizer show wireframe
Status at first successful yaw dampening

This modifies several constants including the FreeSixIMU gain, the
servo frequency, and the PID parameters of the stabilizer.

This also reduces the iterations waiting for the gyroscope to
stabilize and sets all of the servos back zero after archd has
completed.