Added differential input comptibility:
One can now give a differential input in the form of strings A, ... , F to the Autobed and get it to move.
These inputs will have to be published on the \abdin1 topic.
Baby Step 2 Done: Autobed now takes static data from a YAML file in the params folder and goes to desired position
Intermediate Stage Code for passing service names and Topic names to Phil:
This commit may NOT work completely. One sensor died before I finished testing. I am commiting it so that Phil gets the names of all the services and topics
Added Publisher to send a list of keys to the web interface:
A list of saved positions and differential commands is published to /abdout1 every now and then, so that subscribers may update their GUIs
Added a file for the merge