1. Added a spiking current synapse to connect cuda neurons to IGF and firing rate neurons.
2. Added external synapses to the neural modules to make it easier to add synapse between items in different neural modules.
3. Added a way to specify different links and adapter connections for items between modules.
1. I have the CUDA library now fully connected to the physics. I can stimulate IGF neurons now based on the spikes from the CUDA library.
2. I modified the RbFirmataDynamixelServo to detach from the Arbotix when it shutsdown to prevent it from continuously sending updates.