Added a Servo Class to encapsulate servos
Added bbb_ctrl and bbb_cli targets, modified all target to use subtargets
Added a Servo class to wrap PWM for Servos
Added a CRServo class to wrap PWM for continuous rotation servos
Moved MPU9150 class to libraries, added PWM class to wrap PWM sysfs calls
Moved class files to libraries, modified CLI for debugging ZMQ
Modified BBB_Control to add Servo functionality and debugging
Updated protocol