Built out DH, T Matrix, and F. Kinematic Classes

f_kin_solver_3dof takes 3 sets of DH Parameters to build the T_Matrix
for each link, then the full 0-3 T_Matrix and stores them for later use.
Added functions to allow updating the DH Params

Added functions to allow updating of Theta and the Base Length for the
painter bot, as well as updating the matrices.
Rebuilt kinematics and functions for UI

Redesigned the kinematic solver to include all links in bot to correctly
produce movement and link positions. Redesign updateTheta and
updateBaseSlider to return the list of joint positions for use by GUI
and take input from Joint Control
Merge pull request #1 from MoffMade/Cory

Cory