Merge pull request #3 from Kinematics/dev

Dev
Merge dev changes to live.
Merge docs
Merge dev
Merge dev
Merge dev
Merge dev
Merge dev
Merge dev
Merge dev
Merge
Live version doesn't have res. resources yet.  Keep that on the dev branch.
Merge dev
Merge dev
Merge dev
Merge
Merge
Merge Fix for handle_set.
Merge
Merge