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 branch 'Cory' into Ben
left main.cpp out of merge

Conflicts:
	main.cpp
updated merge to buildable state (renamed f_kin_solver_3dof, added L0)
completed update functions. builds, doesnt work.
fixed DH parameter initialization