Added simple test for control system manager.

Just a simple test for a refactored function.
Factored out some control loop related code.
refactored some control system loop.
Created a new module for math functions
convert from table to robot.
Moved interpolators to trajectories.
Added a function to delete trajectories.
Added a function to copy arm trajectories.
Added mock tests for uptime.
Added arm.c to build

Still got a long way to test.
Added some tests for arm_init.