moving globalRobotTree.c to functions
Added functions for update and creation of the COM trees, need to add rotate around COM
Merge branch 'master' of https://github.com/mrsl/rone into zak
Took out cprint in gripperBoard.c, added orbit function in globalTreeCOM.c/.h, added gripper functionality to globalRobotTree.c
Added comments
Merge branch 'master' of https://github.com/mrsl/rone into Mathew
Merge branch 'master' of https://github.com/mrsl/rone into zak
Bug fixes in RCC