Smalltalk commit:

* Removed hack to allow changing direction of continuous servos without reseting the board.
* Added a specific command to PICProtocol to set the direction and speed of continuous servos.
Added new command to specify direction and speed of a continuous rotation servo. Changed the code that performs the servo pwm cycle to take into account possible waiting periods (to avoid board reset when changing direction) and cycle skipping (to control speed). This changes only apply to continuous servos, regular servos will continue to work the same. Also, the code is *really* awful.
Merge branch 'master' of https://github.com/GIRA/Mendieta.git