Clean code
Add an abort head initialization
Comment printf debug
Merge branch 'refs/heads/dev-william'

Conflicts:
	robot-server/linux/robot-server
	robot-server/source/animation.cpp
	robot-server/source/image.cpp
	robot-server/source/threadmotor.cpp
Clean code, fix speak bug, fix slope bug
Merge branch 'master' into dev-william