Forward Kinematics were tested and worked as expected according to hand
calculations.  Inverse Kinematics were slightly off compared to the
Javascript source file as noted in the KosselKinematics.c file.  Once
the Inverse Kinematics calculations were adjusted to match that
Javascript calculation set both forward and inverse kinematics matched
hand calculations and were able to calculate forward and back off of the
same data input.  Small formatting changes were also included in this
commit.

Close #5