Move Biped into a separate file.

Use auto update discrete variable to manage SIMBICON state.
Using auto update discrete variable is working now.
Comparing both SIMBICONState and _state.
Reverting back to using SIMBICONState in an event handler.
Only use the event handler for computeSecondaryStateVals.
First attempt to use my new gain system.
Use non-original gains.
Use my new system for strengths/gains.
Start using coordPDControl.
TODO
using mobForces instead of controls.
Using mobilityForces is unsuccessful.
Mixing mobilityForces and controls.
Gradually moving toward new PD control system.
Replace PD control to 0 degrees with new coordPDControl method.
Using old system for non-0 coordinates.
Adding hip flexion/adduction PD control.
Add error check.
Move hip flexion and adduction to coordPDControl.
Got coordPDControl working.