Moved PuppetState into PuppetController class
Changed limb states to int arrays.
Changed message to byte array.
FIX: Shoulder rotation calculation.
FIX: Make sure Main works with new PuppetState/message type
Ready to send byte messages?
New struct is working and messages are sending.  Still having issues getting commands to servos though.
Servos are talking again with the new message structure
Code is much cleaner (I think)
FIX: Some position values are not clamping correctly - occasionally the servos swing all the way around.