now servos inheriting from one pure virtual class
leg now using virtual gservo class
renamed servo to hardservo
renamed gservo as servo and servo as hardservo
renamed servos array as sservos
add delay parameter to crawler; moved leg constructor to imp file
standardized spacing
using adders with << operator
gave stepadder class a reference to numsteps
turned stepadder into stepper and made it do all the work
move substeps to a parameter from a macro