Moved canvas code to its own class in src
Cleaned a bit, Canvas class IS NOT WORKING
added basic qt window code
fixed Canvas to be able to run in main

Added an image of a robot arm, but still need some changes that im
working on
Canvas class is now shown inside a Qt window and not an Open GL window
Removed GL drawn controls, added Qt controls: spinboxes for selecting movements, paint button
Merged qt branch into canvas, fixed conflicts
Minor cosmetic improvements
Merge branch 'canvas' into arm