Controller event handling

Corrected small bugs in compass biped.
Made sure "Switch" property is kept vertical when adding new pulses to
the controller.
Corrected minor bus in Controller.
Implemented the new torque output calculation with OutM.
Moved the leg extension event from last to 2nd.
Added a method to handle external events (specifically, ground impact) -
STILL NEEDS TO BE CODED
On Test.m now each event calls its class event handler and also event
interaction methods where appropriate.