Firmware for 16-DOF Humanoid

Firmware for Humanoid robot. Can be extended to work with any n-DOF robot by editing configs.hpp.

Commands are sent serially on COMMAND_SERIAL (defined in configs.hpp)
Commands are terminated by a newline(\n), return character(\r) or semicolon(;)
Motions are saved as animation arrays, in configs.hpp
In a ANIM_*_STEPS, a queue is maintained for every servo, and all joint queues run parallely.

Command	Syntax	Description
	Move Joint
`M1`	`M1 i`	i = joint_number (1-17)
`M2`	`M2 i a`	a = angle in `degrees*10`
`M3`	`M3 i a t`	t = animation time, in millis
	Play animation
`P1`	`P1 i`	i = animation number
	Queue animation
`Q1`	`Q1 i`	i = animation number
	Move servo by us (microseconds)
`U1`	`U1 i`	i = joint_number (1-17)
`U2`	`U2 i a`	a = angle in `degrees*10`
`U3`	`U3 i a t`	t = animation time, in millis

Adding animation