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Add Inverse Kinematics Implementation of the Webserver #9

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All inverse kinematic computation code is in inverse_kinematics.c, we've made minimal changes to existing code.
The program takes in co-ordinates from the web-server, applies inverse kinematics on it to converts them into suitable angles and passes them to main.c.
The function applyInverseKinematics() is called in the tuning_http_server.c file in the read_servo_const() function.

Do suggest changes if any are required

@toshan-luktuke toshan-luktuke changed the title Added Inverse Kinematics Implementation of the Webserver Add Inverse Kinematics Implementation of the Webserver Feb 12, 2022
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