v2.1.0

Major enhancements:

• Trot walking gait added
  • Steps follow a cosine curve and the amplitude/period of the cure is configurable in Config.h
  • Walking speed can be modified in Config.h

Minor enhancements:

• Kinematics engine unchanged except that the (0, 0) x-y position is now under the shoulder, not the bearing; writing a 0, 0 position to the foot will cause the leg to stay straight