FireFly 2012 v3: restructured into Data/Converter/IK/Servos classes, IR remote, ultrasonic radar head

From 'hexapodV3 28-april-2012-Backup.rar'. Oud/ is the 2011 code it was based on.

2011-firefly-mega-ssc32/firmware/2012-ir-radar-gps/hexapodV3/Oud/atan2.cpp

@@ -0,0 +1,15 @@
+// atan2.cpp
+
+#include "atan2.h"
+
+void joy::JoyToDegAndDis (int x, int y)
+{
+  deg = !(90 + degrees(atan2(y, x)));
+  distance = sqrt(y^2 + x^2);
+}
+
+int  joy::JoyToDeg (int x, int y)
+{ // watchout 90 + does not work good
+  return !(degrees(atan2(y, x)));
+}
+