Joystick Controller Communication port

[jdcaporale]

Work done by @chandravaran in a different repo with very minor edits (comments and name changes).

Adding joystick controls Python scripts.
Added features:

• Configurable controllers, JoystickAbstract
• Logitech and Xbox controller example classes
• Example script for sending LCM kinematic twist command [x_dot, omega]

Issues:

• Some of the maps seem backward or redundant in how they are defined and used. We may want to have human-readable names that get mapped to the hex addresses instead of the reverse. Or at least maybe some master gamepad input list e.g. left-stick, south-button (instead of "A" or "X"), assuming some minimal button set, and if it is missing a mapping function that replaces it. Overgeneralizing may be a problem here so mostly we would just want XBox, Logitech, Playstation, Generic or something.

Todo:

• Add the controller_command.lcm struct
• Fix the mappings to be more useful to a general audience
• Perhaps draw up an example where more buttons are used e.g. expanding the twist command to be able to jump with "A" button
• Make an example script that runs with a BehaviorIOin a simple robot.
• YAML configuration of the controllers