[ODE] Stops & motors for the universal joint

[Russ Smith]

> The universal joints now have joint limits and motors.  I've tested the
> joint limits in my own project, but not the motors, so I can't guarantee
> the motors will work, but they should.

thanks for this martin. i've made a few minor formatting changes to the
stuff you checked in (nitpicky things). i've also deleted the debug lines
from joints.cpp, as you had the comment:
  // ********** : HEY!!! Remove this, it was for debugging

:)

russ.

--
Russ Smith
http://www.q12.org/