Added I2C generic device, BNO055 and restructured devices hierarchy

[vcrocher]

Changes:

• New class hierarchy with low-level generic I2C and CAN Devices classes
• Most inputs and joints derive from CANDevice or I2CDevice and/or another device type (dual inheritance)
• Robots now to use addJoint() and addInput() methods in constructors (instead of directly accessing Joint and Inputs vectors)
• CAN vector is automatically created for each robot when devices are added
• Addition of BNO 055 IMU over I2C (but slow)