added more metainfo to lvl1 (for the robot unit)
added helperfunctions to the robot unit + updated the recommended implementation

all functions called in rt now have the rt prefix

added lvl1 controller interface (+ template for buffer swapping)
added lvl0 controller interfaces
added controlmodes namespace + default control modes
all data units now are splitted into an interface (this has to be implemented) and a ptrprovider (this is a conveniene class. it stores pointer and implements the interface. if all data is already somewhere in ram, you can set the pointers of this class and have a working data unit)