Add Sphinx-based documentation; convert existing docstrings

[davidjb]

A solid start to issue #21 - this creates basic documentation with Sphinx, adds and exposes the API documentation, converts existing epydoc strings into Sphinx autodoc format, and converts the existing Readme over into reST format -- still displays nicely on GitHub with the .rst extension :)

If this looks good, then adding the repo to https://readthedocs.org/ will make it so that documentation gets automatically built on repository changes.

[coveralls]

Coverage decreased (-0.06%) when pulling a8942ea155f73e90aa8a65d9c8d0ba452f0b8825 on davidjb:master into 8b848c0453e7e5ecea3441bb78feb8489e5c0d7c on faucamp:master.

[faucamp]

Looks great! This is indeed a great start. Thanks a lot for your assistance, I really appreciate it.

[davidjb]

No problem, glad to help. The least I can do since you've done the hard work with the modem operations!

Unsure if you'd had a look through the documentation, but this goes and exposes the source code for each of the existing examples, as well as most of the modules as a rough start at an exposed API. This could definitely be tidied up later on -- for instance, some parts of the modules and classes may not need to be exposed like this -- but that just becomes a matter of minor modifications to the configuration in a file like docs/api.rst.