Fixes to ip socket argument, undefined graceful_disconnect, and added documentation for socket connections

[JRogaishio]

Changes:

• ip command was using the wrong index when sending the port number. Instead it was sending the string ip instead of the defined port number
• graceful_disconnect is not defined and causes the project compile to fail
• Added documentation for socket connections so it's clear what the project is expecting for UDP messages
• Moved .md documentation to /docs folder to cleanup the project root. Also updated all the paths in README.md to use relative links so any forks point to their own documentation version