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Created with Raphaël 2.2.04Aug7Mar4Aug3Apr131Mar26Chnaged the bath pf the battery firmware.mastermasterUpdated to version 2 of the dynamixel protocol.Minor chnages in the test application.Integrated the buzzer into the alarm system of the charger and also for user use.Changed the way the data is read from the SMBus. Instead of reading all data all in one burst, successive reads are delayed in time. This way the charger can receive the voltage and current values form the battery.Almost complete version of the firmware. Problems with too much data in the SMBus.Added the basic structure for the PC side driver of the battery charger.