Added an extra angle in the hip and ankle pitch angle due to differences with the Darwin les structure.
Added a new header file with the initialization contents of the eeprom memory.
Solved a bug with negative motion commands.

Chnaged the way the walking commands are given.

Changed the stored value of speed ratio in the motion pages.

  - the internal action period needs to be transformed from the period in us.
  - removed the call to the action_load_next_step() function when the action finishes by itself.

Added a file wit the motion pages ID's.

removed all dynamixel master and slave modules.
Added a function to get the motion period in us for the motion modules.

  It can be enabled or disabled.
  It simplifies the wait for the termination of the action.

Changed the way to detect which module is addressed by the dynamixel slave interface.

Solved a problem with the RAM window detection.