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Created with Raphaël 2.2.019Feb1120Jun15Apr5331Mar201716149824Feb222017624Jan227Dec30Aug29272322211817161514131211104110Jan27Dec6Aug21Jul1028Jun2528May1918114120Apr161531Mar292322212019161399Feb125JanMerge branch 'revert-59fde70f' into 'master'mastermasterRevert "Changes to use the new momory data structures to handle the devices modules memory."Changes to use the new momory data structures to handle the devices modules memory.new_versionnew_versionChanged the Makefile to use the environment variable HOME.Added path variables for both the STM32_hal and STM32_libraries repositories.Modified the RAM contents when the dynamixel power is switched on and off.Corrected some misspelling errors and missing headers.Added the extern C preprocessor command to the bioloid_math header.solved some minor misspelling errors.Added the walking interface to the dynamixel slave.Added an extra angle in the hip and ankle pitch angle due to differences with the Darwin les structure.Taken into account the differences between the Darwin and Bioloid robots in the walking algorithm.Added the walking algorithm to the motion manager.Added support to change the servos offsets in the firmware.Updated the dynamixel slave interface to version 2.Changed the address of the sync write function.Solved a problem in the computation of the slopes.Added the slope control to the action execution.Solved a problem in the timing of the action process.Solved problems with the generation and execution of actions files in the bioloid robot.Solved a bug in the computation of the speed rate in the binary motion file parser.Solved a problem with the motion timing.Solved some bugs:Changed the main include. Added the USE_HAL_DRIVER macro.Initial commit of the IMU STM32 module software.Solved some minor bugs related to the balance feature.Added the balance feature to the motion manager module.Added the gyro module (initial version).Added support for version 2 protocol.Added an interrupt to notify when the action has finished. Added some macros to clarify the bit access to some registers.Added the action module to the motion manager.Solvd a bug in the motion manager period generator.Added initial supprt for the motion manager module.Added the dynamixel master module for the servos.Added basi support for the zigbee module.Added support for the 6 ADC channels and the temperature and Vref sensors.Added the dynamixel master interface for the sensors.Completely integrated the GPIO into the dynamixel interface.Integrated the GPIO (only LED's) into the dynamixel slave interface.