Removed the __REAL__ macro from the cm510_printf function to allow communication with an external device using the rserial port in the real robot.

Solved a bug that made the robot shake after initialization. The default compliance slope value was 32 instead of 5 which gave the maximum control slope to the servos and any small position error made them oscillate.

Solved a problem when the emmulated servos were sent to their current position. The module got stucked.
Changed the emmulated servos motion range to 180 degrees instead of 300. Changed the limits accordingly.

Conflicts:
	motion/Makefile

Added custom printf and scanf functions to avoid unnecessary text send via the serial port in the real robot.
It also helps redirect the stdin and stdout streams to a virtual serial port in simulation.
Added a macro definition __REAL__ in all Makefile's
Added a new example of communication throw a vurtual serial port and visualization of the robot camera outside ROS.

Added an example program for the pan&tilt.

Changed the way the detected servos are stored in memory for performance issues. The Id coincides with the vector position.
Added a new attribute to the servo info structure to hold the motion module associated to the servo (ACTION or JOINTS for now).
Added support to detect and handle the simulated dynamixel servos.
Removed the dynamixel master initialization from the motion manager.
Added a module to implement a pan&tilt unit.

Updated the stairs example to walk to the stairs and climb a single step.

Added an extra delay at the initialization process (2 seconds) to allow enough time to the expansion board to read the data stored into the EEPROM memory.

Solved a problem in the example Makefiles: multiple delettion of object files in the clean command.

Removed the wait for the end of transmission in all dynamixel master communication functions.

Solved a problem with the fast forward motion. The end motion was not properly set and the robot fell down.
Minor changes in the examples.

Added an example to control motions when the actions are not linked.
Added a header file with all the motions ID's.

Solved a problem while reading the Robotis IR sensors. It seems they have to be enabled and disabled in orer to work properly.

Added a check for the transmission state in the dynamixel communication module before starting a new transmission.
Initialized the motion_manager module before calling the user_init() function. This way the dynamixel communications are already set up when the user function is called.
The initialization of the expansion baord is attempted by default. If the board is not found, it will not be used.
Added the expansion board loop function in the motion manager loop for timing.
Added a preprocessor command to either read all expansion board data in the loop() function or read each filed using a separate function.

Solved a bug in the gyro calibration because the ADC's were not updated while averaging the gyro data.

Solved a bug when stopping the action in the middle of a page which does not have a direct exit page. Now the stop flag is only reset when the action is actually stopped.
Added an example to walk straight.

Swaped the values of the fallen thresholds.
Added an example to get up when the robot falls.
Removed the balance_init() function from the manager_init() function.

Added the exp_ prefix to all functions of the expansion baord module.