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.

Added the balance_init() function to the manager_init() function.
Changed the name of some functions to make them coincide with their definition in the balance module.

Added configurations files for the controllers and communications modules, as well as a global configuration file.
Moved the source code of the controllers module to the root source folder.
Moved the balance code to a separate source file.
Added a user time module to allow periodic and one shot time functions to the user.

Migrated the motion manager to the new libraries. The access to the ADC is still pending.
Added an example to move a single servo.

Added a new communications library implementing the dynamixel interface and the serial console. Zigbee is pending.
Split the cm510 controller module into several for easy maintenance. Removed all the interruption service routines from the code.
All basic modules are executed in the main loop, providing two functions to the user: user_init() and user_loop().
The dynamixel devices are being migrated to the new communications library.
The motion manager is transformed to avoid using interrupt service routines.