Merge branch 'smart_charger_fw' of https://gitlab.iri.upc.edu/humanoides/darwin_stm32_fw into smart_charger_fw

Changed the coding of the roll and pitch shift parameters.
Modified the upstairs algorithm to work in the real robot.

Added the necessary changes in the dynamixel interface to execute it.

Cleaned up the stairs code.

Integrated the stairs algorithm to the motion manager structure.
Tuned the stairs algorithm parameters to work in simulation.

Merge branch 'smart_charger_fw' of https://gitlab.iri.upc.edu/humanoides/darwin_stm32_fw into smart_charger_fw

Chnaged the sign of the X axis of the gyroscope sensor.

Added a new variable to hold the angle required by the deacceleration phase with the initial command data, instead of computing it each cycle.
Changed the max force default value of the grippers.

Smart charger

See merge request !1

Merge branch 'smart_charger' of https://gitlab.iri.upc.edu/humanoides/darwin_stm32_fw into smart_charger

Removed a duplicatd register.

Conflicts:
	include/darwin_registers.h

Main code for smart charger testing

Changed the Dynamixel version to Version 2 and the baudrate to 1000000.

Selected the useful registers for the automatic charge algorithm.
Possible future work: Include other registers of the charger for read more data for other applications
(charge voltage and current, cells voltage, time of life of the batteries...)

Added to the darwin_on_write() function the smart charger's module for write commands.
Possible commands of this module: Enable or disable module, set smart charger period or write data to smart charger.

Added to eeprom and ram new addresses for smart charger's module:
  EEPROM: Default value for smart charger period.
  RAM: smart charger dynamixel ID
  RAM: smart charger control - Device detected or not + module enabled or not.

Added to the motion manager a bloc to detect, in any of the Dynamixel buses, devices other than servos such as the smart charger device.
Implemented a initialization bloc for smart charger's module.
Added the motion manager interface function of the smart charger into the manager's timer.

Implemented an API for the smart charger.
This module it's in charge of the smart charger device connected to any of the Dynamixel bus of the sub-controller of the Darwin Robot.
It provides a set of functions that allows the user to enable or disable the module and change or obtain the smart charger's period,
this means the time to perform a read access of the smart charger's and batteries info.

On the other hand, it implements a periodic reading of part of the memory map of the smart charger to obtain the batteries time to full
or time to empty. This information is used for an automatic battery charger application.
Other battery information (as current consumption, voltage, etc) is also available with this structure.