Added a dynamixel master on the second dynamixel bus.
Removed four analog ports and chnaged the interface registers.

Changed the gpio module to reduce the code repetitions and reduce code size.
Darwin time module now using timer 8.
Added timer 1 to the ADC module to be able to tune the sampling period.
Scheduler module no longer needed but not removed yet.

Chnaged the dynamixel slave module to the version 2 of the protocol.
Added header files of rthe register definitions and eeprom initialization values.
Added a scheduler to time several tasks with a single timer.
Removed some old files.