Cleaned up the stairs code.

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

Updated the number of EEPROM variables.

Updated the ram and eeprom memory files as weel as the darwin registers definitions.
Added the two modules to the motion manager module.
Updated the Makefile file.

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.

  - dynamixel slave
  - eeprom emmulation
  - gpio
  - us time functions