Dynamixel manager

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

Updates

See merge request !4

Removed all the items in the eeprom_data variable except for the VALID_PAGE. Now, each module declares their own EEPROM variables.

Added a general configuration file for all modules (darwin_conf.h).

Smart charger fw

See merge request !2

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.