Changed the lont int variables to long long int to avoid undesired overflow.

Added a return value to the function to read servo registers.

Solved a bug in the reception timeout: It was continually updated so when there was an error, the main loop got stuck.

Added two bits to the control register of the dynamixel manager.

Added a dummy implementation of these functions.

Added the initialization of the bulk and sync period counts.
Solved a bug in the add_device function for the sync and bulk.
Made conditional the generation of dynamixel packets for the enable and disable functions.

Moved the static num_dev_done variable from the bulk and sync read done functions to the master data structure.

Solved a bug in the functions for the sync and bulk operations (the number of servos read was not reaset when the operation was done or there was an error.

Solved a bug in the write function when updating the walk parameters (the ram_offset was used).
The walk move and time parameters are initialized the first time the pre_prodcess function is called.

Used short int's to keep track of the ammount of RAM and EEPROM used to be able to use more than 256 bytes.

Updated the current servo angles with actual feedback or the target angle depending on the servo.

Solved a bug in the USART1 inclusion guards.

Moved the darwin math and kinematics modules to the darwin firmware repo.

See merge request !11