In the stop() function, if the current position is beyond the software position limits, the limits are loaded instead of the current position. Both in the dynamixel_motor and the dynamixel_motor_group moudles.

Saturated the speed, angle and torque in the move_absolute(), move_relative() and move_torque() functions.

Solved a bug in the set_punch() function: the register address was written instead of the actual value.
Chnaged the control mode depending on the parameters of the set_position_range() function.

 - modified example test_dynamixel_motor, now showing relative angle, absolute angle and effort movements
 - get_current_effort takes direction from speeds (current load data does not seem to have signum)

Solved a couple of bugs in the computation of the speed and effort feedback. Both in the single and group classes.

Changed the dynamixel motor and dynamixel motor group classes to use the generix DynamixelServer class.
Moved the dynamixel configuration info out of the servo configuration info.

Removed the acceleration from the move functions because it can not be directly controlled by the dynamixel servos.

Created a new file for the dynamixel servos registers. Removed the information from the other modules.
Added static functions to read the configuration files without modifying the class attributes.
Removed the punch parameter from the compliance control. Now it can be independently modified and consulted.
Added a new configuration parameter to choose the desired dynamixel version.
Added delays in the EEPROM write functions to allow time for the write to take effect (necessary for the XL-320 servos).

In the group module, the path for the main configuration file is also used for each of the seros in the group.
Solved some problems when the XSD library is not present.

Solved a problem when the desired sequence file did not exist.

Solved a problem in the execution od motion sequences in the ptu_d46 and dynamixel_motor_control node. The sequence continue after the stop function was called.

When the reset_motor() function is called, the max_torque is loaded instead of the maximum torque.

Added the open_loop confioguration to the TMotorConfig Structure

Modified the code to load the PID parameters or the compliance parameters depending on the servo model.
Added an example of motion sequences using open loop control.

  - the voltage in the configuration file must be in V
  - An error in the encoder resolution value, made the set_position_range() function to crash