initial version for firmware 2.0
remove parameter which are not used any more by the firmware 2.0
merged lockfreebuffer into firmware2
merge develop into firmware2
copied all files form trajectorycontroller to trajectory_controller
merged develop into firmware2
merged develop into trajectory_controller
update UML diagram
update PID controller
minor changes
update the joint trajectory controller
add the trajectory controller to base
add pid parameter for trajectory controller to manipulator
update pid values for the trajectory controller
fixed time calculation in trajectory controller
add cancel trajectory
update pid values of the arm trajectory controller
update time calculations
add support for inverse joint direction in trajectory controller
update PID Value