Added test for biss encoder.
Merge branch 'master' of https://code.google.com/p/atrias
Wrote interpolation subcontroller and updated slip running.
Switching current scaling back to single amplifier.
Merge branch 'master' of https://code.google.com/p/atrias
Merge branch 'master' of https://code.google.com/p/atrias
Renamed variables, added rate limiter, broke out PD controllers
Cleaning up before starting SLIP walking
Starting SLIP walking
Working on double support phase dynamic equations
Removed old knee ADC code. It will be replaced soon.
Add script to communicate with KVH 1750 IMU.
Added reactive stance phase force control hopping
Adding hip position controls to the atc_eq_point GUI.
Rough draft of active stance control for walking
Merge remote-tracking branch 'origin/master'
Merge branch 'master' of https://code.google.com/p/atrias