A C Sim connector fix and some improvements to atc_hip_force_test
Finally fixed the medulla firmware build system.
Added force plate sync output to boom medulla firmware.
Added medulla binary file types to .gitignore so I don't have to
remember to not commit them.
Bug fixes to force plate sync output on boom medulla.
Created currentSense branch
Added pdos for robot current.
Modifying the robot state and medulla drivers to measure current.
Created new sii file for hip medulla, fixed firmware bugs.
Added current measurement back in for amplifiers.
Reverting current measurement changes because it makes the robot want to
kill it's self.
Beginning force control subcontroller.

This will replace asc_force_defl
More work on asc_force_control
Okay, getTgtState now has the right prototype...

Now it's time to actually implement this controller...
More boilerplate code for asc_force_control
Filling in equations in asc_force_control.

All that should be left is a couple of subcontroller calls, then I should be done.
asc_force_control complete!

Now I just need to fix asc_spring_force, integrate it into atc_force_hopping and atc_hip_force_test, then remove asc_force_defl...
Merge branch 'master' of https://code.google.com/p/atrias
Fixed critical bug in medulla firmware which would feed the watchdog
even if the DC clock stopped. Also LED color is now changed when estop
interrupt is called, instead of on next loop.
Modified motor voltage calculations to reflect reality.