debugging motion
directional motion mostly works tested
Program uses socket to communicate

small changes:
~ motorController.cpp uses galilcontroller instead of galil.h.
~ motorcontroller.h now only requires wmraTypes.h to run.

Large change (not really):
galilcontroller class is from the other wmra-lib repo.
~ Fixes some initialization issues
~ Uses separate settings_controller.conf file for ip
~ (future) motorcontroller should use this setting file as well.
Socket Comm works. Added Arm/Griper Frame stuff
added reading default setting to motorcontroller.

(Untested)
~ fixed the static functions in galilController
~ added a simulation mode to start program when not connected to WMRA.
(Unfinished)
more simulation code
reverted back
added waypointDelta function to autonomous

also added distance check when calculating distance and rotation
distance.

changed most floats to double.
added distance output
updated DH and encoder values also outputs debug data
fixed sign on Joint6
added XYZ output to file
Last update from 11/3/13
Update 11/4/13

Created readAllPosition function
Autonomous now outputs 3 debuging files
xyz-way, waypoints generated
xyz-sent, command coord sent to controller
xyz-cont, controller values
dt in arm remains constant while dt_mod it updated at beginning of
function then changed within
Diego's output, marked J-Limits and Weights

Finished output to Diego's visualization visualization program.

Marked location in optimization.cpp
~ line 341: Joint Limits
~ line 387: Weights
The question is how to output these to a file without creating a global
file object.
Last Update 11/7/13

- outputs weights and joint limits to file
updated weights output
simple commit
more testing stuff
Rearranged Debug section, removed Diegos section from arm

moved Diegos output to motorController from arm
~ activated by using simulation mode
~ Motor controller now keeps track of current position

Debug parts have been moved to two sections in arm
~ 1 if statement in the waypoint loop
~ 1 if statement at the end of Autonomous function