Extended the trajectory
These control parameters produce a reasonably well behaved rowing motion
Added a proportionality argument to the limb controller, which scales back the applied command to roughly take in to account the extension vs retraction area difference
Turned off peak detection code
Motion that very slowly moves all joints through full ROM to bleed any air
Updated gains based on latest round of experimentation
removed a deadbanding hack that was stacking with the new deadbanding feature in limbcontroller
Moved gait in to a class to make state storage cleaner.  Added notch filters to tune out some of the mechanical resonances we've been seeing (~6.6Hz in knee and thigh, ~2Hz in yaw).