Adjust delays and motor controlls for IR checking functions
Adds prelimiary checks of IR during the arm-lowering sequence. Includes error response if we can't get it in-line after three tries.
Adds variable to control IR delay between checks, other misc adjustments
adds sensor clarification in debugprint, fixes typos and simple compile errors
ParallelMove test program
Add files to allow for merge
Merge remote-tracking branch 'upstream/master'
Merge remote-tracking branch 'upstream/master'
Merge remote-tracking branch 'upstream/master'
Merge pull request #2 from nickpelone/master

Stop motors during IR check