Moved non updated variables to pidPos
Changes to getpidsetpoint: converting to use swappable buffers for stride profiles.
Cleaned up old references, added test functions. Seems to work
Setting Velprofile repeatedly works. Stride information in nextPID can be preempted by another configuration. Stride updates at rollover: end of NUM_VELS
Merge branch 'BufferSwapping'
Fix to start legs from current position
Minor python interface change
Switch to long on interpolate