ugh
gah
maybe dnb therapy will help
not much help
getting closer, maybe?
almost done adding feedback (only one instance in MotionStatus since duplicates for each module would be a waste of space and time in propagating changes.
about to make changes to Action to set which servos are enabled (replace reserved5[4] with a bitmask for 31 servos possible to be used in each STEP)
got lost a bit
Made modifications to Performer that need original framework.  Forgot to switch branches.