added vertical control from joystick. need to flip vertical angle setpoint on even actuators.
Now using functions to set vertibrae angles in moduleCode. They take care of the special cases.

Added ability to set angle setpoints in manual mode. Added ability to run the pid loop from manual mode.
Commenting, renamed StopMovement to stopMovement to hold naming convention. Used a bitshift when figuring out when to execute the PID loop (instead of divide by 2)
Implimented maximum slew rate, started tuning PID, ability to quickly disable all actuators in manual mode
Fixed angle initialization by uncommenting code that copies angles into local array. Did a bit of renaming.
After july 27th testing. Commented out auto-initialize. Commented out diagnostics. Tuned vertical PIDs, lots of (what seemed like) communication issues during testing.
Added checksum to settings packet
Added communication tests for RS-485.
Note, there seems to be an issue (ie. need for a delay) in 485 transmission.
We need a delay in RS-485 because the arduino takes 80ms to transmit each byte and Serial.write() is non-blocking.
Re-enabled diagnostics. Now reporting incremental setpoints.
TEMPORARY: headCode is programmed to control the back vertibrae only.
Fixed bug where manual mode straighten was executing actuators I should not have been.
Added memory monitor. Press P in manual mode.
'j' in manual mode now only does the selected actuator.
Added more information to memory consumption output in manualMode
Fixed ISR freezing and memory consumption bug. Reduced memory footprint of strings.

Re-enabled propagation with straight setpoints. Reduced vertical range.

Setting PID in angle space. Tuning with Jon F on August 17th.
Last commits were for using module 2 as module 1. Reverted to normal.
Added timestamp to all diagnostics packets.
Increased PID resolution 10 times.
Reduced horizontal range for indoor testing.
Programmed last vertical on snake not to actuate. (normally not connected)

Bug fixes. Vertical PID values not mapped properly. Vertical setpoint diagnostics fixed. Fixed vertical straight setpoint (propagate from vertebrae 0 not 8)
Diagnostic and PID tuning 2 nights before leaving for Burning Man
Increased angles for outdoor use at Burning Man. Added loop time and actual propagation delay to diagnostics. Decreased PID time to 15ms. Added calibration values to manual mode sensor printout.
Worked great at Burning Man 2013. Added boolean to enable slew rate control (currently disabled in horz direction). PID values now come from the head. Increased horz P to 255 for wide open control. Increased deadbands back to 10.

Fixed bug where PID values overflowed. Now dividing before multiplying but we should refine this.

Removed old files.