Merged in menu and replay changes into master
Manager menu and replay integrated with master on github
debounce turned off, center function in place

the button debounce is turned off to give crisper button responses.
The arm centers itself in respect to its workspace when the replay menue
is opened
FK function built in-start&stopIK needs update
Revert "FK function built in-start&stopIK needs update"

This reverts commit 8bb5f6ea9cfd111111d3f66ecab39aea3078a280.
Revert "Revert "FK function built in-start&stopIK needs update""

This reverts commit d89b75081c241ec001c3a742ba7b9152fe0181bb.
cleanup - nicer message masking

The message masks have been cleaned up so that they are defined in the
header file
ik movement function changed

use ik_move_goal
ik_move_delta implements kinematic assisted moves

ik_move_delta moves the arm along the x,y,z coordinates if it is
possible for the arm to move to that position.

ik_calc_IK has been replaced by ik_move_goal
ik_move_goal returns longest time for servomove
bugfix
bugfix

bugfix
Merge branch 'josh-emu' into with-menu-waypoint

This includes the addition of menu and replay modules as their own entities and also implements waypoint based record and replay.

Manual ik-mode has also been started though is a little buggy for now.

ik module has been given an init function so that it already has a handle to the movement q.

ik_move_goal has been altered to return time of longest movement in ms.

replay and sigmoid move use delayuntil function to prevent cumulative error from scheduling.
Make sure grabber is recentered after mode change also
COuple of changes
ik mode kinda works but will spasm out at some point
Print non menu messages to stderr
Do some cleanup and make changes according to previous code review
Bugfix
Merge branch 'master' of https://github.com/wsheppard/ecd2012