added encoder feedack for hands and fingers and changed to v3 model of drc hubo
found that it is the 3 ch return and first 2bytes is wrist, second two are the F1 and third two are F2.  first byte of 2 byte combo is the LSByte
added finger and wrist enc feedback
0.1.20130730  * Added Enc feedback from wrist roll and fingers  * changed drc model to v3  * minor fix to PWM duty cycle