Improved SSH protocole
Reverted the latest modifications of Chase
Taken more information (+added the torque limits) when reading the bulk
Removed useless code. The verification that the default values are truely default values is useless.
resources/projects/robots/darwin-op/transfer/src/Robot.cpp
In the main step, read the sensors before the actuation. This is done in prevision of the servo alarm detection. Otherwise 2 sensor readings are required, and while one takes about 15 ms.
Increased the framework version (due to the fork :-( ), changed the version format (#robotisVersion.#forkVersion), and improved robustness of the version check.
Impemented the alarm managment
Merge pull request #237 from fabienrohrer/master

Implemented the alarm management without breaking the force control