Added a gait to fold the leg back in to the storage position.  Very convenient.
Added smart_move, which is basically the same as row_motion except it incorporates ActuatorMathHelper's and PistonControllers.  It will get smarter when I add actuator geometry in.
Added comments, removed debug print
Modified to use ActuatorCharacteristics with new constructor.  Corrected but in valve flow calculations.
Modified to use ActuatorCharacteristics with new constructor.  Corrected but in valve flow calculations.
smart_move is now the recommended trajectory.  It uses real actuator geometry to figure out good feed-forward commands, resulting in much more stable and consistent control.