Cleanup code
FIX configs/araisrobo/xyzabc.ini
Add WOU_PROTOCOL description to ar-usb/
Add blender.comp: blend requested motion with joint command
add blender_offset
cleanup code
BUGFIX for h3_dist error

*the second dist will set curr_pos = 0
Update INI and HAL configs for miller machine
Support AXIS_S for .INI file
WIP: synchronized rigid tapping
WIP: add kinematics/miller_kins.c for sync-spindle-motion
Merge branch 'develop' into feature/usb-rigid-tap
BUGFIX for STRAIGHT_PROBE after RISC-JOGGING

* After RISC-JOGGING, set emcmotStatus.update_current_pos_flag == 1 at control.c
* In taskintf.cc, it will force to update current position for interp_convert.cc
Merge branch 'develop' into feature/usb-rigid-tap
Merge remote-tracking branch 'origin/develop' into feature/usb-rigid-tap
move GANTRY_POLARITY from taiwan-plasma-machine.h to taiwan-plasma.ini
WIP: update miller configs for synchronous spindle setting
Merge remote-tracking branch 'origin/develop' into feature/usb-rigid-tap
BUGFIX to HAL Comp Generator -- comp.g

* initialize __comp_inst at export() so that the other funcitons
  could use exported HAL signals
Add HAL component -- spindle.comp