-Adding support for AXS1.
-Adding beeps when low on voltage at start up.
-Adding a crude servo health monitoring that prints out the error codes detected.
-Added dampening to the COG cycle when starting to move and when stopping movement. This makes the oscillation stop smoothly when movement stops.
-Added a global volatile blackboard to share state between processes. Processes update the variables in the blackboard and others can then read the latest value from there.
-Adjusted some pose variables and the neutral gait pose.