Merge branch 'release-4.0.1' into develop
Got twi/accel somewhat working...
Getting accelerometer values works
Removed some debugging messages
Merge branch 'develop' of github.com:BaroboRobotics/linkbot-firmware into develop
Added accelerometer service methods
Incremental
Compiles...
Added joint event
Merge branch 'f/jointEvent' into develop
Added method to get joint states
Added timestamp to joint events
Added method to get robot's form factor
Allow omega's sign to be set separately
Revert "Allow omega's sign to be set separately"

This reverts commit d5db3a93d6ca09191729f23184f0c5fb144954cf.
Implement moveInfinite
Bump version to 4.0.2
Merge branch 'release-4.0.2'