7

- fixed HOME_X to include WRIST_TO_FINGER distance.
- corrected elbow location calc in IK
- fixed shoulder angle calc
- cleaned up variable use in IK (was using output var as temp)
- fixed G4 dwell time to work in s instead of ms.
- fixed G92 to update IK calculations
- changed M100* to turn motor one full revolution (to check for micro
stepping)
- added position & IK update to G28 (find home)

- gear ratio and micro stepping are not the numbers I expect to see
here, which troubles me.