working on better walking
Improved walking algorithm
more fixes
new walking algorithm now works, but need tweeks
fixat lyftfunktioner
Merge branch 'toblingong'

Conflicts:
	Styrmodul/Gang/highLevelWalking/highLevelWalking/highLevelWalking.atsuo
	Styrmodul/Gang/highLevelWalking/highLevelWalking/highLevelWalking/highLevelWalking.c