servo driver work in progress
working on servo control
woring on freedrive mode
cleaned up trajectory action code that was commented out.  This is all still in driver.py
finally got compliant mode working, enable only
now can engage and dissengage freedrive
working on switching programs
class-ifying driver and cleaning up
more clean up
cleaned up unused functions
teach mode now works with the robot
fixed servo c code
added interface for recieveing published poses, working on hydra teleop code
adding more testing code, and a status interface, also, added a freedrive program that reports effort -- it would be nice if this reported joint positions as well.
rearranged the interface, now need a servo activate service
adding aditional services, in progress
fixed cartesian movement over published topic
adding position saving and settings
now keeps track of servoing status
fixed control pannel for proper servo control