Merge pull request #39 from bartswis/master

Sarkofag added
IRPOS fix
sarkofag fix
Merge pull request #40 from twiniars/master

sarkofag fix
Merge pull request #41 from TomekGH/master

IRPOS fix
conveyor addition
hardware interface config msg
Merge pull request #42 from twiniars/master

hi changes
sarkofag fix 18:07:2014