MedusaLite BETA

I've just finished upgrading MedusaLite to BETA (meaning that it is now in a testable phase, able to interface with the entire segment that the meches just built today). As for all changes, refer to the SVN log.

Issues to be addressed:

Concurrency - Needs to be tested to make sure all functions are blocking

I2C Read / Writer&Read - Still having problem reading back from servos, until this is solved, I have implemented a CONFIG file that will hold the position of the arm (as far as the PC knows). I have just finished writing and testing a serial interface for i2c communication (pc -> uart -> mega32 -> i2c), it works for all read/write on the tiny26 adc and servo controller registers, this will serve as a backup, but it is pretty quick and efficient.

Safeguards - Create safeguards so the wires don't snap (i.e. limit the position between two thresholds) or slide off the gear.

Precision - Need to do something about the twitching of the servos, more precisely Servo 0 and 2.

Servo Controller Memory - The servo controller "forgets" the previous settings given to it through the I2C, so need to be very careful when power cycling the servo controller. You must first turn it off, take out the servo motor connection, turn it back on, send the correct settings through I2C then plug the motors back in. Failure to do this might risk damaging the arm, as the powerful motors will reset to 1500 (which is not neutral).