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Trammell Hudson committed f948caf

Thoughts on what the servo controller should have

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 command: 4 10000
 to fix: 6 -1200
 p6 command = p6 desired + p5 * (-10000 / 1200)
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+--------
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+Six axis controller features:
+
+Each axis:
+- 30 V PWM drivers
+- +5V Quadrature power and counter input
+- Index pulse input
+- Amperage measurement (or something proportional to it)
+- Tunable PID closed loop PVA control
+
+Overall:
+- +5V regulated output for CPU board
+- Brake engage signal
+- Input voltage measurement
+- Kill switch detection (to save current points)
+- USB pendant input
+- Aux port for user pins (on PUMA arms)
+- 8 additional analog inputs
+
+Software features:
+- "Teach mode" for limit detection
+- Compound motion: move to a new set of angles and reach them at the same time.
+- Chaining: once the new position is reached, move to a new position
+- No wind up: when the motor power is re-engaged, sample the current pos