dynamixel-genom3 2.0 released

Update to dynamixel protocol 2.0 (and drop support for procotol 1.0)
Support the XM430-W350 motor id.
Add a 'configure' service that can setup a single device to the desired id and baud rate.
Detect devices that can talk protocol 2 and 1 (MX- series) and switch them automatically to protocol 2.
Implement position + torque control mode.
Add services setting and getting the motor position offset (zero).
Add services setting and getting the PID+FF position and PI velocity hardware parameters.
Add services setting and getting the velocity and acceleration motion profile in position control mode.
Handle motor power off/on while in 'connected' state.
Properly handle half-duplex communication by avoiding multiple writes when a read is expected (preventing spurious message loss).
Report message loss/corruption on stderr.

dynamixel-genom3