Air Cradle and Burt Wrist Support

Description

Test this with firmware tag dev-mainboard-7.0.0

More support for AirCradle and BurtWrist endpoints. The main change is that AirCradle has two joints, so the maximum number of joints, BurtConstants.kMaxDof, changed from 4 to 5. That means any vectors that hold a value for each joint are generally going to be resized from 4 to 5.

What to focus on

Focus should be on compatibility with the firmware, and changes made in the BurtSharp library itself. For the PointToPointCheckout and RobotGravityCalibration, which were basically entirely rewritten, you can focus on whether or not they function correctly.

Primary:

• RobotController now gets ToolOrientation from the server update, and should display that when running Example04-DisplayBasicInfo.
• Manufacturing programs JointCalibration, RobotGravityCalibration, and PointToPointCheckout should now work with CPI, Wrist, and AirCradle.

Secondary:

• The TestWrist program allows us to look more closely at the wrist position control and other wrist features.
• The HapticIndicatorTest now handles both changing the vibration cue as its commanded AND changing the default parameters for a vibration cue.
• Extra CoAP route for getting/setting home positions was added.