Refactor #2
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... and encapsulated the angle to servo position calculations as well as limit checks for each servo. Configuration for these settings is now in the evoarm.yaml config file. In theory this allows for use of externally geared servos - the Dynamixels are fast but not very powerful or accurate, so a possible plan is to reduce the main servos by 2:1 to use their full range of motion with twice the positional accuracy and power.
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