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TODO for the joints_axes branch
* clean up joints/axes throughout the whole code (lots of parts already done)
* define a unified jogging way (both for joints and axes)
* implement joint-limits for cartesian moves (requires simulating the speed in userspace)
* update configs
(and many other probably..)
TODO sort out axis/joints issues:
* limits need to be imposed on joints (tricky with kins)
* ini changes
* clean out code (on all different levels, when joints are involved, call them joints..)
-- this work is taking place on the joints_axes3 branch
TODO Convert all hardware drivers to use canonical homing,
Fixes in HAL modules:
TODO canonical interfaces and naming conventions
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