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Howard Luck 20e9957356 d_a_alink_HIO work (#2852)
* daAlink_c::jointControll OK

* daalink debug work

* checkpoint

* fix casting

* checkpoint

* checkpoint

* checkpoint

* checkpoint

* checkpoint

* checkpoint

* checkpoint

* remaining functions + fixes round 1

* fixes round 2

* fixes round 3

* fixes round 4

* revert getNeckAimAngle for now
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