Automatic detection of servo characteristics

[Finchiedev]

To provide a better user experience, the server must be able to detect if a servo exists, and what protocol & model it is. As the model number of a servo is always at control table index 0, the server can determine what protocol the servo is running, then communicate with it to read the model number before relaying that information back to the robot.

To accomplish this, I suggest the following:

• Create new functions in dynamixels.py called ping_all, ping_servo, find_protocol & find_model
• Add new commands:
  • (ping_all) finds & returns all servos with the relevant information
  • (ping) checks if a servo exists, returning the protocol & model

This will allow the client to get a list of all connected servos, and match the model to a CSV file, meaning the user does not have to worry about the technical information of the servos.