SOFTWARE UPDATE - 6.6 beta

I've uploaded software version 6.6 beta. I've made some improvements to the kinematic solver to help get through wrist singularity more cleanly and I've updated the wrist configuration to solve issues with J4 or J6 wrapping around during movements. Give it a try and let me know if you spot any issues. Don't forget to upload both the 6.6 sketch file and the 6.6 HMI program.

Thanks,
Chris