Version	Release Date	Description/Changes
=========================================================================================
1	09-JAN-2004	* Initial Release
2	24-JAN-2004	* Changed Factory defaults, now Kp = 500, Mode = 1 as Factory Defaults
			* Changed Ki scaling by half, to add finer adjustment on low end
3	07-MAR-2004	* Fixed power wrap-around bug, when error was < -63, wrapped to 0.
4	31-MAR-2004	* Fixed false triggering of thermal overload flag.  High voltages/currents
			  caused false trip of H-Bridge thermal overload, and shut down motor power.
			* Added delay, and multiple sampling to check validity of thermal signal.
			* Fixed trajectory acceleration bug.  Acceleration value of current trajectory would
			  get overwritten in certain situations.
			* Fixed SDA low condition interrupt.  Holding the I2C SDA line low caused interruption
			  of the PID loop until it was released.  Affected host controllers using a slow I2C master clock.
			* Enhancement: Increased trajectory profile Distance register, from 16 to 24 bits.
			  Now all profiles have 24-bit distance registers, and addresses of all trajectory
			  locations have shifted.  Need MotoView 1.0.4 update to be compatible with this upgrade,
			  and version F or later of User Manual for new register addresses.
5	16-APR-2004	* New Feature: Added Cricket broadcast address: 8.  Normal address (set by dipswitches)
			  is 0 to 7.  Any WRITE command addressed to address 8 will now be performed by all
			  Gamotos on that bus.  Does not respond to READ commands, as it would result in collisions.
6	18-MAY-2004	* Added read & write buffers for Cricket bus communications.  Prevents register corruption 
			  during a read or write operation.  Problem still exists in I2C and Serial communications.
7	26-OCT-2004	* Added serial addressing, for use with RS-485 or similar serial network. Now you can share
			  an RS-485 serial line with up to 8 gamotos. First byte is normal header + Gamoto address.
8	18-FEB-2005	* Added auto-homing feature, and new mode byte, Mode2. Homing feature changes one analog pin
			  to a homeswitch input.  When triggered while in velocity mode, the motor is stopped and
			  the position registers are cleared, thereby setting the home position.
			* Added I2C Broadcast feature. Now one I2C command can be sent to all Gamotos on the bus
			  simultaneously, making it easier to start both wheels at the same instant, for example
9	03-APR-2005	* Added optional MotionDone pin, which uses an analog pin as an interrupt output, to signal
			  to an external controller when a trajectory motion is done. It saves having to poll the mode byte.
			* Added the SetHome command, which simply clears both the set and actual Position registers
			* Added the Reset command, which performs a cold-start of the board, same as power-cycling it.
			* Fixed I2C register corruption bug, which allowed some registers to be corrupted during a read or write.
			* Fixed I2C interference with trajectories and velocity moves. Now communication does not affect
			  the smooth motion of a trajectory.
			* Released MotoView 1.0.10 to take advantage of these new features
10	17-APR-2005	* Allow sharing of TX line for serial networks without the need for an RS-485 transceiver.
			  May need to add a pullup resister on TX line depending on your host system
			* Fixed some minor Trajectory calculation bugs
11	10-MAY-2005	* Added Step/Dir jogging feature, to emulate a stepper motor driver
			* Changed all comm routines to interrupt-driven routines
			* Added 115200 baud rate
12	15-MAY-2005	* Added Analog Feedback feature - uses potentiometer to sense motor position rather than encoder
13	04-JUN-2005 	* Added R/C Pulse input feature - accepts remote control pulses to set motor position
			  Makes it easy to convert any motor/pot into an R/C servo.
14	06-DEC-2005	* Added feature to allow each STEP pulse to jog multiple encoder counts.  Only applies to
			  step/direction mode.
15	11-JAN-2006	* Fixed bug that caused incorrect encoder counts in certain negative-velocity conditions.
			  Added defaults to motion profiles, so a new Gamoto has reasonable/legal values in the
			  motion profile areas.               			  
			  
Known Issues:
=====================================================================================
* Saving to Flash takes longer than most commands, due to the write delay of flash memory,
  so if communication is attempted directly after a Save To Flash command, there may be
  no response, or an invalid response, and the Gamoto may need to be reset.  When using this
  command from MotoView, make sure no other MotoView windows are active (i.e. Register View).
  When using this command from any other host controller, allow at least a 300 ms delay after
  a Save to Flash command.