Squashed commit of the following:

Squashed commit of the following:

commit 4eac17d902f8947ec2800899a0bc4995d7935bbb
Author: Jim Morris <morris@wolfman.com>
Date:   Sat Dec 12 01:44:54 2015 -0800

    add handling for G54-G59.3 Select Coordinate System
    add handling for G10 L2 to set them
    change the way G92 is handled, just sets a global offset which is not persistent across reset
    Save the WCS offsets in M500 and display them in M503 (if they are non zero)

commit 9bd850b438e68f639801cf5d536f8e8e6ddd1869
Merge: 50a6ccf da5e07c
Author: Jim Morris <morris@wolfman.com>
Date:   Fri Dec 11 23:51:18 2015 -0800

    Merge branch 'feature/nmotors' of https://github.com/trayracing/Smoothieware into feature/wcs

commit da5e07cb89c626de194794a5e755752b10c94452
Merge: 9a0f07c 1d33bc3
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Sun Nov 22 22:01:25 2015 -0500

    Merge branch 'edge' into feature/nmotors

commit 1d33bc3cca946c9482eadb56af1d688709236659
Merge: 49aee48 56fc1d0
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Sun Nov 22 21:58:03 2015 -0500

    Merge remote-tracking branch 'upstream/edge' into edge

commit 9a0f07c60825b757fe59b6d43e5c59c6b614b21d
Merge: bc7f502 5a8918f
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Sun Nov 22 12:22:40 2015 -0500

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into feature/nmotors

commit 49aee4880980477a81ad7883b9893436d1f837fa
Merge: 19b1b4d 5a8918f
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Sun Nov 22 12:21:51 2015 -0500

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into edge

commit bc7f5029f8163904ebe97ec3fdaff6a62471ca75
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Fri Nov 13 17:53:33 2015 -0500

    Robot checksum array should be const

commit 9d6ad25534bbcf8d3a6089f89a214ad52edaa4db
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Fri Nov 13 17:48:59 2015 -0500

    Merge rest of removal of pauser

commit 9a7b21b8423589473b4103f96a2f8c721ecd8067
Merge: d6b9f04 19b1b4d
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Fri Nov 13 17:45:15 2015 -0500

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into feature/nmotors

    Resolved Conflicts:
    	src/modules/robot/Stepper.cpp

commit d6b9f044b48c06d7db3494c9a5d28eb9afca581b
Merge: 3f3b6da d901843
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Tue Nov 10 21:32:32 2015 -0500

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into feature/nmotors

commit 3f3b6da950f227f3e5748ec1b4964076ac53ed72
Merge: da21d3a f3514fc
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Tue Nov 10 09:20:12 2015 -0500

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into feature/nmotors

    resolved conflicts:
    	src/modules/tools/scaracal/SCARAcal.cpp

commit da21d3a19595ae4437af396c4d77b79624971606
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Tue Nov 10 08:44:28 2015 -0500

    Robot config changes per code review - removed default robot actuator pins, etc.

    Removed default robot actuator pins.
    Flattened checksum array.
    Optimized checksum array for k_max_actuators==3.
    Added compile time static_assert if checksum array is smaller than
    k_max_actuators.
    Removed printf warning that arm solution wants more than
    k_max_actuators.

commit b632c6a6f919e076d15c56e3c0d1b58aad1abbf3
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Mon Nov 9 22:31:29 2015 -0500

    Limit robot actuators to 3 by default and remove multicartesian arm solution per code review

commit 896a6229e02d5d5cdc0a3641d76aacb6c209a8a1
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Mon Nov 9 21:53:26 2015 -0500

    Limit M-code manipulation of actuator settings to 3 (or fewer) for now, per code review

commit 63928b90dcf2c351cf6ac1839a09244c8b7e0945
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Mon Nov 9 21:34:58 2015 -0500

    Remove endstop trim changes per code review

commit ce97fc105f11b90e6dad3c8c8fe7ac53e97b1c8d
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Mon Nov 9 21:15:44 2015 -0500

    Set zeta default step_mm to 80 like others, and remove step_mm default from table

    In robot.cpp, did not split default pins into separate table as it did
    not help size. Did remove step_mm column and made zeta step_mm default
    match most others.

commit 71639b04ee26927cb16e54c3976881d3ffb1bf80
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Thu Nov 5 08:05:12 2015 -0500

    prevent trim array overrun for > 3 actuators

    Thanks wolfmanjm

commit b4699cff6cea0d9b2555eae406aab7e9a5554aee
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Wed Nov 4 22:05:05 2015 -0500

    Add back actuator letter in robot.cpp check_max_actuator_speeds warning

commit 319d984fab37b035b5df97d6bd76a1b30022ed11
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Wed Nov 4 21:30:58 2015 -0500

    Cleanup - Updated comments in robot.cpp

commit 3a3f30fe95c92c3da8df0473aef18d6c2623fcf4
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Wed Nov 4 21:02:27 2015 -0500

    Cleanup for code review

    Remove reference in actuator for loops - copying a pointer is fine.
    remove duplicated conditional in M203 of robot

commit 598a961bad5ed49c827b38dfe43319054a716ca4
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Tue Nov 3 21:07:48 2015 -0500

    Tested nmotor code

    fix config names in robot, remove dot from arm solution config name

commit 2e07963b9e8a00408af7a7803ca7d41d5ab29ac0
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Wed Oct 28 17:40:07 2015 -0400

    Remove previously added overload of RotableCartesianSolution::rotate

commit 4e5b80ab952355f2e60725584983a458ab0e60f8
Merge: 425ecde 325a6ac
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Wed Oct 28 17:06:35 2015 -0400

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into feature/nmotors

commit 425ecde7417dcb78498d6bfe250980b3a1adbaab
Merge: 91dec71 9f7d481
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Wed Oct 28 16:59:19 2015 -0400

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into feature/nmotors

commit 91dec71421b151a8e337e153cb5418b919b06cc5
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Wed Oct 21 07:25:45 2015 -0400

    made multicartesian configurable

    multicartesion.axis_map: lowest digit is the actuator count. Each higher
    digit is the axis for the next actuator.

commit 2780db376d3d60a19f92cea80f9ccd29d1b02adf
Merge: 065c5fc ed25d57
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Fri Oct 16 23:11:21 2015 -0400

    Merge remote-tracking branch 'refs/remotes/Smoothieware/edge' into feature/nmotors

commit 065c5fc950ceb8c24ac1128d54a10470364fc5dc
Author: trayracing <trayracing@users.noreply.github.com>
Date:   Fri Oct 16 23:09:24 2015 -0400

    Support > 3 robot actuators and add multi-cartesian arm solution - rough code

    Coded but not tested - Arm solutions now report the number of actuators
    needed, (subject to a compile time limit, currently 6). endstops and
    zprobe do not yet handle > 3 actuators. Multi-cartesian solution drives
    3 pairs of motors.