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This PR includes updates to support the Prince version of Stretch electronics. Notable changes:
The Wacc board has no relevant changes. The Stepper and Pimu move to hardware_id=3. Currently the IMU is reporting data but there is further work to do:
For older robots (hardware_id<3 Stepper and Pimu) nothing should change except the move to P4 (which will then include new data fields set to 0)