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binki

Non-working tabletennis, better poll() resiliency, some fixups to the slave, etc.

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Welcome to the amazing DistRen C-based system. Think it's completely nonfunctional and without a single line of 
code? No longer.

Basic documentation resides on http://protofusion.org/wiki/DistRen_Manual, and relevant sections will be transferred to this file in the near future.