General overhaul

documentation and make many things work

added 7 commits

• 503b4643 - remove If function
• 03b4a9e8 - fix setting SDOs
• ff0a0914 - allow structs in terminals
• 50a88abf - support serial connections
• a943f002 - add a Dummy device
• c79a1c7e - first code for motors
• a296d6c0 - seperate read and write variables in array maps

Compare with previous version

merged

mentioned in commit 9d2fab65