Comments added about wrist parking procedures.

emBODY/eBcode/arch-arm/embobj/plus/mc/JointSet.h

@@ -42,6 +42,10 @@ enum wrist_mk_version_t {WRIST_MK_VER_2_0 = 20,  WRIST_MK_VER_2_1 = 21};
 /* The struct wristMk2_t contains all the data related to the wrist MK2*/
 typedef struct //wristMk2_t
 {
+    // The warmup flag is == 2 at startup and makes the wrist start a first parking move.
+    // warmup == 1 means first parking in progress, and warmup == 0 means first parking done.
+    // Thanks to the new direct kinematics solver all the parking procedures will be likely removed
+    // after some time of use of the robot without problems because no more necessary.
     BOOL is_parking;
     int warmup;