motion channels for robotic atc library

I'm convinced extrajoints handles such a case. It can even move multiple joints at the same time, they're just not synced with each other in any way unless extra hal logic is used to interpolate moves, which you don't need here.

It would be nice to have a simple_xyz_tp.comp component to support linear interpolation and be independent of the main TP.

I think this is a simple task for extending the simple_tp component, where smoothing and arcs are not required.