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Updates to actuation.py, darm.py, calcs.py

Evan Goetz requested to merge evan-goetz/pydarm:move-omc2sus into master

More methods for describing the longitudinal displacement or DARM displacement. Improvements to CALCS to address errors if an arm actuator is not supplied. OMC to SUS delay is moved to DARMActuationModel

Addresses #116 (closed), #118 (closed), #120 (closed)

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