New tkemc with joint/world mode switch

[Ray <rehenry-at-up.net>]

I tried out the expanded tkemc from Keith Outwater.  It adds joint and world
to this gui so that we should be able to run robots and hexapods with it. 
Thanks Keith.

On my system it seems to kick up an error message (Unrecognized command
35) whenever I switch from joint to world while in manual mode.  The
following is a snippet from the terminal that I run it in.  

-----snippet of terminal output-----
Issuing EMC_AXIS_HOME --         (+123,+16,    +4,    +0,)
Issuing EMC_AXIS_HOME --         (+123,+16,    +5,    +1,)
Issuing EMC_AXIS_HOME --         (+123,+16,    +6,    +2,)
emcStatus->motion.traj.mode=1
emcStatus->motion.traj.mode=1
Issuing EMC_TRAJ_SET_TELEOP_ENABLE --    (+230,+16,    +7,    +1,)
Unrecognized command 35
emcStatus->motion.traj.mode=1
-----end of snip-----

The gui seems to work okay.  It also puts up a teleop error if a program is
running or you are in auto mode.  Is this just because I'm running with a
cartesian machine definition?

Ray