As per the forum posts, worked on combining the claim code for extracting which endpoints are RX and TX and create the pipes and the like.

Also worked on live cases.  Reading and writing to AX servos... Found some issues Probably more to find.

I left in some debug code to help find cases of deleting a pipe may hang.  Also macros in serial.cpp to set or toggle IO pins (when in debug mode). This helps find where things are happing using Logic Analyzer as a way to find the approriate USB packets.