With the current svn version there are some problems, of the eeDHController
1. line 473 (server/drivers/limb/eeDHcontroller.cc). The third parameter is "PLAYER_LIMB_DATA", imho it should be "PLAYER_LIMB_DATA_STATE".
2. The case sensitivity. The Class is named EEDHController, but eeDHcontroller is used everywhere else. So I get compile problems with linux.
After fixing the compile problems I get a segmentation fault when I try to use it, I'm still searching for the solution.
A patch for the first two problems is applied.