added joint names to hubo.h and removed them from jointparams.c

Moved the char* array of joint names (jointNames) from hubo-jointparams.c to hubo.h and removed the jointNameValues array in hubo-jointparams.c because it is now redundant as well.
This was done so that the joint names can easily be accessed via their #DEFINE indices for such uses as error reporting to the user. Specifically, a print out of which joints did not home properly was added to tech-console, so that the user doesn't have to type "sudo service hubo-motion log" to find out which joints weren't homed, and even then it only displays the index number, which requires looking up.