Falling/Standup/Stiffness

references #457 #458

* stiffness enabled/removed via button press works and should override any action.
* behaviors will remove stiffness before falling and stand correctly.
* behaviors can also now call `gainsOn()` and `gainsOff()` at will. 
* minor cleanups in behaviors.

Note! does not disable fallController while kicking, saving, etc. Made this relatively easy and all in behaviors. Needs to be implemented but should be fine until we run into that issue.