code cleanup, improved yDebugs() and added deprecated messages. setControlModeRaw(const int j, const int mode) is now independent from :setControlModeRaw(const int j, const int mode)
removed parasitic call to velocityMoveRaw() inside stopRaw(). It should be ok, since ICUBCANPROTO_POL_MC_CMD__STOP_TRAJECTORY already sets vel=0 at firmware level.
modifications induced by thrift change
Merge branch 'master' into emsProtocolCheck