Voltage control repair

This pull request is connected with changes proposed in [pull request 214 in cob_robots](https://github.com/ipa320/cob_robots/pull/214) repository.

This is a proposal for changes of voltage control to work properly with raw3-5. I tried to do changes to not break other robots, but I am not sure if succeeded. There was a lot of complication and IMO obsolete code, so some stuff are also cleaned.

Changes are done regarding phidgets-board and are not colliding with raw3-3 which is also using phidgets-board.