ComanMotionControl: improvements for safer change of control mode.

- motor config flags are read from the board at start-up and stored and used when
	changing control mode at run-time. (for safety just motor_config_1 is send)

- reads pids for torque and impedance control from file.
	If they are found then they are stored and then used when changing control mode at run-time.
	If pids are not present in the config file, then default values are hard-ceded inside
		robotInterface. I suggest to have the values mandatory in config file.
ComanFtSensor: small internal change for setting deviceId name.