Purge YARP_INTERACTION_MODE_MOTOR_INTERFACE
[controlboard] remove pre-interaction mode compatibility code 

Now we depend on yarp post interaction mode
[cmake] remove pre-interaction mode compatibility code
[controlboard] remove spurious #endif
Update CMakeLists to require the latest yarp
Merge pull request #145 from robotology/issue/144

Removing old compatibility code with yarp pre-interactionMode