hal: Update kinematics to getter/setter - #4288
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This updates the kinematics components to getter/setter. Most of this is very straight forward.
(there appear to be more kinematics files in hal/components, like matrixkins, will be done later)
There are several kinematics that have pins/params with initial values. They are created in a loop and the initial values are now taken from a few static const arrays so the loop can easily address and set the initial value for the specific pin/param. Having a few bytes of added .rodata should be no problem.
A few kinematics modules have some fixes to add
staticto some local variables like the component ID and the haldata pointer. These are exclusively local to the module. Some error checking in rtapi_app_main() was improved and streamlined when it could be easily done without needing to go into rewrite/refactor mode.A few obvious and easy to fix cases of multiple reads of a pin/param were altered into cached reads.
Corexykins had all its completely unused pins structure and halmem allocation removed (all from copy/paste coding). Also unused headers were removed.