fixing closed-loop stepper motor alarm (for U4)

[LukasBaecker]

Due to the fact that U4 with Tornado has the only closed-loop stepper motor which is not adressed with CAN as later stepper motors. A fix for the internal alarm is necessary.

• Creating quick fix for U4
• Fixing the invert of the alarm with use of config file to set the hardware when setting up the robot.
• Test on U4
• Test on other robot (should not have an influence)

Test steps:

• Deploy code without updating the config. It should raise a KeyError
• Update the config
• Drive and reference the robot

[pascalzauberzeug]

As expected F13/RB36 runs without any errors

[pascalzauberzeug]

This must be tested on U4 and until then U4 must not be newly configured!

[LukasBaecker]

Beside the small changes on the error message, your changes look good @pascalzauberzeug
Already tested the changes on U4. Worked.