Multiple polyscope and controller bug fixes

Bug fixes

Polyscope

• Fixed issue where in some rare situations the robot would move to wrong joint positions (with incorrect rotation) when a Pallet node using an irregular pattern

Controller

• Fixed the speedl() built-in function to control the speed in the Cartesian domain. Before it was using one extra time step, which resulted in poor performance as well as an annoying sound
• Fixed the issue where 24V Analog outputs are active on PolyScope booting
• Fixed the issue where freedrive_mode() built-in function throws an exception like "Arguments 'a' and 'v' must be positive"
• Fixed an issue where global and installation variables could get a wrong value for a fraction of a second at program start-up
• Fixed an issue where variables stopped updating until the controller was restarted. It could manifest as a blank variable pane if the program was reloaded in PolyScope