Adding Torque Sensor on ADC1, replacing Temperature, improving shutdown

[4jakers18]

Adding Torque Sensor on ADC1

• Memory(?) bug found that limited data packet size when adding the ADC's 32bit float value as an input.
• Resolved by replacing Temperature (also a 32bit Float)
  Identified a memory (?) bug that limited the data packet size when adding the ADC’s 32-bit float value as an input.
  Resolved the issue by replacing the temperature value (also a 32-bit float) with the torque sensor reading.

Improving Shutdown

• Motors are now correctly commanded to shut down when the node closes (e.g., via Ctrl+C).
• Improved the speed of node closure by calling exit(SIGINT); after shutting off the motors.
• Note: Calling exit(SIGINT); immediately after commanding the motors to shut down is a bad practice, as it forces the program to terminate regardless of the motors' response. However, this workaround prevents the program from hanging during shutdown.
  In testing, no issues were observed with the motors failing to shut down. In an actual emergency, the E-stop would be used to cut power to the motors.

[carlosiglezb]

Looks good to me. Thanks for testing this on the hardware!