hal: Update three21kins to getter/setter - #4360
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three21kins was merged from a branch that predated the tree-wide kinematics conversion in 51fc302, so it still used the old double-pointer pin pattern. Store the DH parameters as hal_real_t members, create the pins with hal_pin_new_real() so the defaults come from the pin definition, and read them with hal_get_real(). The per-call local copies of the parameters are kept as they were. No functional change.
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three21kins(#4270) branched before 51fc302 converted the kinematics modules to the getter/setter HAL API, so it landed with the old double-pointer pin pattern and a set of(*(haldata->x))macros.This brings it in line with
pumakinsand the rest ofsrc/emc/kinematics:hal_real_tmembers instead ofhal_float_t *hal_pin_new_real(), defaults supplied by the pin definition rather than assigned after creationhal_get_real()The per-call local copies of the parameters are unchanged, so each pin is still read once per kinematics call. No functional change.