Adjust ASC default options in the ALIGOFactory

• The definitions of DHARD and CSOFT were switched and are corrected.
• The ASC.add option now actually controls whether ASC is added or not.
• The set_default_drives method is changed to accept options as to whether the default drives are forces and torques or displacements and angles separately for length, pitch, and yaw.

The last change to set_default_drives is useful because the LSC DOFs are usually defined in terms of displacement while the ASC DOFs are usually defined in terms of torque. These are the defaults (L_force=False, P_torque=True, and Y_torque=True). Previously everything was displacements and angles by default. This required you to go through and change all of the mech.pitch to mech.F_pitch, etc. to get the usual HARD/SOFT DOFs. We could also just change the defaults to have pitch and yaw be torques and length be displacement and get rid of the options.