VelocityControllerHelper: make use of new robotunit function to remove and delete controllers

source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp

@@ -79,13 +79,5 @@ void VelocityControllerHelper::setNullSpaceControl(bool enabled)
 
 void VelocityControllerHelper::cleanup()
 {
-    controller->deactivateController();
-    if (controllerCreated)
-    {
-        while (controller->isControllerActive())
-        {
-            TimeUtil::SleepMS(1);
-        }
-        controller->deleteController();
-    }
+    controller->deactivateAndDeleteController();
 }