added clear_error for use with Dynamixel Y

[omelia-iliffe]

Small pr to add the new Clear parameters supported in the Dynamixel Y series
https://emanual.robotis.com/docs/en/dxl/protocol2/#clear-0x10

[de-vri-es]

Thanks for the PR! I have some small suggested tweaks to the documentation.

I also don't get why they didn't implement these things as normal writes to registers (but only allow to write 0, for example). But oh well, we just have to deal with it ^_^

Thanks!

[de-vri-es]

Thanks! Merged with some tweaks. I still need to finish doing some renaming before I can do the next release. I'll try to find some time for it!