JointController: allow braking to be disabled in force mode #51

Job	Run time
test / matrix-prep-os	4s
test / matrix-prep-bazelversion	8s
test / test (ubuntu-latest, 7.3.1, ., true)	28m 51s
test / test (ubuntu-latest, 8.0.0, ., true)	28m 7s
	57m 10s

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