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Resolve L2SS-363 "01 12 2021 get rw values from hardware"

Taya Snijder requested to merge L2SS-363_01-12-2021-get_RW_values_from_hardware into master

Changed RW caching to instead get the value from hardware.

Fixed bug in our unit tests that caused the scalar_R tests to read RW values instead of R values

Closes L2SS-363

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