ipa: rpi: controller: Replace Pwl::readYaml() with YamlObject::get()

Now that deserializing a Pwl object from YAML data is possible using the
YamlObject::get() function, replace all usage of Pwl::readYaml() to
prepare for its removal.

Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Reviewed-by: Paul Elder <paul.elder@ideasonboard.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
Reviewed-by: David Plowman <david.plowman@raspberrypi.com>
Tested-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> # On Raspberry Pi 4

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