Fix double detach from controller - #231
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`Stop()` called `HardStop()` which was then called again by `MainLoop` once the token was cancelled. Removed from `Stop()`. Just let the main loop handle stopping upon receiving the cancellation token. Moved `IsPaused` and `IsStopping` resets to the existing continuation in `Start()`
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Stop() called HardStop() which was then called again by MainLoop once the token was cancelled. Removed from Stop(). Just let the main loop handle stopping upon receiving the cancellation token. Moved IsPaused and IsStopping resets to the existing continuation in Start()
Closes #228