[WIP] Handle motor faults

[potatoisagender]

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Description

See #3408

Changes motor fault handling to a per motor control.
Allows for faulty motors to be disabled without crashing thunderloop.

Testing Done

Need to do testing on robot

Resolved Issues

Resolves #3408

Length Justification and Key Files to Review

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• Remove all commented out code
• Remove extra print statements: for example, those just used for testing
• Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue