Drivetrain: Improve Talon and Victor controller health checks and reference opening

[derickson2402]

Currently, when a Talon controller reference is opened, it is set to factory defaults and then any configuration is completed. There may be more best practices to be implemented, which check the health and phase of connected sensors and other fun things. Check out the official CTRE Phoenix documentation:

• Talon/Victor bring up
• Sensor bring up