Make a logger to ensure things are going correctly in matches

[maniyar1]

As @nhaas1 noticed when trying to work on observing current, the built-in log viewer is not very useful (and written in binary! So it won't work in with any other log viewer). It would be preferable to make our own custom logging system. This system will ideally piggyback of the (obscurely documented) Shuffleboard recording features (documented here and here. Basic goal: we should be able to make a front end that checks for simple problems. Example of a simple problem: two motors on the same gearbox are using significantly different amounts of current.

[TheGrand547]

Also make sure that they are efficient so we don't end up with 100 mb of log files unnecessarily.