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Torque current configs

Jan Helgeson requested to merge torque_current into main

Added Torque Current Configs. Added MAX Torque Current settings. Added Torque Current control mode.

@mray190 wasn't sure how to set the max TorqueCurrent Amp values. It looks like if we use the TorqueCurrent control mode we don't necessarily need the SupplyCurrent configs for every motor. The PeakForwardTorqueCurrent takes care of that.

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