respect tuning mode to reduce loop time via logging less things

[tytremblay]

Describe your changes

• Subsystem tunable now follows Constant.tuningMode. This must be set to false before running in a match.
• Adds a logPerformanceData boolean that enables/disables performance logging. Should also be set to false before running in a match.
• Also adds a dutyCycle input for motors.

Issue ticket number and link

PR Yes/No List

Note: Exceptions can be made by the Software Director or a Mentor.

1. Scope

• Does this change clearly correspond to one specific task or card?
• Are there no unrelated changes mixed into this PR?

2. Build & Deploy

• Does the code compile successfully?
• Does the code deploy successfully to the simulator or robot?
• If deployed to a robot: Does the robot start up normally with this code?

3. Safety & Enable Behavior

• If deployed to a robot: When enabled, does nothing move unexpectedly?
• No safety checks, limits, or interlocks are removed or bypassed?

4. Testing & Verification

• Has this change been tested in simulation, on the real robot, or both?
• Was the new or changed behavior actually exercised during testing?
• Did the robot behave the way it was intended to?

5. Behavior & Integration

• Does existing (unchanged) robot behavior still work as expected?
• Could this change conflict with other recent or active changes?

6. Code Quality & Maintainability

• Can another student reasonably read and understand this code?
• Are variable and method names clear and meaningful?
• Is temporary debug code, print spam, or commented-out code removed?
• Are new constants placed in a reasonable, consistent location?
• Would I be comfortable debugging this code at competition?

7. Readiness to Merge

• Has a mentor or the Software Director reviewed this, if required?
• If this code were merged right now, would I feel confident enabling the robot?