(SCS) Startup state: should startup with no torque assertion

[tygamvrelis]

We need to figure out how to enable/disable torque (perhaps this is as simple as starting and stopping the PWM timer). Once we figure this out, we should:

1. Implement the torque enable register and set torque enable command. When torque is asserted, the goal position should be whatever the current position read from the sensor is (that way we can enable torque without causing the motor to move to a specific position, which may be undesirable)
2. Start up the motor with no torque