Log more things

[Ishan1522]

We can log more things

• We can have more Alerts (which are automatically logged)
• We can log trajectories/autos
• We can log commands
• probably other things?

tho we gotta make sure it doesn't affect performance (yay tracer)
it would be cool if a minion could do this 👀

We will probably try to use the signal logger for logging as little as possible, bc i don't wanna be logging all that lol (this depends on how stuff affects performance). But we will learn how to tune PID with phoenix tuner.