Consolidate SparkFlex motor factories

[mpulte]

We have a few motor factories that essentially setup SparkFlexes the same way. We should consolidate them into a single motor factory with some sane defaults. Fluent configuration with method chaining would be ideal. I'm picturing the call to look something like this.

SparkFlexFactory.createMotor(
    motor -> motor.smartCurrentLimit(60),
    encoder -> encoder,
    controller -> controller.pidWrapping(0, 1.0));