Re-ID drivetrain to make sense

Currently, the drive CAN ids feel a bit random. We should re-id the drivetrain so that it's in order of module ID (0-3):

- 1 FL CANcoder
- 2 FL drive
- 3 FL steer
- 4 FR CANcoder
- 5 FR drive
- 6 FR steer
- 7 BL CANcoder
- 8 BL drive
- 9 BL steer
- 10 BR CANcoder
- 11 BR drive
- 12 BR steer