Give better position lag monitoring errors

[ZLLentz]

Current Behavior

Basic error reporting

Expected Behavior

We should be able to tell, to some extent, why there is a position lag error.
Looking at the plots, we can tell the difference between a poorly tuned motor and one that has gotten stuck, for example. This should be possible in code.

Context / environment

Help debug faster when we have motion issues

Suggested Solution

Check actual velocity and other measurement parameters at error time?