Provide consistent and clear logging about disabling chores

Right now if you want to disable any of our chores you can set the period to be <= 0. Sometimes, if you do this you get a nice message:

2019-09-16 22:10:16,756 INFO  [master-1:16000.activeMasterManager] master.HMaster: The period is 0 seconds, MobCompactionChore is disabled

And sometimes you get an opaque message:

2019-09-16 22:09:45,333 INFO  [master-1:16000.activeMasterManager] hbase.ChoreService: Could not successfully schedule chore: LogsCleaner
2019-09-16 22:09:45,340 INFO  [master-1:16000.activeMasterManager] hbase.ChoreService: Could not successfully schedule chore: HFileCleaner

This is because sometimes we just blindly submit to ChoreService which submits to a java ScheduledExecutorService and then catches the IllegalArgumentException.

We should remove the one-offs and make it so ChoreService checks the period before accepting a submittal and produces a consistent "Foo is disabled" message.