'have you taken' is present perfect tense, and did you take is simple past tense. Present Perfect Tense describes something that happened it the past but has consequences in the present or is still true, while Simple Past Tense describes something that happened in the past and it's finished.

('have you takeN...' and' did you take...''?) WE WOULD NOT SAY THIS: "Have you take a listen?" WE COULD SAY THIS: "Did you take a listen?" WE WOULD BE MORE LIKELY TO SAY: "Have a listen" (As an imperative) "Did you listen to it?" "Have you brought your mobile (with you)?" "Did you take (bring) your mobile WITH YOU?" WE WOULD USE "TAKEN" with medicine: "Have you taken your medicine/vitamins/pills" THESE ARE BOTH OKAY: Have you done your job? Did you do your job?