Add Phases

[mxtmx]

Adds a flexible phase management system for FTC match time periods. Includes:

• Phase class for defining named time periods with configurable durations and time units
• PhaseManager for automatic phase transitions based on elapsed match time with listener callbacks
• Comprehensive unit tests covering initialization, transitions, and edge cases

Allows teams to easily structure autonomous and teleop logic around match phases with automatic time-based transitions.

[opi3636]

Thank you very much for your PR.
I have some questions about the PhaseManager class.

• Why is everything static? To me, it seems better for it to be an object rather than static methods.
• Why is the index of the current and previous Phase stored instead of the objects themself? It introduces some unnecessary logic that can be a bit confusing.

[mxtmx]

Thanks for the feedback, I agree both of those things should change. I updated those, as well as changed phase equality comparison to be based on reference instead of name. The documentation PR has been updated as well.

[opi3636]

Thanks for the update. But I have some new notes.

• notifyPhaseChange() should display the error to the global warning (also stdout or stderr could be nice) rather than to the telemetry, as it can easily get lost there.

• The PhaseListener interface should be in a different file.

• I haven't tested if this will work, but it will be better to use an OpMode listener rather than check if the timer should start every loop if possible.

[opi3636]

Thanks for the update. But I have some new notes.

* `notifyPhaseChange()` should display the error to the global warning (also stdout or stderr could be nice) rather than to the telemetry, as it can easily get lost there

* The `PhaseListener` interface should be in a different file.

* I haven't tested if this will work, but it will be better to use an [OpMode listener](https://javadoc.io/static/org.firstinspires.ftc/RobotCore/6.2.1/com/qualcomm/robotcore/eventloop/opmode/OpModeManagerNotifier.html) rather than check if the timer should start every loop if possible.

I want to a bit quick up the development time on this PR. So I will send a PR to your repo later today or tomorrow with the requested fixes and a bit more.

[mxtmx]

Sounds good, sorry about the delay, was preparing for a competition. If you would like me to do any additional changes feel free to let me know.

[opi3636]

Sounds good, sorry about the delay, was preparing for a competition. If you would like me to do any additional changes feel free to let me know.

Don't worry, all good. Best of luck at your competition!

[opi3636]

Could you please check/approve the PR on your repository?

[mxtmx]

Yep, sorry just saw the PR. I added some comments. Once we're done making changes, we'll need to update the documentation as well as I haven't done that.