rewrite CANTalonFxMotorController to use Phoenix 6 APIs

[dejabot]

Description

Rewrite MaroonFramework's CANTalonFxMotorController to use the Phoenix 6 APIs.
The code supports most of MotorController's interface, though it currently does not support remote sensors, as the Phoenix 6 APIs

• only support CANcoders as remote sensors
• require the CANcoder's device ID, which the current MotorController APIs do not provide

We can extend the MotorController APIs to allow for this in a future PR.

This code also makes CANTalonFxMotorController extend TalonFX, rather than contain it. This allows for easier casting from a MotorController (retrieved via RobotProvider) to a TalonFX in case we want to use the lower-level APIs directly.

NOTE: this branch is based on the branch that removes several API methods. Will rebase once that PR has been submitted.

How Has This Been Tested?

Tested basic functionality (eg, set()) on RevA.

• Unit tests: [Add your description here]
• Simulator testing: [Add your description here]
• On-robot bench testing: [Add your description here]
• On-robot field testing: [Add your description here]

[dejabot]

for this PR, you only need to read the CANTalonFxMotorController code. the rest of the changes are from the maroonframework-trim-hal branch which has been sent in a separate PR.

[dejabot]

Thx! PTAL?