Pre-GRC Tuning

[GreenTomato5]

Adds CAN IDs taken from last years configs for each module in constants. These should be CHECKED PLEASE because the IDs may be mixed up and likley are. This is because we didn't properly name our modules last year when using YAGSL so "Front left" in configs wasn't actually front left. But the wheels should still move. I also added the NavX IO abstraction which currently uses the MXP port. This may need to be adjusted to use USB C but for now it should be fine.

[GreenTomato5]

Problem is bc talons and sparks are using a different odo thread and the talons use blocking (so they wait for motor controller to report data and that adds latency so the data collected isnt aligned with the timestamps of the spark data collected) and the sparks use polling (just ask the sparks for data). Idk how to effectivley mix the two sampling types so the odo data works and it would probably take a lot of time so I'm gona switch it to the non advanced swerve template so we can get to testing important stuff faster

[GreenTomato5]

I lied, made a mixed thread so should maybe work

[GreenTomato5]

Todo (After sept 9, putting this here so we don't forget):

• Fix absolute encoder offsets, idk why they weren't offsetting
• Add back sys id and test it for drive controller values (once we get ground)
• PID tune (and probably change the setpoints) of intake, amp bar, and shooter states
• Write climbers
• Automatic state transitions based on at setpoint, timers, and current sensing
• Add beam breaks or sumth