[API] API Overhaul

[oh-yes-0-fps]

I had some time to burn so I refactored the library to roughly how I would do it. Feel free to tell me what you like and don't like.

This is an implementation of the SimRobot idea we talked about a week ago.

The user would grab the robot from the simulation arena and can either pass it throughout their subsystems or statically access it. The user then uses this robot to initialize their drivetrain sim, gamepiece storage, mechanisms/motors and intakes.

A somewhat comprehensive list of changes:

• Renamed MapleMotorSim to MechanismSim
• SwerveDriveTrainSimulation now has it's own SwerveConfig that extends the base config
• Swerve module and gyro now have their own configs
• Intakes now are backed by a GamePieceStorage object that can be shared between intakes and other subsystems
• GamePiece changes from previous PR
• GamePiece now has a user control invariance that only lets user mutating functions work if they should have control over the GamePiece
• IntakeSimulation, MechanismSim, GamePieceStorage, and DriveTrainSimulation are all constructed through SimRobot now
• GamePieces can be cleared from the arena based on their current state (aka clear all Limbo)
• SimulatedArena timing methods are now non-static
• Added RuntimeLog for better user feedback on warnings/errors

[catr1xLiu]

Most of the code looks impressive me, can you please test the new API in advanced_swerve_example so that we can see how the new API works in real-life code?

Also, please change the target of the PR to https://github.com/Shenzhen-Robotics-Alliance/maple-sim/tree/new-game-piece-API

thanks a lot for contributing!

[catr1xLiu]

The whole library has moved to wpilib units, this means that merging it using git is seemingly impossible.

I'll just merge it to a temporary branch and manually commit changes to dev instead.

Anyways, thanks a lot for all the work! I really like it!