Update WPILib to 2022.1.1. Update Pheonix to 5.20.2. Migrate SPARK MAX API to REVLib. Update Gradle to 7.3.3.

[ZachOrr]

Hey y'all. Forgive me for the large PR out of nowhere -

I'm looking to get the distributed version of swerve-lib updated for 2022. Going through the bullet points here-

• Updated the build.gradle with new software versions
  • WPILib 2021.3.1 -> 2022.1.1
  • Phoenix 5.19.4 -> 5.20.2
  • REV moved from SPARK MAX to REVLib (more on this later)
• Update example vendordeps for new library dependencies
• Update the gradle wrapper from 6.7 -> 7.3.3 (WPI is using 7.3.3 - trying to get it more inline with what teams are using)
• Updated GradleRIO from 2021.3.1 -> 2022.1.1
• Updated REVLib API for breaking changes

This PR is NOT ready to merge quite yet, and I need some assistance. I'm getting some issues building the example projects. They're all just GradleRIO DSL issues - I'm not very familiar with that tooling.