Try RemoteCANCoder in place of FusedCANCoder

[aidnem]

Purpose High key struggled with incorrect aimer encoder values at BRB. To confirm that this isn't caused by a problem with our FusedCANCoder configuration, we should try using just the CANCoder without the Kraken's internal encoder potentially messing stuff up. Phoenix6's TalonFX docs for remote sensors can be found here

Project Scope

• [ ] Add code to AimerIORoboRio to use CANCoder only.
• [ ] Test it to to see if it is more reliable than using FusedCANCoder.
• [ ] If RemoteCANCoder is better, make a lower-priority ticket to do some digging to figure out why our FusedCANCoder code doesn't work, as there's no real reason we shouldn't be able to use it.

[aidnem]

@jkleiber I'm considering keeping the FusedCANCoder code in place as well, and using a ScoringConstant to toggle between the two. This way, we could alternate between the two (and maybe add a third mode for motor encoder only if we ever decide to go the other direction and fully ignore the CANCoder). Thoughts?

[PChild]

Please do not spend time on this, I'm pretty confident that all of the Fused issues were mechanical and not code, we have a plan to fix the mechanics of this already. If we were to go to any new control strategy I think motor encoder only is a better option.

[jkleiber]

This is a fairly low priority task that wouldn't take much time to implement if we need to do it. We should leave the ticket open for now in case we rule out mechanical issues being the root cause of the encoder problems

[aidnem]

I deleted the branch to avoid clutter but we can always come back to this if needed.