3061 Lib v2024.0.0-beta.0

This will be the first beta based on 2024 software components. The changes are categorized by topic in rough order of significance.

Drivetrain Subsystem

• add Drivetrain subsystem with corresponding DrivetrainIO interface
• add DrivetrainIOCTRE class which extends CTRE's SwerveDrivetrain class in order to benefit from all their optimizations, including 250 Hz odometry updates
• add DrivetrainIOGeneric class which can be customized for a variety of swerve motors, encoders, and gyros in the same manner as previous releases
• update RobotOdometry to support another class managing the odometry (e.g., CTRE's SwerveDrivetrain)

Fault Reporter

• update to detect missing CTRE devices with Phoenix 6 and report faults
• add support for SparkMAX to FaultReporter

Serve Tuning

• add a new "auto" to tune swerve rotation
• log closed loop reference for swerve modules to facilitate tuning

Dependencies

• WPIlib 2024 beta 4
• Phoenix 6 24.0.0 beta 5
• AdvantageKit 3.0.0 beta 6
• PathPlanner 2024.0.0 beta 6
• PhotonLib 2024.1.1 beta 3.2
• RevLib 2024.0.0

What's Changed

• Detect missing devices by @gcschmit in #61
• Swerve tuning by @gcschmit in #62
• 2024 Beta by @gcschmit in #64
• prepare for 2024 beta release by @gcschmit in #68

Full Changelog: v2023.2.0...v2024.0.0b0