* feat: use waitForAll to get timesynced signals

* fix: make swerve offset units consistent, swerve offsets happen in the same place

* feat: use fused CANCoder for swerve turn position

* bump: Phoenix 6 version

* fix: import CAN_BUS constant correctly

* fix: use Rotation2d factory methods

* feat: refresh all signals at the same time (scuffed implementation?)

* feat: use pigeon instead of navx

* fix: potentially less scuffed signal refresher

* fix+feat: signal refresher no longer static, better periodic updating, and error checking

* fix: don't print stack traces to declutter logs

* refactor: rename phoenixTimeSyncSignalRefresher to odometrySignalRefresher

* AprilTag pose estimation (#18)

* feat: use SwerveDrivePoseEstimator for odometry tracking
* stop using scuffed AdvantageKit Twist2d way

* feat: AprilTag vision IO and implementation for Limelight

* feat: AprilTagVision subsystem

* feat: fuse vision poses with drivetrain poses

* fix: null vision poses no longer causing issues

* fix: actually fix null vision poses

* feat: limelight positioning adjusts based on elevator height

* fix: properly update rear camera tag poses

* feat: block vision updates with moving elevator

* fix: correctly pass in suppliers
* im dumb lol

* fix: use optionals for getting vision pose

* feat: change how vision pose accepter is used
* we can now change the code to filter out input from a single camera if the elevator is moving, instead of all cameras

* feat: untested vision sim io with photonvision sim support

* fix: use vision pose in sim

* fix: sim values as constants

* refactor: remove unnecessary IO input

* refactor: april tag layout declared in sim io instead of constants

* fix: correctly check robot rotational velocity

* fix: no duplicate constants

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Co-authored-by: Zach Rutman <[email protected]>