Migrate the code base and motor controllers from Phoenix 5 to Phoenix 6

[cwstryker]

For the 2023-2024 competition season, the team will continue to use the CTRE Phoenix 5 motor control library and related motor control firmware. Phoenix 5 is deprecated and will not be supported during the 2024-2025 season. Therefore, the team's code base and motor controller firmware needs to be upgraded to Phoenix 6 in the 2024 off-season. As part of the upgrade project, all of the Falcon 500 motors, Kraken motors, Talon SRX, and Victor SPX motor controllers in the team's inventory need to be upgraded. In addition, the following robot code bases need to be upgraded to the new library: the 2024 competition robot, the robot named Larry, and the robot named Palatine.