Major refactor #613

Job	Run time
setup_concurrency	2s
check-doc	30s
check	11s
cross-build (robotpy/roborio-cross-ubuntu:2023.1)	55s
cross-build (robotpy/raspbian-cross-ubuntu:2023.1)	54s
test (windows-latest, 3.6, x86)	50s
test (windows-latest, 3.6, x64)	44s
test (windows-latest, 3.7, x86)	26s
test (windows-latest, 3.7, x64)	1s
test (windows-latest, 3.8, x86)	1s
test (windows-latest, 3.8, x64)	1s
test (windows-latest, 3.9, x86)	1s
test (windows-latest, 3.9, x64)	1s
test (windows-latest, 3.10, x86)	53s
test (windows-latest, 3.10, x64)	54s
test (windows-latest, 3.11, x86)	54s
test (windows-latest, 3.11, x64)	55s
test (macos-latest, 3.6, x64)	30s
test (macos-latest, 3.7, x64)	1s
test (macos-latest, 3.8, x64)	52s
test (macos-latest, 3.9, x64)	49s
test (macos-latest, 3.10, x64)	52s
test (macos-latest, 3.11, x64)	56s
test (ubuntu-20.04, 3.6, x64)	1m 8s
test (ubuntu-20.04, 3.7, x64)	1m 7s
test (ubuntu-20.04, 3.8, x64)	1m 8s
test (ubuntu-20.04, 3.9, x64)	1m 6s
test (ubuntu-20.04, 3.10, x64)	1m 9s
test (ubuntu-20.04, 3.11, x64)	1m 7s
publish	1s
	18m 59s

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