Major refactor #657

Job	Run time
check	10s
setup_concurrency	2s
check-doc	25s
cross-build (robotpy/roborio-cross-ubuntu:2023.1)	1m 2s
cross-build (robotpy/raspbian-cross-ubuntu:2023.1)	11s
test (windows-latest, 3.6, x86)	8m 23s
test (windows-latest, 3.6, x64)	7m 53s
test (windows-latest, 3.7, x86)	8m 6s
test (windows-latest, 3.7, x64)	7m 36s
test (windows-latest, 3.8, x86)	7m 59s
test (windows-latest, 3.8, x64)	8m 29s
test (windows-latest, 3.9, x86)	7m 26s
test (windows-latest, 3.9, x64)	7m 53s
test (windows-latest, 3.10, x86)	8m 28s
test (windows-latest, 3.10, x64)	6m 40s
test (windows-latest, 3.11, x86)	8m 9s
test (windows-latest, 3.11, x64)	6m 44s
test (macos-latest, 3.6, x64)	5m 57s
test (macos-latest, 3.7, x64)	5m 43s
test (macos-latest, 3.8, x64)	4m 28s
test (macos-latest, 3.9, x64)	4m 49s
test (macos-latest, 3.10, x64)	4m 45s
test (macos-latest, 3.11, x64)	8m 38s
test (ubuntu-20.04, 3.6, x64)	4m 38s
test (ubuntu-20.04, 3.7, x64)	4m 31s
test (ubuntu-20.04, 3.8, x64)	4m 25s
test (ubuntu-20.04, 3.9, x64)	6m 6s
test (ubuntu-20.04, 3.10, x64)	4m 23s
test (ubuntu-20.04, 3.11, x64)	5m 13s
publish	0s
	2h 39m 12s

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