Major refactor #664

Job	Run time
check-doc	33s
setup_concurrency	8s
check	9s
cross-build (robotpy/roborio-cross-ubuntu:2023.1)	5m 10s
cross-build (robotpy/raspbian-cross-ubuntu:2023.1)	5m 21s
test (windows-latest, 3.6, x86)	4m 27s
test (windows-latest, 3.6, x64)	3m 21s
test (windows-latest, 3.7, x86)	3m 50s
test (windows-latest, 3.7, x64)	4m 46s
test (windows-latest, 3.8, x86)	3m 13s
test (windows-latest, 3.8, x64)	3m 13s
test (windows-latest, 3.9, x86)	3m 12s
test (windows-latest, 3.9, x64)	3m 1s
test (windows-latest, 3.10, x86)	4m 13s
test (windows-latest, 3.10, x64)	3m 32s
test (windows-latest, 3.11, x86)	4m 32s
test (windows-latest, 3.11, x64)	3m 20s
test (macos-latest, 3.6, x64)	1m 41s
test (macos-latest, 3.7, x64)	1m 12s
test (macos-latest, 3.8, x64)	1m 3s
test (macos-latest, 3.9, x64)	1m 15s
test (macos-latest, 3.10, x64)	1m 12s
test (macos-latest, 3.11, x64)	1m 34s
test (ubuntu-20.04, 3.6, x64)	56s
test (ubuntu-20.04, 3.7, x64)	44s
test (ubuntu-20.04, 3.8, x64)	1m 17s
test (ubuntu-20.04, 3.9, x64)	43s
test (ubuntu-20.04, 3.10, x64)	1m 5s
test (ubuntu-20.04, 3.11, x64)	1m 7s
publish	0s
	1h 9m 50s

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