[Algaer] Add absolute encoder for zeroing or just use it for position instead

[GreenTomato5]

Basically we're adding on a CANCoder. From swerve. but on the algaer for zeroing the pivot. So your choice if u should use it to zero the relative encoder (like swerve 💀 ) or to just directly use it as position. We can use phoenix pro if we want timesync if u want to implement that.