Major refactor #643

Job	Run time
check-doc	26s
setup_concurrency	1s
check	10s
cross-build (robotpy/roborio-cross-ubuntu:2023.1)	1m 16s
cross-build (robotpy/raspbian-cross-ubuntu:2023.1)	1m 24s
test (windows-latest, 3.6, x86)	7m 21s
test (windows-latest, 3.6, x64)	8m 7s
test (windows-latest, 3.7, x86)	7m 34s
test (windows-latest, 3.7, x64)	8m 43s
test (windows-latest, 3.8, x86)	6m 53s
test (windows-latest, 3.8, x64)	6m 38s
test (windows-latest, 3.9, x86)	6m 40s
test (windows-latest, 3.9, x64)	6m 51s
test (windows-latest, 3.10, x86)	6m 17s
test (windows-latest, 3.10, x64)	6m 30s
test (windows-latest, 3.11, x86)	6m 46s
test (windows-latest, 3.11, x64)	6m 23s
test (macos-latest, 3.6, x64)	6m 54s
test (macos-latest, 3.7, x64)	4m 52s
test (macos-latest, 3.8, x64)	6m 58s
test (macos-latest, 3.9, x64)	4m 50s
test (macos-latest, 3.10, x64)	6m 4s
test (macos-latest, 3.11, x64)	7m 27s
test (ubuntu-20.04, 3.6, x64)	4m 52s
test (ubuntu-20.04, 3.7, x64)	4m 41s
test (ubuntu-20.04, 3.8, x64)	4m 10s
test (ubuntu-20.04, 3.9, x64)	4m 17s
test (ubuntu-20.04, 3.10, x64)	6m 7s
test (ubuntu-20.04, 3.11, x64)	4m 33s
publish	0s
	2h 33m 45s

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