Update to 2024 Phoenix6 Code

[bjmcternan]

Using the AdvantageKit differential drive example project: https://github.com/Mechanical-Advantage/AdvantageKit/tree/main/example_projects/diff_drive/src/main

Update the drivetrain to work with the phoenix 6 libraries. Remove the other subsystems for now.
Once complete, the 2023 chassis should be able to be moved using a controller and that should be logged and viewed over AdvatnageScope.