Major refactor #622

Job	Run time
check	13s
setup_concurrency	1s
check-doc	27s
cross-build (robotpy/roborio-cross-ubuntu:2023.1)	1m 37s
cross-build (robotpy/raspbian-cross-ubuntu:2023.1)	2m 0s
test (windows-latest, 3.6, x86)	7m 26s
test (windows-latest, 3.6, x64)	4m 5s
test (windows-latest, 3.7, x86)	2m 51s
test (windows-latest, 3.7, x64)	3m 30s
test (windows-latest, 3.8, x86)	3m 30s
test (windows-latest, 3.8, x64)	3m 20s
test (windows-latest, 3.9, x86)	3m 47s
test (windows-latest, 3.9, x64)	3m 38s
test (windows-latest, 3.10, x86)	4m 3s
test (windows-latest, 3.10, x64)	6m 43s
test (windows-latest, 3.11, x86)	3m 21s
test (windows-latest, 3.11, x64)	3m 39s
test (macos-latest, 3.6, x64)	2m 18s
test (macos-latest, 3.7, x64)	1m 15s
test (macos-latest, 3.8, x64)	1m 24s
test (macos-latest, 3.9, x64)	1m 27s
test (macos-latest, 3.10, x64)	1m 40s
test (macos-latest, 3.11, x64)	1m 40s
test (ubuntu-20.04, 3.6, x64)	1m 5s
test (ubuntu-20.04, 3.7, x64)	43s
test (ubuntu-20.04, 3.8, x64)	56s
test (ubuntu-20.04, 3.9, x64)	56s
test (ubuntu-20.04, 3.10, x64)	47s
test (ubuntu-20.04, 3.11, x64)	1m 0s
publish	0s
	1h 9m 22s

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