Phoenix 6 Migration

Pheonix 5 APi is officially deprecated

Phoenix 6 PID reference in converting PID gains: https://pro.docs.ctr-electronics.com/en/latest/docs/api-reference/device-specific/talonfx/basic-pid-control.html

• Take aways moving from native units (encoder tics) to canonical (rotations per second)
• PID constants must therefore be converted using this calculator (https://pro.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/closed-loop-guide.html)

Everything is now in rotations/sec therefore we can remove the conversion to encoder tics per 100 ms