Swap SDS Swerve Library to YAGSL

[MichGedd]

Is your feature request related to a problem? Please describe.
SDS Swerve Library is no longer maintained, so we should switch to a more up to date swerve library

Describe the solution you'd like

1. Fork YAGSL library and create DIOAbsoluteEncoder class based on our current fork of the SDS Libary
2. Swap out SDS Library in ChargedUp2023 repo for forked YAGSL library
3. Update drive code for new library

Describe alternatives you've considered
Other swerve libraries can be suggested in this thread, however YAGSL seems to be widely supported

Additional context
ChiefDelphi Thread: https://www.chiefdelphi.com/t/yet-another-generic-swerve-library-yagsl-beta/425148
GitHub Link: https://github.com/BroncBotz3481/YAGSL