refactor: Controller API

[tropicaaal]

Describe the changes this PR makes. Why should it be merged?

• Moves Controller into peripherals to enforce singleton access.
• Refactors buttons and joysticks into their own structs with unique getters.
• Adds support for getting connection status and battery level from the controller.
• Adds support for controlling the internal vibration motor through rumble pattern strings.

Additional Context

• Breaking change
• TODO: docs
• Need to look into implementing a writer for the controller's display.
• Unsure if Buttons and Joysticks need to exist now other than as a fancy namespace struct.

[lewisfm]

Maybe this should go in pros-sys because it determines constraints on a function from that module. Also if controller display gets implemented in sim it'd be good to have that constant available because the simulator already uses other constants from pros-sys like errno values.

[lewisfm]

I think it's a little worrying how this makes it harder to read controller inputs without much obvious increase in safety. For example if you want to periodically rumble the controller from another thread but still read its inputs from opcontrol you'll need a mutex to share the controller, even though those two actions (reading joysticks and playing the haptic feedback) could happen in parallel.

[Gavin-Niederman]

I think it is worth considering renaming the master controller to main or some similar word.

[lewisfm]

I think it is worth considering renaming the master controller to main or some similar word.

Primary and partner might work because that's what VEXcode uses.