Add TalonFX orchestra feature for Outreach

[srimanachanta]

MIDI files will be found on this issue till closed.

Adds the orchestra functionality of the Falcon500.

See:

• Example

[srimanachanta]

Thoughts:

A common singleton that is responsible for managing motors and disabling the drive motor controllers based on the selection of the robot mode on boot. Ex. dashboard option to disable speaker mode that allows for driving to be disabled but speakers to work. Would block the OI option for TalomFx related motor controller due to conflicting commanded outputs.