Switch Pinpoint and APDS sensors to SRSHub layout; add SRSHubSensorLayout helper

[raahilparikh]

Motivation

• Replace direct GoBildaPinpointDriver usage with the team's SRSHub wrapper so the Pinpoint odometry and APDS sensors are managed centrally and share consistent I2C configuration and offsets.
• Simplify and centralize hub/device initialization to avoid duplicated per-opmode init code and make per-loop hub updates deterministic for Pinpoint reads.

Description

• Added SRSHubSensorLayout which declares APDS9151 sensor instances, constructs a SRSHub.GoBildaPinpoint with configured offsets and encoder parameters, and exposes ensureInitialized(HardwareMap, ...), getLeftHub(), getRightHub(), and getPinpointHub().
• Updated PinpointLocalizer to use SRSHubSensorLayout.ensureInitialized(...), to read/reset the Pinpoint via SRSHub commands, and to translate the hub-provided pinpoint fields into Pose2d/PoseVelocity2d (including unit conversion between mm and inches).
• Removed direct GoBildaPinpointDriver imports and logic and replaced them with SRSHub calls and the pinpoint instance, including IMU recalibration via SRSHub.GoBildaPinpoint.ResetIMUCommand.
• Updated Indexer to rely on SRSHubSensorLayout.ensureInitialized(...), obtain hub references via SRSHubSensorLayout, use the shared static SRSHub.APDS9151 sensor instances, and simplify updateSensorCache() to update both hubs each loop and then call each Holder.updateSensorCache(), removing the previous staggered-update logic.

Testing

• No automated tests were executed as part of this change.

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Codex Task