Get MCP working over CAN

[Supernova1114]

The MCP motor controller on the arm is currently using USB.
Recently received the CAN dictionary file and so need to write code to communicate over CANOpen.
Note to take into account the ODrive docs where it talks about the overlaps of CANOpen and Odrive CAN.
CAN dictionary file can be found in the config file in the arm repo.

[Supernova1114]

https://canopen.readthedocs.io/en/latest/index.html

self.rc.SpeedAccelM1(self.address, GRIP_ACCEL, int(move_dir))

https://github.com/SaddlebackCollegeRobotics/arm_2023_24/blob/main/src/arm/config/MCPCAN.eds

[Supernova1114]

MCP may be replaced with a different motor driver this year.