Fix deprecation warnings in PhotonLib examples (#1699)

The following deprecation warnings have been fixed:
- `SwerveModuleState.optimize(desiredState, currentRotation);`, which is
now an instance method
- `AprilTagFields.kDefaultField.loadAprilTagLayoutField();`, which is
now `AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);`

WIP:
- [x] C++
- [x] Python

photonlib-python-examples/aimandrange/swervemodule.py

@@ -142,25 +142,23 @@ class SwerveModule:
         encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
 
         # Optimize the reference state to avoid spinning further than 90 degrees
-        state = wpimath.kinematics.SwerveModuleState.optimize(
-            self.desiredState, encoderRotation
-        )
+        desiredState.optimize(encoderRotation)
 
         # Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
         # direction of travel that can occur when modules change directions. This results in smoother
         # driving.
-        state.speed *= (state.angle - encoderRotation).cos()
+        desiredState.speed *= (desiredState.angle - encoderRotation).cos()
 
         # Calculate the drive output from the drive PID controller.
         driveOutput = self.drivePIDController.calculate(
-            self.driveEncoder.getRate(), state.speed
+            self.driveEncoder.getRate(), desiredState.speed
         )
 
-        driveFeedforward = self.driveFeedforward.calculate(state.speed)
+        driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
 
         # Calculate the turning motor output from the turning PID controller.
         turnOutput = self.turningPIDController.calculate(
-            self.turningEncoder.getDistance(), state.angle.radians()
+            self.turningEncoder.getDistance(), desiredState.angle.radians()
         )
 
         turnFeedforward = self.turnFeedforward.calculate(