BREAKING: Figure: Raise GMTParameterError for deprecated parameters U/X/Y/timestamp/xshift/yshift. Previously raise GMTInvalidInput

[seisman]

See #3707 (comment) for context. When deprecated parameters U/X/Y/timestamp/xshift/yshift are used, it makes sense to raise GMTParameterError with custom error messages.

In [1]: import pygmt

In [2]: fig = pygmt.Figure()

In [3]: fig.basemap(region=[0, 10, 0, 10], frame=True, projection="X10c", U=True)

GMTParameterError: Parameters 'U' and 'timestamp' are no longer supported since v0.12.0. Use Figure.timestamp() instead.