Tyler Veness comments

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                                            Tyler Veness

Holonomic Drive Controller - Inconsistent FeedForward Application

Also, thetaFF is currently a feedback calculation instead of feedforward.

[examples] Add TimesliceRobot templates

I don't know. Logging for timeslice durations would be very useful here (3512 logs this info with CSV files). I've heard Java feedback controllers can't be run faster than 100Hz...

[wpilibc] Fixed memory leak during initialization

Idk if deleting the DigitalInput afterwards actually works because that may unconfigure the pin.

[wpilibc] Fixed memory leak during initialization

Sure, but does this PR actually work on real hardware?

[wpilibc] Fixed memory leak during initialization

/azp run

[wpilibc] Fixed memory leak during initialization

Like I said before, this PR needs to be tested on real hardware since it's messing with hardware configuration. I don't have access to said hardware.

[wpilibc] Fixed memory leak during initialization

/wpiformat

Update docs to specify units of DigitalOutput pulse length

Instead of appending the units to the name, C++ should use `units::second_t`.

Trajectory constructor should throw instead of crash when given an empty vector of states

The discussion from https://github.com/wpilibsuite/allwpilib/pull/3184 is relevant here. Throwing a std::invalid_argument exception in the constructor makes sense to me as opposed to making a zombie object. It'll also give a more...

Trajectory constructor should throw instead of crash when given an empty vector of states

Being able to pass in a vector of States is an intended use case. It lets users generate custom trajectories.