Tyler Veness

Move classes from frc2 namespace to frc and from wpilibj2 package to wpilibj

6

This makes the package layout more consistent, which makes it easier to guess what a given class's import is. The following search-replace patterns should be added to the 2023 project...

[upstrem_utils] Upgrade to fmt 9.0.0

2

fmt removed fmt::make_args_checked since it's no longer needed for constexpr format string checks. fmt deprecated implicit conversions from enums to integers in format arguments, so I added explicit static casts.

The C++ version of TimeInterpolatableBuffer uses `std::vector` for internal storage. The vector in is sorted for binary search, but old elements are removed from the front, which causes a copy...

[wpilib] Fix repeat TimedRobot callbacks on loop overrun

6

If one of the *Init() functions takes several multiples of the nominal loop time, the callbacks after that will run, then increment their expiration time by the nominal loop time....

We have analogous classes for flywheels, elevators, and arms. It would use LinearSystemId internally to construct the model.

[wpilib] Make drive classes follow NWU axes convention

7

All trigonometric functions and vector classes assume North-West-Up axes convention, so using North-East-Down convention with them is really error-prone. We've broken something every time we touched the drive classes. We...