[wpilib] Deprecate Accelerometer and Gyro interfaces (#5445)

Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.

wpilibc/src/main/native/cpp/ADXL362.cpp

@@ -93,7 +93,6 @@ void ADXL362::SetRange(Range range) {
       m_gsPerLSB = 0.002;
       break;
     case kRange_8G:
-    case kRange_16G:  // 16G not supported; treat as 8G
       m_gsPerLSB = 0.004;
       break;
   }

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -140,6 +140,10 @@ void ADXRS450_Gyro::Calibrate() {
   m_spi.ResetAccumulator();
 }
 
+Rotation2d ADXRS450_Gyro::GetRotation2d() const {
+  return units::degree_t{-GetAngle()};
+}
+
 int ADXRS450_Gyro::GetPort() const {
   return m_port;
 }

wpilibc/src/main/native/cpp/AnalogGyro.cpp

@@ -133,6 +133,10 @@ void AnalogGyro::Calibrate() {
   FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
 }
 
+Rotation2d AnalogGyro::GetRotation2d() const {
+  return units::degree_t{-GetAngle()};
+}
+
 std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
   return m_analog;
 }

wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp

@@ -22,11 +22,6 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
 }
 
 void BuiltInAccelerometer::SetRange(Range range) {
-  if (range == kRange_16G) {
-    throw FRC_MakeError(err::ParameterOutOfRange,
-                        "16G range not supported (use k2G, k4G, or k8G)");
-  }
-
   HAL_SetAccelerometerActive(false);
   HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
   HAL_SetAccelerometerActive(true);