Add braces to C++ single-line loops and conditionals (NFC) (#2973)

This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).

wpilibc/src/main/native/cpp/controller/RamseteController.cpp

@@ -72,4 +72,6 @@ ChassisSpeeds RamseteController::Calculate(
                    desiredState.velocity * desiredState.curvature);
 }
 
-void RamseteController::SetEnabled(bool enabled) { m_enabled = enabled; }
+void RamseteController::SetEnabled(bool enabled) {
+  m_enabled = enabled;
+}