[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml

@@ -0,0 +1,50 @@
+extra_includes:
+- wpystruct.h
+
+classes:
+  frc::MecanumDriveKinematics:
+    methods:
+      MecanumDriveKinematics:
+      ToWheelSpeeds:
+        doc: |
+          Performs inverse kinematics to return the wheel speeds from a desired
+          chassis velocity. This method is often used to convert joystick values into
+          wheel speeds.
+
+          This function also supports variable centers of rotation. During normal
+          operations, the center of rotation is usually the same as the physical
+          center of the robot; therefore, the argument is defaulted to that use case.
+          However, if you wish to change the center of rotation for evasive
+          maneuvers, vision alignment, or for any other use case, you can do so.
+
+          :param chassisSpeeds:    The desired chassis speed.
+          :param centerOfRotation: The center of rotation. For example, if you set the
+                                   center of rotation at one corner of the robot and
+                                   provide a chassis speed that only has a dtheta
+                                   component, the robot will rotate around that
+                                   corner.
+
+          :returns: The wheel speeds. Use caution because they are not normalized.
+                    Sometimes, a user input may cause one of the wheel speeds to go
+                    above the attainable max velocity. Use the
+                    :meth:`MecanumDriveWheelSpeeds.normalize` method to rectify
+                    this issue. In addition, you can use Python unpacking syntax
+                    to directly assign the wheel speeds to variables::
+
+                      fl, fr, bl, br = kinematics.toWheelSpeeds(chassisSpeeds)
+        overloads:
+          const ChassisSpeeds&, const Translation2d& [const]:
+          const ChassisSpeeds& [const]:
+      ToChassisSpeeds:
+      ToTwist2d:
+        overloads:
+          const MecanumDriveWheelPositions&, const MecanumDriveWheelPositions& [const]:
+          const MecanumDriveWheelPositions& [const]:
+      GetFrontLeft:
+      GetFrontRight:
+      GetRearLeft:
+      GetRearRight:
+      Interpolate:
+
+inline_code: |
+  SetupWPyStruct<frc::MecanumDriveKinematics>(cls_MecanumDriveKinematics);