[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/test/python/test_interpolation.py

@@ -0,0 +1,50 @@
+import math
+
+from wpimath.geometry import Pose2d, Rotation2d
+from wpimath.interpolation import (
+    TimeInterpolatableFloatBuffer,
+    TimeInterpolatablePose2dBuffer,
+    TimeInterpolatableRotation2dBuffer,
+)
+
+
+def test_float():
+    buffer = TimeInterpolatableFloatBuffer(10)
+
+    buffer.addSample(0, 0)
+    assert buffer.sample(0) == 0
+    buffer.addSample(1, 1)
+    assert buffer.sample(0.5) == 0.5
+    assert buffer.sample(1) == 1
+    buffer.addSample(3, 2)
+    assert buffer.sample(2) == 1.5
+
+    buffer.addSample(10.5, 2)
+    assert buffer.sample(0) == 1
+
+
+def test_rotation2d():
+    buffer = TimeInterpolatableRotation2dBuffer(10)
+
+    buffer.addSample(0, Rotation2d(0))
+    assert buffer.sample(0) == Rotation2d(0)
+    buffer.addSample(1, Rotation2d(1))
+    assert buffer.sample(0.5) == Rotation2d(0.5)
+    assert buffer.sample(1) == Rotation2d(1)
+    buffer.addSample(3, Rotation2d(2))
+    assert buffer.sample(2) == Rotation2d(1.5)
+
+    buffer.addSample(10.5, Rotation2d(2))
+    assert buffer.sample(0) == Rotation2d(1)
+
+
+def test_pose2d():
+    buffer = TimeInterpolatablePose2dBuffer(10)
+    # We expect to be at (1 - 1/sqrt(2), 1/sqrt(2), 45deg) at t=0.5
+    buffer.addSample(0, Pose2d(0, 0, Rotation2d.fromDegrees(90)))
+    buffer.addSample(1, Pose2d(1, 1, Rotation2d(0)))
+    sample = buffer.sample(0.5)
+    assert sample is not None
+    assert math.isclose(sample.X(), 1 - 1 / 2**0.5)
+    assert math.isclose(sample.Y(), 1 / 2**0.5)
+    assert math.isclose(sample.rotation().degrees(), 45)