Simplify Sendable interface (#1864)

This removes the name and subsystem from individual objects, and instead
puts this data into a new singleton class, SendableRegistry.  Much of
LiveWindow has been refactored into SendableRegistry.

In C++, a new CRTP helper class, SendableHelper, has been added to provide
move and destruction functionality.

Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added
to Command and Subsystem (both old and new), and also to SendableHelper to
prevent code breakage.

This deprecates SendableBase in preparation for future removal.

wpilibc/src/main/native/include/frc/Encoder.h

@@ -15,12 +15,14 @@
 #include "frc/CounterBase.h"
 #include "frc/ErrorBase.h"
 #include "frc/PIDSource.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class DigitalSource;
 class DigitalGlitchFilter;
+class SendableBuilder;
 
 /**
  * Class to read quad encoders.
@@ -38,9 +40,10 @@ class DigitalGlitchFilter;
  * to be zeroed before use.
  */
 class Encoder : public ErrorBase,
-                public SendableBase,
                 public CounterBase,
-                public PIDSource {
+                public PIDSource,
+                public Sendable,
+                public SendableHelper<Encoder> {
  public:
   enum IndexingType {
     kResetWhileHigh,