Add usage reporting for many new things (#2184)

- new CommandScheduler
- kinematics and odometry classes
- new PIDController
- ProfiledPIDController
- TrapezoidProfile (reported in Constraints class)

Also update instances.txt to match latest NI version.

One side effect is that a couple of classes are no longer constexpr.

wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java

@@ -100,7 +100,7 @@ public class PIDController implements Sendable, AutoCloseable {
     instances++;
     SendableRegistry.addLW(this, "PIDController", instances);
 
-    HAL.report(tResourceType.kResourceType_PIDController, instances);
+    HAL.report(tResourceType.kResourceType_PIDController2, instances);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java

@@ -7,6 +7,8 @@
 
 package edu.wpi.first.wpilibj.controller;
 
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
@@ -17,6 +19,8 @@ import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
  */
 @SuppressWarnings("PMD.TooManyMethods")
 public class ProfiledPIDController implements Sendable {
+  private static int instances;
+
   private PIDController m_controller;
   private TrapezoidProfile.State m_goal = new TrapezoidProfile.State();
   private TrapezoidProfile.State m_setpoint = new TrapezoidProfile.State();
@@ -54,6 +58,8 @@ public class ProfiledPIDController implements Sendable {
                         double period) {
     m_controller = new PIDController(Kp, Ki, Kd, period);
     m_constraints = constraints;
+    instances++;
+    HAL.report(tResourceType.kResourceType_ProfiledPIDController, instances);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java

@@ -7,6 +7,10 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+
 /**
  * Helper class that converts a chassis velocity (dx and dtheta components) to
  * left and right wheel velocities for a differential drive.
@@ -29,6 +33,7 @@ public class DifferentialDriveKinematics {
    */
   public DifferentialDriveKinematics(double trackWidthMeters) {
     this.trackWidthMeters = trackWidthMeters;
+    HAL.report(tResourceType.kResourceType_Kinematics, tInstances.kKinematics_DifferentialDrive);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java

@@ -7,6 +7,9 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Twist2d;
@@ -43,6 +46,7 @@ public class DifferentialDriveOdometry {
     m_poseMeters = initialPoseMeters;
     m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
     m_previousAngle = initialPoseMeters.getRotation();
+    HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_DifferentialDrive);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java

@@ -9,6 +9,9 @@ package edu.wpi.first.wpilibj.kinematics;
 
 import org.ejml.simple.SimpleMatrix;
 
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 
 /**
@@ -70,6 +73,8 @@ public class MecanumDriveKinematics {
     setInverseKinematics(frontLeftWheelMeters, frontRightWheelMeters,
         rearLeftWheelMeters, rearRightWheelMeters);
     m_forwardKinematics = m_inverseKinematics.pseudoInverse();
+
+    HAL.report(tResourceType.kResourceType_Kinematics, tInstances.kKinematics_MecanumDrive);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java

@@ -7,6 +7,9 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -42,6 +45,7 @@ public class MecanumDriveOdometry {
     m_poseMeters = initialPoseMeters;
     m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
     m_previousAngle = initialPoseMeters.getRotation();
+    HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_MecanumDrive);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java

@@ -12,6 +12,9 @@ import java.util.Collections;
 
 import org.ejml.simple.SimpleMatrix;
 
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 
@@ -69,6 +72,8 @@ public class SwerveDriveKinematics {
       m_inverseKinematics.setRow(i * 2 + 1, 0, /* Start Data */ 0, 1, +m_modules[i].getX());
     }
     m_forwardKinematics = m_inverseKinematics.pseudoInverse();
+
+    HAL.report(tResourceType.kResourceType_Kinematics, tInstances.kKinematics_SwerveDrive);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java

@@ -7,6 +7,9 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -42,6 +45,7 @@ public class SwerveDriveOdometry {
     m_poseMeters = initialPose;
     m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle);
     m_previousAngle = initialPose.getRotation();
+    HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_SwerveDrive);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java

@@ -9,6 +9,9 @@ package edu.wpi.first.wpilibj.trajectory;
 
 import java.util.Objects;
 
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+
 /**
  * A trapezoid-shaped velocity profile.
  *
@@ -59,11 +62,19 @@ public class TrapezoidProfile {
     public double maxAcceleration;
 
     public Constraints() {
+      HAL.report(tResourceType.kResourceType_TrapezoidProfile, 1);
     }
 
+    /**
+     * Construct constraints for a TrapezoidProfile.
+     *
+     * @param maxVelocity maximum velocity
+     * @param maxAcceleration maximum acceleration
+     */
     public Constraints(double maxVelocity, double maxAcceleration) {
       this.maxVelocity = maxVelocity;
       this.maxAcceleration = maxAcceleration;
+      HAL.report(tResourceType.kResourceType_TrapezoidProfile, 1);
     }
   }