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Add README files for some subprojects and update various other docs (#8640)

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Adds a section on design philosophy so we have something to point to
when people suggest features that aren't compatible with the way WPILib
is designed. Fixes some missed reorg changes (although the native-utils
link intentionally points to main as to be up-to-date in the future) and
generally cleans up any outdated information. Also includes wording
about supporting FTC. Per discussion in Slack, the LabVIEW wording has
been removed, and anything to do with LabVIEW is going to have to be
NI's job. And pursuant to #2757 and #5331, additional (light) developer
documentation has been added to some subprojects, mostly being a quick
summary of the what the project does and what it's for (or not for).

---------

Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
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tools/sysid/docs/data-collection.md
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# Data Collection
This document details how data must be sent over NetworkTables for accurate data collection. Note that the data format has changed from what the old [frc-characterization](https://github.com/wpilibsuite/frc-characterization) tool used to generate.
## NetworkTables Data Entries
Here is a list of the NT entries that are used to send and collect data between sysid and the robot program:
| NT Entry | Type | Description |
| --------------------------------------| -------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| `/SmartDashboard/SysIdTelemetry` | `string` | Used to send telemetry from the robot program. This data is sent after the test completes once the robot enters the disabled state. |
| `/SmartDashboard/SysIdVoltageCommand` | `double` | Used to either send the ramp rate (V/s) for the quasistatic test or the voltage (V) for the dynamic test. |
| `/SmartDashboard/SysIdTestType` | `string` | Used to send the test type ("Quasistatic" or "Dynamic") which helps determine how the `VoltageCommand` entry will be used. |
| `/SmartDashboard/SysIdRotate` | `bool` | Used to receive the rotation bool from the Logger. If this is set to true, the drivetrain will rotate. It is only applicable for drivetrain tests. |
## Telemetry Format
There are two formats used to send telemetry from the robot program. One format is for non-drivetrain mechanisms, whereas the other is for all drivetrain tests (linear and angular). All timestamps must be in seconds.
### Non-Drivetrain Mechanisms
`timestamp, voltage, position, velocity`
Example JSON:
```json
{
"fast-backward": [
[
timestamp 1,
voltage 1,
position 1,
velocity 1
],
[
timestamp 2,
voltage 2,
position 2,
velocity 2
]
],
"fast-forward": [
[
timestamp 1,
voltage 1,
position 1,
velocity 1
],
[
timestamp 2,
voltage 2,
position 2,
velocity 2
]
],
"slow-backward": [
[
timestamp 1,
voltage 1,
position 1,
velocity 1
],
[
timestamp 2,
voltage 2,
position 2,
velocity 2
]
],
"slow-forward": [
[
timestamp 1,
voltage 1,
position 1,
velocity 1
],
[
timestamp 2,
voltage 2,
position 2,
velocity 2
]
],
"sysid": true,
"test": "Simple",
"units": "Rotations",
"unitsPerRotation": 1.0
}
```
Supported test types for the "test" field in this data format include "Arm",
"Elevator", and "Simple". Supported unit types include "Meters", "Feet",
"Inches", "Radians", "Rotations", and "Degrees".
### Drivetrain
`timestamp, l voltage, r voltage, l position, r position, l velocity, r velocity, angle, angular rate`
Note that all positions and velocities should be in rotations of the output and rotations/sec of the output respectively. If there is a gearing between the encoder and the output, that should be taken into account.
Example JSON:
```json
{
"fast-backward": [
[
timestamp 1,
l voltage 1,
r voltage 1,
l position 1,
r position 1,
l velocity 1,
r velocity 1,
angle 1,
angular rate 1
],
[
timestamp 2,
l voltage 2,
r voltage 2,
l position 2,
r position 2,
l velocity 2,
r velocity 2,
angle 2,
angular rate 2
]
],
"fast-forward": [
[
timestamp 1,
l voltage 1,
r voltage 1,
l position 1,
r position 1,
l velocity 1,
r velocity 1,
angle 1,
angular rate 1
],
[
timestamp 2,
l voltage 2,
r voltage 2,
l position 2,
r position 2,
l velocity 2,
r velocity 2,
angle 2,
angular rate 2
]
],
"slow-backward": [
[
timestamp 1,
l voltage 1,
r voltage 1,
l position 1,
r position 1,
l velocity 1,
r velocity 1,
angle 1,
angular rate 1
],
[
timestamp 2,
l voltage 2,
r voltage 2,
l position 2,
r position 2,
l velocity 2,
r velocity 2,
angle 2,
angular rate 2
]
],
"slow-forward": [
[
timestamp 1,
l voltage 1,
r voltage 1,
l position 1,
r position 1,
l velocity 1,
r velocity 1,
angle 1,
angular rate 1
],
[
timestamp 2,
l voltage 2,
r voltage 2,
l position 2,
r position 2,
l velocity 2,
r velocity 2,
angle 2,
angular rate 2
]
],
"sysid": true,
"test": "Drivetrain",
"units": "Rotations",
"unitsPerRotation": 1.0
}
```
Supported test types for the "test" field in this data format include
"Drivetrain" and "Drivetrain (Angular)". Supported unit types include "Meters",
"Feet", "Inches", "Radians", "Rotations", and "Degrees".