[wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383)

The constants were moved from std::math to std::numbers before
ratification in C++20.

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp

@@ -67,8 +67,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
       AutoConstants::kPThetaController, 0, 0,
       AutoConstants::kThetaControllerConstraints};
 
-  thetaController.EnableContinuousInput(units::radian_t(-wpi::math::pi),
-                                        units::radian_t(wpi::math::pi));
+  thetaController.EnableContinuousInput(units::radian_t(-wpi::numbers::pi),
+                                        units::radian_t(wpi::numbers::pi));
 
   frc2::SwerveControllerCommand<4> swerveControllerCommand(
       exampleTrajectory, [this]() { return m_drive.GetPose(); },

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp

@@ -5,7 +5,7 @@
 #include "subsystems/SwerveModule.h"
 
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -27,15 +27,15 @@ SwerveModule::SwerveModule(int driveMotorChannel, int turningMotorChannel,
       ModuleConstants::kDriveEncoderDistancePerPulse);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::math::pi)
+  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
   // divided by the encoder resolution.
   m_turningEncoder.SetDistancePerPulse(
       ModuleConstants::kTurningEncoderDistancePerPulse);
 
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
-  m_turningPIDController.EnableContinuousInput(units::radian_t(-wpi::math::pi),
-                                               units::radian_t(wpi::math::pi));
+  m_turningPIDController.EnableContinuousInput(
+      units::radian_t(-wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
 }
 
 frc::SwerveModuleState SwerveModule::GetState() {

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h

@@ -12,7 +12,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #pragma once
 
@@ -77,11 +77,12 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterMeters = .15;
 constexpr double kDriveEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterMeters * wpi::numbers::pi) /
+    static_cast<double>(kEncoderCPR);
 
 constexpr double kTurningEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (wpi::math::pi * 2) / static_cast<double>(kEncoderCPR);
+    (wpi::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
 
 constexpr double kPModuleTurningController = 1;
 constexpr double kPModuleDriveController = 1;

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h

@@ -11,7 +11,7 @@
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/motorcontrol/Spark.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -37,11 +37,11 @@ class SwerveModule {
   // meters per second squared.
 
   static constexpr units::radians_per_second_t kModuleMaxAngularVelocity =
-      units::radians_per_second_t(wpi::math::pi);  // radians per second
+      units::radians_per_second_t(wpi::numbers::pi);  // radians per second
   static constexpr units::unit_t<radians_per_second_squared_t>
       kModuleMaxAngularAcceleration =
           units::unit_t<radians_per_second_squared_t>(
-              wpi::math::pi * 2.0);  // radians per second squared
+              wpi::numbers::pi * 2.0);  // radians per second squared
 
   frc::Spark m_driveMotor;
   frc::Spark m_turningMotor;