[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/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp

@@ -5,7 +5,7 @@
 #include "SwerveModule.h"
 
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
                            const int turningMotorChannel,
@@ -21,17 +21,18 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
   // distance traveled for one rotation of the wheel divided by the encoder
   // resolution.
   m_driveEncoder.SetDistancePerPulse(
-      2 * wpi::math::pi * kWheelRadius.to<double>() / kEncoderResolution);
+      2 * wpi::numbers::pi * kWheelRadius.to<double>() / kEncoderResolution);
 
   // 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(2 * wpi::math::pi / kEncoderResolution);
+  m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
+                                       kEncoderResolution);
 
   // 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() const {

wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h

@@ -9,7 +9,7 @@
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "SwerveModule.h"
 
@@ -27,7 +27,7 @@ class Drivetrain {
 
   static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::math::pi};  // 1/2 rotation per second
+      wpi::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};

wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h

@@ -14,7 +14,7 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 class SwerveModule {
  public:
@@ -29,9 +29,9 @@ class SwerveModule {
   static constexpr int kEncoderResolution = 4096;
 
   static constexpr auto kModuleMaxAngularVelocity =
-      wpi::math::pi * 1_rad_per_s;  // radians per second
+      wpi::numbers::pi * 1_rad_per_s;  // radians per second
   static constexpr auto kModuleMaxAngularAcceleration =
-      wpi::math::pi * 2_rad_per_s / 1_s;  // radians per second^2
+      wpi::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
   frc::PWMSparkMax m_driveMotor;
   frc::PWMSparkMax m_turningMotor;