Finish clang-tidy cleanups (#3003)

* Add .clang-tidy configuration.
* A separate .clang-tidy is used for hal includes to suppress modernize-use-using
  (as these are C headers).
* Add NOLINT where necessary for a clean run.
* Add clang-tidy job to lint-format workflow.  This workflow is now only run on PRs.
  To reduce runtime, clang-tidy is only run on files changed in the PR.

Two wpilibc changes; both are unlikely to break user code:
* BuiltInAccelerometer: Make SetRange() final
* Counter: Make SetMaxPeriod() final

After these cleanups, the only file that does not run cleanly is
cscore_raw_cv.h due to it not being standalone.

simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h

@@ -19,7 +19,7 @@ class ExternalLimitSwitch : public Switch {
   explicit ExternalLimitSwitch(sdf::ElementPtr sdf);
 
   /// \brief Returns true when the switch is triggered.
-  virtual bool Get();
+  bool Get() override;
 
  private:
   gazebo::sensors::ContactSensorPtr sensor;

simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h

@@ -18,7 +18,7 @@ class InternalLimitSwitch : public Switch {
   InternalLimitSwitch(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
 
   /// \brief Returns true when the switch is triggered.
-  virtual bool Get();
+  bool Get() override;
 
  private:
   gazebo::physics::JointPtr joint;