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.

wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp

@@ -117,7 +117,7 @@ Java_edu_wpi_first_math_WPIMathJNI_pow
 
   Eigen::Map<
       Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>
-      Amat{arrayBody, rows, rows};
+      Amat{arrayBody, rows, rows};  // NOLINT
   Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> Apow =
       Amat.pow(exponent);
 
@@ -146,7 +146,7 @@ Java_edu_wpi_first_math_WPIMathJNI_isStabilizable
       Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>
       B{nativeB, states, inputs};
 
-  bool isStabilizable = check_stabilizable(A, B);
+  bool isStabilizable = check_stabilizable(A, B);  // NOLINT
 
   env->ReleaseDoubleArrayElements(aSrc, nativeA, 0);
   env->ReleaseDoubleArrayElements(bSrc, nativeB, 0);

wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp

@@ -47,7 +47,7 @@ ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
   Eigen::Vector3d chassisSpeedsVector =
       m_forwardKinematics.solve(wheelSpeedsMatrix);
 
-  return {units::meters_per_second_t{chassisSpeedsVector(0)},
+  return {units::meters_per_second_t{chassisSpeedsVector(0)},  // NOLINT
           units::meters_per_second_t{chassisSpeedsVector(1)},
           units::radians_per_second_t{chassisSpeedsVector(2)}};
 }