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/include/frc/controller/LinearPlantInversionFeedforward.h

@@ -121,7 +121,7 @@ class LinearPlantInversionFeedforward {
    */
   Eigen::Matrix<double, Inputs, 1> Calculate(
       const Eigen::Matrix<double, States, 1>& nextR) {
-    return Calculate(m_r, nextR);
+    return Calculate(m_r, nextR);  // NOLINT
   }
 
   /**