In addition to m_prevError and m_totalError, m_positionError and
m_velocityError need to be reset to 0 when reset() is called.
Otherwise, the next time calculate() is called, the old values will be
used as the previous error, but this is inaccurate since the caller
wanted to reset the state of the PID controller.
This adds a unicycle controller that's a drop-in replacement for Ramsete
and a differential drive controller that controls the full pose and
outputs voltages. The main benefit is LQR-like tuning knobs using a
system model.
It was using the continuous B matrix to compute the feedback gain
instead of the discrete B matrix.
Tests were added for the matrix constructor overloads.
This also makes the Gradle build work with JDK 17.
The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834
PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
* Rename Butcher tableau sections in NumericalIntegration such that
top-left is c, top-right is A, and bottom-right is b
* Move edu.wpi.first.math.Discretization to
edu.wpi.first.math.system.Discretization
* Sort Java Discretization to match C++ function order
* Add tests for Java Discretization
* Required adding Runge-Kutta time-varying impl to tests
* Move C++ Runge-Kutta time-varying impl to tests only
* Users don't need it
