Satchit Kulkarni 678176cd3c [wpimath] Add drivetrain anti-tipping utility (#8787) ...

Resolves #8587

This PR implements the requested anti-tipping utility and refactors the
math to correctly adhere to the NWU coordinate system.

**Key Changes:**
* Fixed the axis mapping: Positive pitch now correctly maps to a forward
tip (+X), and positive roll maps to a rightward tip (-Y).
* Inverted the proportional control logic: The correction vector now
applies a positive `kP` to drive *into* the direction of the fall to get
the wheels back under the center of gravity, rather than driving away
from it.
* Added a comprehensive JUnit test suite (`AntiTippingTest.java`) to
verify the calculated `ChassisSpeeds` correctly zero out the orthogonal
axis and provide the correct positive/negative velocity across all four
tipping directions.

Tested locally against `testDesktopJava` and passes all style/formatting
guidelines.

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Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>

2026-06-21 19:11:48 -07:00

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