Adds TrapezoidProfileCommand and TrapezoidProfileCommandRadians

[lospugs]

Commmands2. robotpy/robbotpy-commands-v2#28

Implemented using generics.

[virtuald]

Don't include this comment

[virtuald]

This isn't correct. We want to add a protocol:

class TrapezoidProfile(Protocol, Generic[TS]):
    def calculate(self, t: wpimath.units.seconds, goal: TS, current: TS) -> TS:
        ...
    
    def totalTime(self) -> wpimath.units.seconds:
        ...

Then you can do

class TrapezoidProfileCommand(Command, Generic[TS]):
    """
    A command that runs a :class:`.TrapezoidProfile`. Useful for smoothly controlling mechanism motion.

    This class is provided by the NewCommands VendorDep
    """

    def __init__(
        self,
        profile: TrapezoidProfile,
        output: Callable[[TS], Any],
        getGoal: Callable[[], TS],
        getCurrent: Callable[[], TS],
        *requirements: Subsystem,
    )

And get rid of those type: ignore comments.

... I feel like the protocol should probably live in wpimath instead of here? @auscompgeek do you have an opinion on that?

... thinking about it, we probably should have protocols for anything that uses a C++ template, but that sounds obnoxious.

[virtuald]

I wonder if it would be easier to do this with some kind of covariant/contravariant something or other instead of doing a full-blown protocol.

[virtuald]

Merged without types