Make ProfiledPIDController support arbitrary profile types

[calcmogul]

Is your feature request related to a problem? Please describe.
WPILib now has trapezoid and exponential profiles, and it would be nice to have a more generic interface for them in ProfiledPIDController.

Describe the solution you'd like

Here's some options.

1. Make an interface in Java and a concept in C++ for motion profiles. I slightly prefer this one, but I haven't thought about it much and could be persuaded otherwise.
2. Add suppliers to the ProfiledPIDController interface.
3. Remove ProfiledPIDController and have users plumb the profile they want into PIDController.calculate().

[auscompgeek]

Add suppliers to the ProfiledPIDController interface.

This would be simpler for Python to wrap.

[Gold856]

If you use suppliers, how do you change the constraints? TrapezoidProfile and ExponentialProfile both use different constraints.