Replace MathUtil.clamp() with Java 21 Math.clamp()

[calcmogul]

Java 21 added Math.clamp(double, double, double).

[calcmogul]

This is blocked on allwpilib and robot projects upgrading to Java 21.

[spacey-sooty]

Robot projects are upgrading next year iirc

[calcmogul]

They aren't. WPILib will be using Java 17.

[sciencewhiz]

using Java 21 on the roborio is blocked by: https://bugs.java.com/bugdatabase/view_bug?bug_id=JDK-8341357

[spacey-sooty]

This should probably be on the 2027 milestone iirc the JDK 21 bump is waiting till then.