Document TimedRobot base class dependency and support AdvantageKit LoggedRobot

[dave-billin]

Presently, swervelib has several modules that call Robot.getInstance().addPeriodic() to set up periodic operations:

• SwerveModule.java
• encoders/PWMAnalogEncoder.java
• encoders/PWMDutyCycleEncoder.java

The use of addPeriodic() implicitly creates a dependency on Robot being a subclass of edu.wpi.first.wpilibj.TimedRobot. However, this is not the case when using the AdvantageKit library from FRC 6328 for logging and log playback. AdvantageKit requires the use of a LoggedRobot base class, which does not supply the addPeriodic functionality.

Minimally, the dependency on TimedRobot should be documented.

For cases where LoggedRobot is being used as the robot base class, it is suggested that a Timer (edu.wpi.first.wpilibj.Timer) or similar class be used in a swerve subsystem to provide periodic callbacks to swerve components.

[thenetworkgrinch]

I haven't added the addPeriodic as a requirement in the rewrite yet, but this is very good to know. Thank you!

[thenetworkgrinch]

Also if you are testing/using this I would reccommend the rewrite branch. I will be merging it soon. I just need to add support for integrated absolute encoders (spark max first) then write the documentation. Ensure every class, attribute, function is documented, test it on my teams robot, and generate the javadoc htmls.

[thenetworkgrinch]

I finished adding support for integrated encoders and got around to adding support for Talon's too.

[thenetworkgrinch]

Closing because issue of addPeriodic function being required from Robot has been removed, and will not be added back in any future release.