Drivetrain anti-tipping utility

[calcmogul]

A team made a drivetrain anti-tipping utility that's general enough to be included in wpimath.

https://www.chiefdelphi.com/t/introducing-antitipping-lib/508284

I requested some refactors in https://www.chiefdelphi.com/t/introducing-antitipping-lib/508284/6.

[nobody5050]

This should be most of the refactoring that Tyler requested in that CD thread minus the changes to the math and axis conventions Should be a good starter for anyone wanting to PR.

https://gist.github.com/nobody5050/718523970e00e81d395b31841ff1ff19