[elevator] Motion profiling and misc refactoring

[spacey-sooty]

Resolves #95
Resolves #96
Resolves #94

[Copilot]

Pull Request Overview

This PR refactors elevator subsystem code and introduces a motion profiling approach using feedback analysis with LQR and trapezoid profile constraints. Key changes include:

• Addition of a new FeedbackAnalysis utility for computing optimal gains.
• Transition from rotation‐based units to metre‐based units for elevator position and velocity.
• Updates to elevator command interfaces and simulation code to support motion profiling.

Reviewed Changes

Copilot reviewed 9 out of 9 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
src/main/java/org/curtinfrc/frc2025/util/FeedbackAnalysis.java	New utility class for LQR-based feedback gain calculations.
src/main/java/org/curtinfrc/frc2025/subsystems/elevator/ElevatorIOSim.java	Updated simulation code to use metres and integrate a motion profile.
src/main/java/org/curtinfrc/frc2025/subsystems/elevator/ElevatorIOComp.java	Refactored control configuration and unit conversions with new conversion methods.
src/main/java/org/curtinfrc/frc2025/subsystems/elevator/ElevatorIO.java	Updated interface to reflect the new unit conventions.
src/main/java/org/curtinfrc/frc2025/subsystems/elevator/Elevator.java	Refactored setpoint handling and command generation with improved logging.
src/main/java/org/curtinfrc/frc2025/Robot.java, Constants.java, Autos.java	Updated imports and constants to align with the new elevator API and simulation mode.

Comments suppressed due to low confidence (1)

src/main/java/org/curtinfrc/frc2025/subsystems/elevator/ElevatorIOSim.java:55

• Consider extracting the hard-coded time interval (0.02) into a named constant to ensure consistency across simulation updates and improve maintainability.

var setpoint = profile.calculate(0.02, currentState, new TrapezoidProfile.State(positionMetres, 0));