Joseph Eng

Thanks! Currently I'm swamped with worlds and school, but hopefully I can update this PR (merge with main, update style, and implement your fix) in around two weeks.

Thanks for the CMake fix! Now that we know [the CMake Windows build](https://github.com/wpilibsuite/allwpilib/actions/runs/8863636403/job/24337938982?pr=5953) passes, I'll push the docs fixes and hopefully that will be everything.

The [Arm32 run](https://github.com/wpilibsuite/allwpilib/actions/runs/8863941054/job/24338593204?pr=5953) and the [Arm64 run](https://github.com/wpilibsuite/allwpilib/actions/runs/8863941054/job/24338593395?pr=5953) failed in the upload artifact stage, which I'm guessing is just a network error. The [MacOS failure](https://github.com/wpilibsuite/allwpilib/actions/runs/8863941054/job/24338593666?pr=5953#step:10:6913) is more confusing, since the errors...

Weird, I don't know why some of the CI jobs got cancelled or skipped.

Regarding the mutability of the array members in `CubicHermiteSpline`, `QuinticHermiteSpline`, and `SwerveDriveKinematics`, it would be possible to return an immutable list (either an immutable copy created at construction or an...

Is anything blocking this PR? (Aside from quantity of code to review) The failing CMake build seems to just be vcpkg.

Thanks for reminding me! I'm still a little unsure about whether I should wait for #6760 or try to go on ahead before it, though.

To make life easier, I added `kTypeName` to `wpi::Struct` so that `wpi::Struct` could refer to that in its schema. Do we want to add that member to the other structs...

Reminder so I don't forget- Add period to `SimpleMotorFeedforward` protobuf and struct definitions because of #6647.

> > command groups can have new entries added at any time > > Not really -- an exception is thrown if commands are added to a composition while it's...