Update links to allwpilib source to 2027 (#3056)

Remove links to examples that no longer exist

Author: sciencewhiz

source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst

@@ -139,7 +139,7 @@ The returned setpoint might then be used as in the following example:
 
 ## Complete Usage Example
 
-A more complete example of ``ProfiledPIDController`` usage is provided in the ElevatorProfilePID example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp), [Python](https://github.com/robotpy/examples/tree/main/ElevatorProfiledPID)):
+A more complete example of ``ProfiledPIDController`` usage is provided in the ElevatorProfilePID example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp), [Python](https://github.com/robotpy/examples/tree/main/ElevatorProfiledPID)):
 
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source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst

@@ -158,7 +158,7 @@ The ``calculate`` method returns a ``TrapezoidProfile.State`` class (the same on
 
 .. note:: In this example, the initial state is re-computed every timestep. This is a somewhat different usage technique than is detailed above, but works according to the same principles - the profile is sampled at a time corresponding to the loop period to get the setpoint for the next loop iteration.
 
-A more complete example of ``TrapezoidProfile`` usage is provided in the ElevatorTrapezoidProfile example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp), [Python](https://github.com/robotpy/examples/tree/main/ElevatorTrapezoidProfile)):
+A more complete example of ``TrapezoidProfile`` usage is provided in the ElevatorTrapezoidProfile example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp), [Python](https://github.com/robotpy/examples/tree/main/ElevatorTrapezoidProfile)):
 
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source/docs/software/advanced-controls/system-identification/creating-routine.rst

@@ -54,7 +54,7 @@ The ``drive`` callback exists so that you can pass the requested voltage directl
 
 The ``log`` callback reads sensors so that the routine can log the voltage, position, and velocity at each timestep.
 
-See the SysIdRoutine ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SysIdRoutine)) example project for example callbacks.
+See the SysIdRoutine ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/SysIdRoutine)) example project for example callbacks.
 
 ### Test Factories
 

source/docs/software/advanced-controls/trajectories/constraints.rst

@@ -71,4 +71,4 @@ Users can create their own constraint by implementing the ``TrajectoryConstraint
 
 The ``MaxVelocity`` method should return the maximum allowed velocity for the given pose, curvature, and original velocity of the trajectory without any constraints. The ``MinMaxAcceleration`` method should return the minimum and maximum allowed acceleration for the given pose, curvature, and constrained velocity.
 
-See the source code ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint), [C++] (https://github.com/wpilibsuite/allwpilib/tree/main/wpimath/src/main/native/include/frc/trajectory/constraint)) for the WPILib-provided constraints for more examples on how to write your own custom trajectory constraints.
+See the source code ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint), [C++] (https://github.com/wpilibsuite/allwpilib/tree/2027/wpimath/src/main/native/include/frc/trajectory/constraint)) for the WPILib-provided constraints for more examples on how to write your own custom trajectory constraints.

source/docs/software/commandbased/command-compositions.rst

@@ -291,7 +291,7 @@ For cases that don't need to track the proxied command, ``ScheduleCommand`` ([Ja
 
 ## Subclassing Compositions
 
-Command compositions can also be written as a constructor-only subclass of the most exterior composition type, passing the composition members to the superclass constructor. Consider the following from the Hatch Bot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional)):
+Command compositions can also be written as a constructor-only subclass of the most exterior composition type, passing the composition members to the superclass constructor. Consider the following from the Hatch Bot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional)):
 
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source/docs/software/commandbased/command-scheduler.rst

@@ -167,7 +167,7 @@ Occasionally, it is desirable to have the scheduler execute a custom action when
 
 - ``onCommandInterrupt`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandInterrupt(java.util.function.Consumer)), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_command_scheduler.html#ab5ba99a542aa778a76726d7c68461bf0)) runs a specified action whenever a command is interrupted (i.e. by being explicitly canceled or by another command that shares one of its requirements).
 
-A typical use-case for these methods is adding markers in an event log whenever a command scheduling event takes place, as demonstrated in the following code from the HatchbotInlined example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined)):
+A typical use-case for these methods is adding markers in an event log whenever a command scheduling event takes place, as demonstrated in the following code from the HatchbotInlined example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/HatchbotInlined)):
 
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source/docs/software/commandbased/commands.rst

@@ -308,9 +308,9 @@ There are commands for various control setups:
 
 - ``TrapezoidProfile`` tracks a trapezoid motion profile. For more info, see :doc:`/docs/software/commandbased/profile-subsystems-commands`.
 
-- ``MecanumControllerCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_mecanum_controller_command.html)) is useful for controlling mecanum drivetrains. See API docs and the **MecanumControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand)) example project for more info.
+- ``MecanumControllerCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_mecanum_controller_command.html)) is useful for controlling mecanum drivetrains. See API docs and the **MecanumControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand)) example project for more info.
 
-- ``SwerveControllerCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_swerve_controller_command.html)) is useful for controlling swerve drivetrains. See API docs and the **SwerveControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand)) example project for more info.
+- ``SwerveControllerCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_swerve_controller_command.html)) is useful for controlling swerve drivetrains. See API docs and the **SwerveControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand)) example project for more info.
 
 - ``RamseteCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/RamseteCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_ramsete_command.html)) is useful for path following with differential drivetrains ("tank drive"). See API docs and the :ref:`Trajectory Tutorial<docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory:Creating the RamseteCommand>` for more info.
 
@@ -336,7 +336,7 @@ To write a custom command class, subclass the abstract ``Command`` class ([Java]
 
 ## Simple Command Example
 
-What might a functional command look like in practice? As before, below is a simple command from the HatchBot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional)) that uses the ``HatchSubsystem``:
+What might a functional command look like in practice? As before, below is a simple command from the HatchBot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional)) that uses the ``HatchSubsystem``:
 
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source/docs/software/commandbased/pid-subsystems-commands.rst

@@ -5,7 +5,7 @@ PID Control in Command-based
 
 .. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
 
-One of the most common control algorithms used in FRC\ |reg| is the :term:`PID` controller. WPILib offers its own :ref:`PIDController <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>` class to help teams implement this functionality on their robots. The following example is from the RapidReactCommandBot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot)) and shows how PIDControllers can be used within the command-based framework:
+One of the most common control algorithms used in FRC\ |reg| is the :term:`PID` controller. WPILib offers its own :ref:`PIDController <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>` class to help teams implement this functionality on their robots. The following example is from the RapidReactCommandBot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot)) and shows how PIDControllers can be used within the command-based framework:
 
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source/docs/software/commandbased/profile-subsystems-commands.rst

@@ -9,7 +9,7 @@ When controlling a mechanism, is often desirable to move it smoothly between two
 
 .. note:: In C++, the ``TrapezoidProfile`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
-The following examples are taken from the DriveDistanceOffboard example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard)):
+The following examples are taken from the DriveDistanceOffboard example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard), [C++](https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard)):
 
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source/docs/software/commandbased/profilepid-subsystems-commands.rst

@@ -4,7 +4,7 @@
 
 .. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
 
-A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile for setpoint generation with a PID controller for setpoint tracking.  To facilitate this, WPILib includes its own :ref:`ProfiledPIDController <docs/software/advanced-controls/controllers/profiled-pidcontroller:Combining Motion Profiling and PID Control with ProfiledPIDController>` class.  The following example is from the RapidReactCommandBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot>`__) and shows how ``ProfiledPIDController`` can be used within the command-based framework to turn a drivetrain to a specified angle:
+A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile for setpoint generation with a PID controller for setpoint tracking.  To facilitate this, WPILib includes its own :ref:`ProfiledPIDController <docs/software/advanced-controls/controllers/profiled-pidcontroller:Combining Motion Profiling and PID Control with ProfiledPIDController>` class.  The following example is from the RapidReactCommandBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/2027/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot>`__) and shows how ``ProfiledPIDController`` can be used within the command-based framework to turn a drivetrain to a specified angle:
 
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