Coord fix (#156)

* Refactor the units system

The new system is cleaner to use and more adaptable
to alternative backends. Also cleaned up said code.

* Add support for PathWeaver JSON

* Fix coordinate issues, and export issue. Close #155.

* Remove useless time-step parameter

PathWeaver/pathweaver.json

@@ -1,8 +1,6 @@
 {
-  "timeStep": 0.02,
   "maxVelocity": 10.0,
   "maxAcceleration": 60.0,
-  "maxJerk": 60.0,
   "wheelBase": 2.0,
   "gameName": "FIRST Power Up"
 }

build.gradle.kts

@@ -124,8 +124,9 @@ dependencies {
     compile(group = "org.fxmisc.easybind", name = "easybind", version = "1.0.3")
 
     compile(group = "javax.measure", name = "unit-api", version = "1.0")
-    compile(group = "si.uom", name = "si-units", version = "0.9")
-    compile(group = "systems.uom", name = "systems-common", version = "0.8")
+    compile(group = "si.uom", name = "si-units", version = "2.0.1")
+    compile(group = "systems.uom", name = "systems-common", version = "2.0")
+    compile(group = "tech.units", name = "indriya", version = "2.0.1")
 
     compile(group = "com.google.code.gson", name = "gson", version = "2.8.5")
     compile(group = "org.apache.commons", name = "commons-csv", version = "1.5")
@@ -134,6 +135,10 @@ dependencies {
     compile(group = "edu.wpi.first.wpiutil", name = "wpiutil-java", version = "2020.+")
     compile(group = "edu.wpi.first.wpilibj", name = "wpilibj-java", version = "2020.+")
 
+    compile(group = "com.fasterxml.jackson.core", name = "jackson-annotations", version = "2.10.0")
+    compile(group = "com.fasterxml.jackson.core", name = "jackson-core", version = "2.10.0")
+    compile(group = "com.fasterxml.jackson.core", name = "jackson-databind", version = "2.10.0")
+
     fun junitJupiter(name: String, version: String = "5.5.0") =
         create(group = "org.junit.jupiter", name = name, version = version)