ProfiledPIDController atGoal/atSetpoint will never return true

[Gregadeaux]

Describe the bug
atGoal requires 2 things to return true

1. The setpoint and goal equal each other
2. atSetpoint to return true

atSetpoint requires 4 things to return true

1. The Position error is within the Position Tolerance
2. The Velocity Error is within the Velocity Tolerance
3. The underlying PIDController property m_haveMeasurement is true
4. The underlying PIDController property m_haveSetpoint is true

The only way for m_haveSetpoint to be true, is if setSetpoint is called on the underlying PIDController. But ProfiledPIDController only calls calculate, so m_haveSetpoint will never be true, thus ProfilePIDController.atGoal/atSetpoint() will never be true. PIDController needs to set m_haveSetpoint to true inside of the calculate function.

To Reproduce
Steps to reproduce the behavior:

1. Create a ProfiledPIDController
2. Call calculate
3. Call atGoal or atSetpoint

Expected behavior
Should return true when the ProfiledPIDController has reached its goal

Desktop (please complete the following information):

• WPILib Version: 2023.2.1
• OS: OS X 13.1
• Java version: 17

[calcmogul]

The only way for m_haveSetpoint to be true, is if setSetpoint is called on the underlying PIDController.

This was fixed by #5021.