[commands] Replace Command HID inheritance with delegation (#4470)

wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java

@@ -167,6 +167,134 @@ public class GenericHID {
     return getPOV(0);
   }
 
+  /**
+   * Constructs a BooleanEvent instance based around this angle of a POV on the HID.
+   *
+   * <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
+   * upper-left is 315).
+   *
+   * @param angle POV angle in degrees, or -1 for the center / not pressed.
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around this angle of a POV on the HID.
+   */
+  public BooleanEvent pov(int angle, EventLoop loop) {
+    return pov(0, angle, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around this angle of a POV on the HID.
+   *
+   * <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
+   * upper-left is 315).
+   *
+   * @param pov index of the POV to read (starting at 0). Defaults to 0.
+   * @param angle POV angle in degrees, or -1 for the center / not pressed.
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around this angle of a POV on the HID.
+   */
+  public BooleanEvent pov(int pov, int angle, EventLoop loop) {
+    return new BooleanEvent(loop, () -> getPOV(pov) == angle);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 0-degree angle (up) of the default (index
+   * 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 0-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povUp(EventLoop loop) {
+    return pov(0, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 45-degree angle (right up) of the default
+   * (index 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 45-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povUpRight(EventLoop loop) {
+    return pov(45, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 90-degree angle (right) of the default
+   * (index 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 90-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povRight(EventLoop loop) {
+    return pov(90, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 135-degree angle (right down) of the
+   * default (index 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 135-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povDownRight(EventLoop loop) {
+    return pov(135, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 180-degree angle (down) of the default
+   * (index 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 180-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povDown(EventLoop loop) {
+    return pov(180, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 225-degree angle (down left) of the default
+   * (index 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 225-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povDownLeft(EventLoop loop) {
+    return pov(225, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 270-degree angle (left) of the default
+   * (index 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 270-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povLeft(EventLoop loop) {
+    return pov(270, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the 315-degree angle (left up) of the default
+   * (index 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the 315-degree angle of a POV on the HID.
+   */
+  public BooleanEvent povUpLeft(EventLoop loop) {
+    return pov(315, loop);
+  }
+
+  /**
+   * Constructs a BooleanEvent instance based around the center (not pressed) of the default (index
+   * 0) POV on the HID.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a BooleanEvent instance based around the center of a POV on the HID.
+   */
+  public BooleanEvent povCenter(EventLoop loop) {
+    return pov(-1, loop);
+  }
+
   /**
    * Get the number of axes for the HID.
    *