[wpimath] Add Debouncer type and time setters (#7839)

Signed-off-by: swurl <swurl@swurl.xyz>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java

@@ -21,8 +21,8 @@ public class Debouncer {
     kBoth
   }
 
-  private final double m_debounceTimeSeconds;
-  private final DebounceType m_debounceType;
+  private double m_debounceTimeSeconds;
+  private DebounceType m_debounceType;
   private boolean m_baseline;
 
   private double m_prevTimeSeconds;
@@ -86,4 +86,42 @@ public class Debouncer {
       return m_baseline;
     }
   }
+
+  /**
+   * Sets the time to debounce.
+   *
+   * @param time The number of seconds the value must change from baseline for the filtered value to
+   *     change.
+   */
+  public void setDebounceTime(double time) {
+    m_debounceTimeSeconds = time;
+  }
+
+  /**
+   * Gets the time to debounce.
+   *
+   * @return The number of seconds the value must change from baseline for the filtered value to
+   *     change.
+   */
+  public double getDebounceTime() {
+    return m_debounceTimeSeconds;
+  }
+
+  /**
+   * Sets the debounce type.
+   *
+   * @param type Which type of state change the debouncing will be performed on.
+   */
+  public void setDebounceType(DebounceType type) {
+    m_debounceType = type;
+  }
+
+  /**
+   * Gets the debounce type.
+   *
+   * @return Which type of state change the debouncing will be performed on.
+   */
+  public DebounceType getDebounceType() {
+    return m_debounceType;
+  }
 }

wpimath/src/main/native/include/frc/filter/Debouncer.h

@@ -48,6 +48,38 @@ class WPILIB_DLLEXPORT Debouncer {
    */
   bool Calculate(bool input);
 
+  /**
+   * Sets the time to debounce.
+   *
+   * @param time The number of seconds the value must change from baseline
+   *             for the filtered value to change.
+   */
+  constexpr void SetDebounceTime(units::second_t time) {
+    m_debounceTime = time;
+  }
+
+  /**
+   * Gets the time to debounce.
+   *
+   * @return The number of seconds the value must change from baseline
+   *             for the filtered value to change.
+   */
+  constexpr units::second_t GetDebounceTime() const { return m_debounceTime; }
+
+  /**
+   * Set the debounce type.
+   *
+   * @param type Which type of state change the debouncing will be performed on.
+   */
+  constexpr void SetDebounceType(DebounceType type) { m_debounceType = type; }
+
+  /**
+   * Get the debounce type.
+   *
+   * @return Which type of state change the debouncing will be performed on.
+   */
+  constexpr DebounceType GetDebounceType() const { return m_debounceType; }
+
  private:
   units::second_t m_debounceTime;
   bool m_baseline;

wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java

@@ -4,7 +4,9 @@
 
 package edu.wpi.first.math.filter;
 
+import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertSame;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.util.WPIUtilJNI;
@@ -67,4 +69,20 @@ class DebouncerTest {
 
     assertFalse(debouncer.calculate(false));
   }
+
+  @Test
+  void debounceParamsTest() {
+    var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kBoth);
+
+    assertEquals(debouncer.getDebounceTime(), 0.02);
+    assertSame(debouncer.getDebounceType(), Debouncer.DebounceType.kBoth);
+
+    debouncer.setDebounceTime(0.1);
+
+    assertEquals(debouncer.getDebounceTime(), 0.1);
+
+    debouncer.setDebounceType(Debouncer.DebounceType.kFalling);
+
+    assertSame(debouncer.getDebounceType(), Debouncer.DebounceType.kFalling);
+  }
 }

wpimath/src/test/native/cpp/filter/DebouncerTest.cpp

@@ -56,3 +56,20 @@ TEST_F(DebouncerTest, DebounceBoth) {
 
   EXPECT_FALSE(debouncer.Calculate(false));
 }
+
+TEST_F(DebouncerTest, DebounceParams) {
+  frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kBoth};
+
+  EXPECT_TRUE(debouncer.GetDebounceTime() == 20_ms);
+  EXPECT_TRUE(debouncer.GetDebounceType() ==
+              frc::Debouncer::DebounceType::kBoth);
+
+  debouncer.SetDebounceTime(100_ms);
+
+  EXPECT_TRUE(debouncer.GetDebounceTime() == 100_ms);
+
+  debouncer.SetDebounceType(frc::Debouncer::DebounceType::kFalling);
+
+  EXPECT_TRUE(debouncer.GetDebounceType() ==
+              frc::Debouncer::DebounceType::kFalling);
+}