[wpilib,cmd] Remove Axis from Gamepad Triggers (#8956)

It's a bit confusing, especially since some controllers will have this be
a 0:1 button rather than axis.

commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java

@@ -873,22 +873,22 @@ public class CommandGamepad {
   }
 
   /**
-   * Get the left trigger axis value of the controller. Note that this axis is bound to the range of
+   * Get the left trigger value of the controller. Note that this axis is bound to the range of [0,
-   * [0, 1] as opposed to the usual [-1, 1].
+   * 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  public double getLeftTriggerAxis() {
+  public double getLeftTrigger() {
-    return m_gamepad.getLeftTriggerAxis();
+    return m_gamepad.getLeftTrigger();
   }
 
   /**
-   * Get the right trigger axis value of the controller. Note that this axis is bound to the range
+   * Get the right trigger value of the controller. Note that this axis is bound to the range of [0,
-   * of [0, 1] as opposed to the usual [-1, 1].
+   * 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  public double getRightTriggerAxis() {
+  public double getRightTrigger() {
-    return m_gamepad.getRightTriggerAxis();
+    return m_gamepad.getRightTrigger();
   }
 }

commandsv2/src/main/native/cpp/button/CommandGamepad.cpp

@@ -181,10 +181,10 @@ double CommandGamepad::GetRightY() const {
   return m_gamepad->GetRightY();
 }
 
-double CommandGamepad::GetLeftTriggerAxis() const {
+double CommandGamepad::GetLeftTrigger() const {
-  return m_gamepad->GetLeftTriggerAxis();
+  return m_gamepad->GetLeftTrigger();
 }
 
-double CommandGamepad::GetRightTriggerAxis() const {
+double CommandGamepad::GetRightTrigger() const {
-  return m_gamepad->GetRightTriggerAxis();
+  return m_gamepad->GetRightTrigger();
 }

commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp

@@ -494,20 +494,20 @@ class CommandGamepad {
   double GetRightY() const;
 
   /**
-   * Get the left trigger axis value of the controller. Note that this axis is
+   * Get the left trigger value of the controller. Note that this axis is
    * bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  double GetLeftTriggerAxis() const;
+  double GetLeftTrigger() const;
 
   /**
-   * Get the right trigger axis value of the controller. Note that this axis is
+   * Get the right trigger value of the controller. Note that this axis is
    * bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  double GetRightTriggerAxis() const;
+  double GetRightTrigger() const;
 
  private:
   CommandGenericHID* m_hid;

commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java

@@ -824,22 +824,22 @@ public class CommandGamepad {
   }
 
   /**
-   * Get the left trigger axis value of the controller. Note that this axis is bound to the range of
+   * Get the left trigger value of the controller. Note that this axis is bound to the range of [0,
-   * [0, 1] as opposed to the usual [-1, 1].
+   * 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  public double getLeftTriggerAxis() {
+  public double getLeftTrigger() {
-    return m_gamepad.getLeftTriggerAxis();
+    return m_gamepad.getLeftTrigger();
   }
 
   /**
-   * Get the right trigger axis value of the controller. Note that this axis is bound to the range
+   * Get the right trigger value of the controller. Note that this axis is bound to the range of [0,
-   * of [0, 1] as opposed to the usual [-1, 1].
+   * 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  public double getRightTriggerAxis() {
+  public double getRightTrigger() {
-    return m_gamepad.getRightTriggerAxis();
+    return m_gamepad.getRightTrigger();
   }
 }

wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp

@@ -69,7 +69,7 @@ void Gamepad::SetRightYDeadband(double deadband) {
   m_rightYDeadband = ClampDeadband(deadband);
 }
 
-double Gamepad::GetLeftTriggerAxis() const {
+double Gamepad::GetLeftTrigger() const {
   return wpi::math::ApplyDeadband(GetAxis(Axis::LEFT_TRIGGER),
                                   m_leftTriggerDeadband);
 }
@@ -88,7 +88,7 @@ BooleanEvent Gamepad::LeftTrigger(EventLoop* loop) const {
   return this->LeftTrigger(0.5, loop);
 }
 
-double Gamepad::GetRightTriggerAxis() const {
+double Gamepad::GetRightTrigger() const {
   return wpi::math::ApplyDeadband(GetAxis(Axis::RIGHT_TRIGGER),
                                   m_rightTriggerDeadband);
 }
@@ -613,10 +613,10 @@ void Gamepad::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
   builder.PublishConstString("ControllerType", "Gamepad");
   builder.AddDoubleProperty(
-      "LeftTrigger Axis",
+      "LeftTrigger", [this] { return GetAxisForSendable(Axis::LEFT_TRIGGER); },
-      [this] { return GetAxisForSendable(Axis::LEFT_TRIGGER); }, nullptr);
+      nullptr);
   builder.AddDoubleProperty(
-      "RightTrigger Axis",
+      "RightTrigger",
       [this] { return GetAxisForSendable(Axis::RIGHT_TRIGGER); }, nullptr);
   builder.AddDoubleProperty(
       "LeftX", [this] { return GetAxisForSendable(Axis::LEFT_X); }, nullptr);

wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp

@@ -214,7 +214,7 @@ class Gamepad : public HIDDevice,
   void SetRightYDeadband(double deadband);
 
   /**
-   * Get the left trigger axis value of the controller. Note that this axis
+   * Get the left trigger value of the controller. Note that this axis
    * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * A deadband of 0.01 is applied by default. Use SetLeftTriggerDeadband() to
@@ -222,7 +222,7 @@ class Gamepad : public HIDDevice,
    *
    * @return the axis value.
    */
-  double GetLeftTriggerAxis() const;
+  double GetLeftTrigger() const;
 
   /**
    * Set the deadband for the left trigger axis.
@@ -256,7 +256,7 @@ class Gamepad : public HIDDevice,
   BooleanEvent LeftTrigger(EventLoop* loop) const;
 
   /**
-   * Get the right trigger axis value of the controller. Note that this axis
+   * Get the right trigger value of the controller. Note that this axis
    * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * A deadband of 0.01 is applied by default. Use SetRightTriggerDeadband() to
@@ -264,7 +264,7 @@ class Gamepad : public HIDDevice,
    *
    * @return the axis value.
    */
-  double GetRightTriggerAxis() const;
+  double GetRightTrigger() const;
 
   /**
    * Set the deadband for the right trigger axis.

wpilibc/src/main/python/semiwrap/Gamepad.yml

@@ -29,13 +29,13 @@ classes:
       SetRightXDeadband:
       GetRightY:
       SetRightYDeadband:
-      GetLeftTriggerAxis:
+      GetLeftTrigger:
       SetLeftTriggerDeadband:
       LeftTrigger:
         overloads:
           double, EventLoop* [const]:
           EventLoop* [const]:
-      GetRightTriggerAxis:
+      GetRightTrigger:
       SetRightTriggerDeadband:
       RightTrigger:
         overloads:

wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp

@@ -27,7 +27,7 @@ void SysIdRoutineBot::ConfigureBindings() {
       .WhileTrue(drive.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 
   shooter.SetDefaultCommand(shooter.RunShooterCommand(
-      [this] { return driverController.GetLeftTriggerAxis(); }));
+      [this] { return driverController.GetLeftTrigger(); }));
 
   (driverController.FaceDown() && driverController.LeftBumper())
       .WhileTrue(

wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java

@@ -299,14 +299,14 @@ public class Gamepad implements HIDDevice, Sendable {
   }
 
   /**
-   * Get the left trigger axis value of the controller. Note that this axis is bound to the range of
+   * Get the left trigger value of the controller. Note that this axis is bound to the range of [0,
-   * [0, 1] as opposed to the usual [-1, 1].
+   * 1] as opposed to the usual [-1, 1].
    *
    * <p>A deadband of 0.01 is applied by default. Use {@link #setLeftTriggerDeadband} to change it.
    *
    * @return The axis value.
    */
-  public double getLeftTriggerAxis() {
+  public double getLeftTrigger() {
     return MathUtil.applyDeadband(getAxis(Axis.LEFT_TRIGGER), m_leftTriggerDeadband);
   }
 
@@ -337,14 +337,14 @@ public class Gamepad implements HIDDevice, Sendable {
   }
 
   /**
-   * Get the right trigger axis value of the controller. Note that this axis is bound to the range
+   * Get the right trigger value of the controller. Note that this axis is bound to the range of [0,
-   * of [0, 1] as opposed to the usual [-1, 1].
+   * 1] as opposed to the usual [-1, 1].
    *
    * <p>A deadband of 0.01 is applied by default. Use {@link #setRightTriggerDeadband} to change it.
    *
    * @return The axis value.
    */
-  public double getRightTriggerAxis() {
+  public double getRightTrigger() {
     return MathUtil.applyDeadband(getAxis(Axis.RIGHT_TRIGGER), m_rightTriggerDeadband);
   }
 
@@ -1563,10 +1563,8 @@ public class Gamepad implements HIDDevice, Sendable {
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("HID");
     builder.publishConstString("ControllerType", "Gamepad");
-    builder.addDoubleProperty(
+    builder.addDoubleProperty("LeftTrigger", () -> getAxisForSendable(Axis.LEFT_TRIGGER), null);
-        "LeftTrigger Axis", () -> getAxisForSendable(Axis.LEFT_TRIGGER), null);
+    builder.addDoubleProperty("RightTrigger", () -> getAxisForSendable(Axis.RIGHT_TRIGGER), null);
-    builder.addDoubleProperty(
-        "RightTrigger Axis", () -> getAxisForSendable(Axis.RIGHT_TRIGGER), null);
     builder.addDoubleProperty("LeftX", () -> getAxisForSendable(Axis.LEFT_X), null);
     builder.addDoubleProperty("LeftY", () -> getAxisForSendable(Axis.LEFT_Y), null);
     builder.addDoubleProperty("RightX", () -> getAxisForSendable(Axis.RIGHT_X), null);

wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java

@@ -25,7 +25,7 @@ public class DefaultTeleMode extends PeriodicOpMode {
     robot.motor1.setThrottle(-gamepad.getRightY());
     robot.motor2.setThrottle(-gamepad.getLeftX());
     robot.motor3.setThrottle(-gamepad.getRightX());
-    robot.servo0.setPosition(gamepad.getLeftTriggerAxis());
+    robot.servo0.setPosition(gamepad.getLeftTrigger());
-    robot.servo1.setPosition(gamepad.getRightTriggerAxis());
+    robot.servo1.setPosition(gamepad.getRightTrigger());
   }
 }

wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java

@@ -62,7 +62,7 @@ public class SysIdRoutineBot {
         .whileTrue(drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
 
     // Control the shooter wheel with the left trigger
-    shooter.setDefaultCommand(shooter.runShooter(driverController::getLeftTriggerAxis));
+    shooter.setDefaultCommand(shooter.runShooter(driverController::getLeftTrigger));
 
     driverController
         .faceDown()