[wpilib] Add support for the PS5 DualSense controller (#5257)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java

@@ -0,0 +1,389 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.PS5Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A version of {@link PS5Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see PS5Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandPS5Controller extends CommandGenericHID {
+  private final PS5Controller m_hid;
+
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
+  public CommandPS5Controller(int port) {
+    super(port);
+    m_hid = new PS5Controller(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public PS5Controller getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @return an event instance representing the L2 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L2() {
+    return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L2 button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger L2(EventLoop loop) {
+    return m_hid.L2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @return an event instance representing the R2 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R2() {
+    return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R2 button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger R2(EventLoop loop) {
+    return m_hid.R2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @return an event instance representing the L1 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L1() {
+    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L1 button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return m_hid.L1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @return an event instance representing the R1 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R1() {
+    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R1 button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return m_hid.R1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @return an event instance representing the L3 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L3() {
+    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L3 button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return m_hid.L3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @return an event instance representing the R3 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R3() {
+    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R3 button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return m_hid.R3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @return an event instance representing the square button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger square() {
+    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the square button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger square(EventLoop loop) {
+    return m_hid.square(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @return an event instance representing the cross button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger cross() {
+    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the cross button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger cross(EventLoop loop) {
+    return m_hid.cross(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the triangle button's digital signal.
+   *
+   * @return an event instance representing the triangle button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger triangle() {
+    return triangle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the triangle button's digital signal attached to the
+   *     given loop.
+   */
+  public Trigger triangle(EventLoop loop) {
+    return m_hid.triangle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @return an event instance representing the circle button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger circle() {
+    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the circle button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger circle(EventLoop loop) {
+    return m_hid.circle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the create button's digital signal.
+   *
+   * @return an event instance representing the create button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger create() {
+    return create(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the create button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the create button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger create(EventLoop loop) {
+    return m_hid.create(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @return an event instance representing the PS button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger PS() {
+    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return m_hid.PS(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @return an event instance representing the options button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger options() {
+    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the options button's digital signal attached to the
+   *     given loop.
+   */
+  public Trigger options(EventLoop loop) {
+    return m_hid.options(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @return an event instance representing the touchpad's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger touchpad() {
+    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the touchpad's digital signal attached to the given
+   *     loop.
+   */
+  public Trigger touchpad(EventLoop loop) {
+    return m_hid.touchpad(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+
+  /**
+   * Get the L2 axis 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.
+   */
+  public double getL2Axis() {
+    return m_hid.getL2Axis();
+  }
+
+  /**
+   * Get the R2 axis 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.
+   */
+  public double getR2Axis() {
+    return m_hid.getR2Axis();
+  }
+}