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

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

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp

@@ -0,0 +1,63 @@
+// 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.
+
+#include "frc2/command/button/CommandPS5Controller.h"
+
+using namespace frc2;
+
+Trigger CommandPS5Controller::Button(int button, frc::EventLoop* loop) const {
+  return GenericHID::Button(button, loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Square(frc::EventLoop* loop) const {
+  return PS5Controller::Square(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Cross(frc::EventLoop* loop) const {
+  return PS5Controller::Cross(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Circle(frc::EventLoop* loop) const {
+  return PS5Controller::Circle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Triangle(frc::EventLoop* loop) const {
+  return PS5Controller::Triangle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::L1(frc::EventLoop* loop) const {
+  return PS5Controller::L1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::R1(frc::EventLoop* loop) const {
+  return PS5Controller::R1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::L2(frc::EventLoop* loop) const {
+  return PS5Controller::L2(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::R2(frc::EventLoop* loop) const {
+  return PS5Controller::R2(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Options(frc::EventLoop* loop) const {
+  return PS5Controller::Options(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::L3(frc::EventLoop* loop) const {
+  return PS5Controller::L3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::R3(frc::EventLoop* loop) const {
+  return PS5Controller::R3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::PS(frc::EventLoop* loop) const {
+  return PS5Controller::PS(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
+  return PS5Controller::Touchpad(loop).CastTo<Trigger>();
+}

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS5Controller.h

@@ -0,0 +1,178 @@
+// 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.
+
+#pragma once
+#include <frc/PS5Controller.h>
+
+#include "Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+
+namespace frc2 {
+/**
+ * A version of {@link PS5Controller} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see PS5Controller
+ */
+class CommandPS5Controller : public frc::PS5Controller {
+ public:
+  using PS5Controller::PS5Controller;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(int button,
+                 frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the square button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the cross button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                           .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the circle button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the triangle button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                              .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the L1 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger L1(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the R1 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger R1(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the L2 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger L2(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the R2 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger R2(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the options button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                             .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the L3 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger L3(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the R3 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger R3(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the PS button's digital signal
+   * attached to the given loop.
+   */
+  Trigger PS(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the touchpad's digital signal
+   * attached to the given loop.
+   */
+  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                              .GetDefaultButtonLoop()) const;
+};
+}  // namespace frc2