[wpilib,cmd] Add new generation for gamepads (#8957)

SDL makes these schemas much simpler, so its easier to support more
controllers.

commandsv2/src/generate/main/python/first_ds_commandhid.py.jinja

@@ -0,0 +1,100 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional
+
+from wpilib import EventLoop, {{ ClassName }}Controller
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+def _enum_value(value) -> int:
+    try:
+        return int(value)
+    except TypeError:
+        return value.value
+
+
+class Command{{ ClassName }}Controller:
+    """
+    A version of :class:`wpilib.{{ ClassName }}Controller` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: {{ ClassName }}Controller
+
+    def __init__(self, port: int):
+        """
+        Construct an instance of a controller.
+
+        :param port: The port index on the Driver Station that the controller is plugged into.
+        """
+        self._hid = CommandGenericHID.getCommandGenericHID(port)
+        self._controller = {{ ClassName }}Controller(self._hid.getHID())
+
+    def __getattr__(self, name: str):
+        return getattr(self._hid, name)
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> {{ ClassName }}Controller:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+{% for button in buttons %}
+    def {{ button.Name }}(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the {{ button.DocName }} button's digital signal
+                  attached to the given loop.
+        """
+        return self._hid.button(
+            _enum_value({{ ClassName }}Controller.Button.{{ button.ConstantName }}), loop
+        )
+{% endfor -%}
+{% for trigger in triggerAxes %}
+    def {{ trigger.Name }}(
+        self,
+        threshold: float{% if trigger.HasDefaultThresholdMethod %} = 0.5{% endif %},
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the {{ trigger.DocName }} axis value. The returned
+        Trigger will be true when the axis value is greater than ``threshold``.
+
+        :param threshold: the minimum axis value for the returned Trigger to be true. This value
+                          should be in the range [0, 1] where 0 is the unpressed state of the axis.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self._hid.axisGreaterThan(
+            _enum_value({{ ClassName }}Controller.Axis.{{ trigger.AxisConstantName }}),
+            threshold,
+            loop,
+        )
+{% endfor -%}
+{% for axis in axes %}
+    def get{{ axis.MethodName }}(self) -> float:
+        """
+        Get the {{ axis.DocName }} value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.get{{ axis.MethodName }}()
+{% endfor -%}