[wpimath] Move debouncer to filters (#3838)

wpilibc/src/main/native/cpp/Debouncer.cpp

@@ -1,37 +0,0 @@
-// 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 "frc/Debouncer.h"
-
-using namespace frc;
-
-Debouncer::Debouncer(units::second_t debounceTime, DebounceType type)
-    : m_debounceTime(debounceTime), m_debounceType(type) {
-  switch (type) {
-    case DebounceType::kBoth:  // fall-through
-    case DebounceType::kRising:
-      m_baseline = false;
-      break;
-    case DebounceType::kFalling:
-      m_baseline = true;
-      break;
-  }
-  m_timer.Start();
-}
-
-bool Debouncer::Calculate(bool input) {
-  if (input == m_baseline) {
-    m_timer.Reset();
-  }
-
-  if (m_timer.HasElapsed(m_debounceTime)) {
-    if (m_debounceType == DebounceType::kBoth) {
-      m_baseline = input;
-      m_timer.Reset();
-    }
-    return input;
-  } else {
-    return m_baseline;
-  }
-}

wpilibc/src/main/native/include/frc/Debouncer.h

@@ -1,46 +0,0 @@
-// 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 <units/time.h>
-
-#include "frc/Timer.h"
-
-namespace frc {
-/**
- * A simple debounce filter for boolean streams.  Requires that the boolean
- * change value from baseline for a specified period of time before the filtered
- * value changes.
- */
-class Debouncer {
- public:
-  enum DebounceType { kRising, kFalling, kBoth };
-
-  /**
-   * Creates a new Debouncer.
-   *
-   * @param debounceTime The number of seconds the value must change from
-   *                     baseline for the filtered value to change.
-   * @param type         Which type of state change the debouncing will be
-   *                     performed on.
-   */
-  explicit Debouncer(units::second_t debounceTime,
-                     DebounceType type = DebounceType::kRising);
-
-  /**
-   * Applies the debouncer to the input stream.
-   *
-   * @param input The current value of the input stream.
-   * @return The debounced value of the input stream.
-   */
-  bool Calculate(bool input);
-
- private:
-  frc::Timer m_timer;
-  units::second_t m_debounceTime;
-  bool m_baseline;
-  DebounceType m_debounceType;
-};
-}  // namespace frc