[wpimath] Move debouncer to filters (#3838)

wpilibj/src/main/java/edu/wpi/first/wpilibj/Debouncer.java

@@ -1,79 +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.
-
-package edu.wpi.first.wpilibj;
-
-/**
- * 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.
- */
-public class Debouncer {
-  public enum DebounceType {
-    kRising,
-    kFalling,
-    kBoth
-  }
-
-  private final Timer m_timer = new Timer();
-  private final double m_debounceTime;
-  private final DebounceType m_debounceType;
-  private boolean m_baseline;
-
-  /**
-   * 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.
-   */
-  public Debouncer(double debounceTime, DebounceType type) {
-    m_debounceTime = debounceTime;
-    m_debounceType = type;
-    m_timer.start();
-
-    switch (m_debounceType) {
-      case kBoth: // fall-through
-      case kRising:
-        m_baseline = false;
-        break;
-      case kFalling:
-        m_baseline = true;
-        break;
-      default:
-        throw new IllegalArgumentException("Invalid debounce type!");
-    }
-  }
-
-  /**
-   * Creates a new Debouncer. Baseline value defaulted to "false."
-   *
-   * @param debounceTime The number of seconds the value must change from baseline for the filtered
-   *     value to change.
-   */
-  public Debouncer(double debounceTime) {
-    this(debounceTime, 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.
-   */
-  public boolean calculate(boolean 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;
-    }
-  }
-}