Merge branch 'main' into 2027

commandsv2/src/main/java/org/wpilib/command2/button/Trigger.java

@@ -11,6 +11,7 @@ import org.wpilib.command2.Command;
 import org.wpilib.command2.CommandScheduler;
 import org.wpilib.event.EventLoop;
 import org.wpilib.math.filter.Debouncer;
+import org.wpilib.math.filter.EdgeCounterFilter;
 
 /**
  * This class provides an easy way to link commands to conditions.
@@ -287,4 +288,31 @@ public class Trigger implements BooleanSupplier {
           }
         });
   }
+
+  /**
+   * Creates a new multi-press trigger from this trigger - it will become active when this trigger
+   * has been activated the required number of times within the specified time window.
+   *
+   * <p>This is useful for implementing "double-click" style functionality.
+   *
+   * <p>Input for this must be stable, consider using a Debouncer before this to avoid counting
+   * noise as multiple presses.
+   *
+   * @param requiredPresses The number of presses required.
+   * @param windowTime The number of seconds in which the presses must occur.
+   * @return The multi-press trigger.
+   */
+  public Trigger multiPress(int requiredPresses, double windowTime) {
+    return new Trigger(
+        m_loop,
+        new BooleanSupplier() {
+          final EdgeCounterFilter m_edgeCounterFilter =
+              new EdgeCounterFilter(requiredPresses, windowTime);
+
+          @Override
+          public boolean getAsBoolean() {
+            return m_edgeCounterFilter.calculate(m_condition.getAsBoolean());
+          }
+        });
+  }
 }

commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp

@@ -8,6 +8,7 @@
 
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/math/filter/Debouncer.hpp"
+#include "wpi/math/filter/EdgeCounterFilter.hpp"
 
 using namespace wpi;
 using namespace wpi::cmd;
@@ -183,6 +184,14 @@ Trigger Trigger::Debounce(wpi::units::second_t debounceTime,
   });
 }
 
+Trigger Trigger::MultiPress(int requiredPresses, units::second_t windowTime) {
+  return Trigger(m_loop, [filter = wpi::math::EdgeCounterFilter(requiredPresses,
+                                                                windowTime),
+                          condition = m_condition]() mutable {
+    return filter.Calculate(condition());
+  });
+}
+
 bool Trigger::Get() const {
   return m_condition();
 }

commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp

@@ -283,6 +283,22 @@ class Trigger {
                    wpi::math::Debouncer::DebounceType type =
                        wpi::math::Debouncer::DebounceType::kRising);
 
+  /**
+   * Creates a new multi-press trigger from this trigger - it will become active
+   * when this trigger has been activated the required number of times within
+   * the specified time window.
+   *
+   * <p>This is useful for implementing "double-click" style functionality.
+   *
+   * <p>Input for this must be stable, consider using a Debouncer before this to
+   * avoid counting noise as multiple presses.
+   *
+   * @param requiredPresses The number of presses required.
+   * @param windowTime The time in which the presses must occur.
+   * @return The multi-press trigger.
+   */
+  Trigger MultiPress(int requiredPresses, units::second_t windowTime);
+
   /**
    * Returns the current state of this trigger.
    *