[newCommands] Trigger: Allow override of debounce type (#3845)

Previously Trigger could only be debounced on rising edges.
This change preserves the default behavior but adds the capability to override it.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java

@@ -381,13 +381,25 @@ public class Trigger implements BooleanSupplier {
    * Creates a new debounced trigger from this trigger - it will become active when this trigger has
    * been active for longer than the specified period.
    *
-   * @param seconds the debounce period
-   * @return the debounced trigger
+   * @param seconds The debounce period.
+   * @return The debounced trigger (rising edges debounced only)
    */
   public Trigger debounce(double seconds) {
+    return debounce(seconds, Debouncer.DebounceType.kRising);
+  }
+
+  /**
+   * Creates a new debounced trigger from this trigger - it will become active when this trigger has
+   * been active for longer than the specified period.
+   *
+   * @param seconds The debounce period.
+   * @param type The debounce type.
+   * @return The debounced trigger.
+   */
+  public Trigger debounce(double seconds, Debouncer.DebounceType type) {
     return new Trigger(
         new BooleanSupplier() {
-          Debouncer m_debouncer = new Debouncer(seconds);
+          Debouncer m_debouncer = new Debouncer(seconds, type);
 
           @Override
           public boolean getAsBoolean() {

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

@@ -139,8 +139,10 @@ Trigger Trigger::CancelWhenActive(Command* command) {
   return *this;
 }
 
-Trigger Trigger::Debounce(units::second_t debounceTime) {
-  return Trigger([debouncer = frc::Debouncer(debounceTime), *this]() mutable {
-    return debouncer.Calculate(m_isActive());
-  });
+Trigger Trigger::Debounce(units::second_t debounceTime,
+                          frc::Debouncer::DebounceType type) {
+  return Trigger(
+      [debouncer = frc::Debouncer(debounceTime, type), *this]() mutable {
+        return debouncer.Calculate(m_isActive());
+      });
 }

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

@@ -9,6 +9,7 @@
 #include <memory>
 #include <utility>
 
+#include <frc/filter/Debouncer.h>
 #include <units/time.h>
 #include <wpi/span.h>
 
@@ -350,10 +351,13 @@ class Trigger {
    * Creates a new debounced trigger from this trigger - it will become active
    * when this trigger has been active for longer than the specified period.
    *
-   * @param debounceTime the debounce period
-   * @return the debounced trigger
+   * @param debounceTime The debounce period.
+   * @param type The debounce type.
+   * @return The debounced trigger.
    */
-  Trigger Debounce(units::second_t debounceTime);
+  Trigger Debounce(units::second_t debounceTime,
+                   frc::Debouncer::DebounceType type =
+                       frc::Debouncer::DebounceType::kRising);
 
  private:
   std::function<bool()> m_isActive;