From eee29daaf9c29dabdaf6cb4f2cc9e20befe53fcb Mon Sep 17 00:00:00 2001
From: Oblarg <emichaelbarnett@gmail.com>
Date: Wed, 29 Dec 2021 19:10:43 -0500
Subject: [PATCH] [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.
---
 .../first/wpilibj2/command/button/Trigger.java | 18 +++++++++++++++---
 .../native/cpp/frc2/command/button/Trigger.cpp | 10 ++++++----
 .../include/frc2/command/button/Trigger.h      | 10 +++++++---
 3 files changed, 28 insertions(+), 10 deletions(-)

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
index 6d2c9a8de9..25d253e825 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/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() {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
index dd41e1f9e5..e370097d72 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/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());
+      });
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
index 3213d4b226..8762cab7f0 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
+++ b/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;