Merge commit '680e2a702cee4c0b1efd034b85638acfd8c730aa' into upstream

Author: virtuald

commands2/src/cpp/frc2/command/MecanumControllerCommand.cpp

@@ -257,8 +257,7 @@ void MecanumControllerCommand::Initialize() {
   m_prevSpeeds = m_kinematics.ToWheelSpeeds(
       frc::ChassisSpeeds{initialXVelocity, initialYVelocity, 0_rad_per_s});
 
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
   if (m_usePID) {
     m_frontLeftController->Reset();
     m_rearLeftController->Reset();

commands2/src/cpp/frc2/command/RamseteCommand.cpp

@@ -92,8 +92,7 @@ void RamseteCommand::Initialize() {
   m_prevSpeeds = m_kinematics.ToWheelSpeeds(
       frc::ChassisSpeeds{initialState.velocity, 0_mps,
                          initialState.velocity * initialState.curvature});
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
   if (m_usePID) {
     m_leftController->Reset();
     m_rightController->Reset();

commands2/src/cpp/frc2/command/WaitCommand.cpp

@@ -15,8 +15,7 @@ WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
 }
 
 void WaitCommand::Initialize() {
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
 }
 
 void WaitCommand::End(bool interrupted) {

commands2/src/include/frc2/command/Commands.h

@@ -6,8 +6,10 @@
 
 #include <functional>
 #include <initializer_list>
+#include <memory>
 #include <span>
 #include <string>
+#include <type_traits>
 #include <utility>
 #include <vector>
 
@@ -156,13 +158,15 @@ namespace cmd {
  * @param selector the selector function
  * @param commands map of commands to select from
  */
-template <typename Key>
-[[nodiscard]] CommandPtr Select(
-    std::function<Key()> selector,
-    std::vector<std::pair<Key, CommandPtr>> commands) {
-  return SelectCommand(std::move(selector),
-                       CommandPtr::UnwrapVector(std::move(commands)))
-      .ToPtr();
+template <typename Key, class... Types>
+[[nodiscard]] CommandPtr Select(std::function<Key()> selector,
+                                std::pair<Key, Types>&&... commands) {
+  std::vector<std::pair<Key, std::unique_ptr<Command>>> vec;
+
+  ((void)vec.emplace_back(commands.first, std::move(commands.second).Unwrap()),
+   ...);
+
+  return SelectCommand(std::move(selector), std::move(vec)).ToPtr();
 }
 
 // Command Groups

commands2/src/include/frc2/command/SwerveControllerCommand.inc

@@ -150,8 +150,7 @@ void SwerveControllerCommand<NumModules>::Initialize() {
       return m_trajectory.States().back().pose.Rotation();
     };
   }
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
 }
 
 template <size_t NumModules>

commands2/src/include/frc2/command/TrapezoidProfileCommand.h

@@ -63,10 +63,7 @@ class TrapezoidProfileCommand
     this->AddRequirements(requirements);
   }
 
-  void Initialize() override {
-    m_timer.Reset();
-    m_timer.Start();
-  }
+  void Initialize() override { m_timer.Restart(); }
 
   void Execute() override { m_output(m_profile.Calculate(m_timer.Get())); }
 

commands2/src/include/frc2/command/button/CommandJoystick.h

@@ -10,7 +10,7 @@
 
 namespace frc2 {
 /**
- * A subclass of {@link Joystick} with {@link Trigger} factories for
+ * A version of {@link Joystick} with {@link Trigger} factories for
  * command-based.
  *
  * @see Joystick

commands2/src/include/frc2/command/button/CommandPS4Controller.h

@@ -10,7 +10,7 @@
 
 namespace frc2 {
 /**
- * A subclass of {@link PS4Controller} with {@link Trigger} factories for
+ * A version of {@link PS4Controller} with {@link Trigger} factories for
  * command-based.
  *
  * @see PS4Controller

commands2/src/include/frc2/command/button/CommandXboxController.h

@@ -10,7 +10,7 @@
 
 namespace frc2 {
 /**
- * A subclass of {@link XboxController} with {@link Trigger} factories for
+ * A version of {@link XboxController} with {@link Trigger} factories for
  * command-based.
  *
  * @see XboxController

commands2/src/include/frc2/command/button/Trigger.h

@@ -194,8 +194,7 @@ class Trigger {
   Trigger ToggleOnFalse(Command* command);
 
   /**
-   * Toggles a command when the condition changes from `true` to the low
-   * state.
+   * Toggles a command when the condition changes from `true` to `false`.
    *
    * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
    * lifespan of the command.