[commands] Use Timer.restart() (#5023)

Author: srimanachanta

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();

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();

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) {

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>

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())); }