[wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)

- GenericHID is now concrete, and has only getRawAxis/Button(int) functionality
- getXxx() has been moved into Joystick as that's the only place where it makes sense
- Hand (and therefore getXxx(Hand)) has been removed, replaced by specific getLeft/RightXxx() methods in XboxController and the new PS4Controller class
- C++ ::Button:: and ::Axis:: enums have been converted to identically-namespaced static constexpr ints

wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java

@@ -8,8 +8,14 @@ import edu.wpi.first.hal.HAL;
 import java.util.HashMap;
 import java.util.Map;
 
-/** GenericHID Interface. */
-public abstract class GenericHID {
+/**
+ * Handle input from standard HID devices connected to the Driver Station.
+ *
+ * <p>This class handles standard input that comes from the Driver Station. Each time a value is
+ * requested the most recent value is returned. There is a single class instance for each device and
+ * the mapping of ports to hardware buttons depends on the code in the Driver Station.
+ */
+public class GenericHID {
   /** Represents a rumble output on the JoyStick. */
   public enum RumbleType {
     kLeftRumble,
@@ -55,61 +61,20 @@ public abstract class GenericHID {
     }
   }
 
-  /** Which hand the Human Interface Device is associated with. */
-  public enum Hand {
-    kLeft(0),
-    kRight(1);
-
-    public final int value;
-
-    Hand(int value) {
-      this.value = value;
-    }
-  }
-
   private final int m_port;
   private int m_outputs;
   private short m_leftRumble;
   private short m_rightRumble;
 
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
   public GenericHID(int port) {
     m_port = port;
   }
 
-  /**
-   * Get the x position of the HID.
-   *
-   * @return the x position of the HID
-   */
-  public final double getX() {
-    return getX(Hand.kRight);
-  }
-
-  /**
-   * Get the x position of HID.
-   *
-   * @param hand which hand, left or right
-   * @return the x position
-   */
-  public abstract double getX(Hand hand);
-
-  /**
-   * Get the y position of the HID.
-   *
-   * @return the y position
-   */
-  public final double getY() {
-    return getY(Hand.kRight);
-  }
-
-  /**
-   * Get the y position of the HID.
-   *
-   * @param hand which hand, left or right
-   * @return the y position
-   */
-  public abstract double getY(Hand hand);
-
   /**
    * Get the button value (starting at button 1).
    *
@@ -170,13 +135,21 @@ public abstract class GenericHID {
    * <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
    * upper-left is 315).
    *
-   * @param pov The index of the POV to read (starting at 0)
+   * @param pov The index of the POV to read (starting at 0). Defaults to 0.
    * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
    */
   public int getPOV(int pov) {
     return DriverStation.getStickPOV(m_port, pov);
   }
 
+  /**
+   * Get the angle in degrees of the default POV (index 0) on the HID.
+   *
+   * <p>The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
+   * upper-left is 315).
+   *
+   * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
+   */
   public int getPOV() {
     return getPOV(0);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -8,7 +8,7 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 
 /**
- * Handle input from standard Joysticks connected to the Driver Station.
+ * Handle input from Flight Joysticks connected to the Driver Station.
  *
  * <p>This class handles standard input that comes from the Driver Station. Each time a value is
  * requested the most recent value is returned. There is a single class instance for each joystick
@@ -48,49 +48,21 @@ public class Joystick extends GenericHID {
     }
   }
 
-  /** Represents a digital button on a joystick. */
-  private enum Button {
-    kTrigger(1),
-    kTop(2);
-
-    public final int value;
-
-    Button(int value) {
-      this.value = value;
-    }
-  }
-
-  /** Represents an analog axis on a joystick. */
-  private enum Axis {
-    kX(0),
-    kY(1),
-    kZ(2),
-    kTwist(3),
-    kThrottle(4),
-    kNumAxes(5);
-
-    public final int value;
-
-    Axis(int value) {
-      this.value = value;
-    }
-  }
-
-  private final byte[] m_axes = new byte[Axis.kNumAxes.value];
+  private final byte[] m_axes = new byte[AxisType.values().length];
 
   /**
-   * Construct an instance of a joystick. The joystick index is the USB port on the drivers station.
+   * Construct an instance of a joystick.
    *
-   * @param port The port on the Driver Station that the joystick is plugged into.
+   * @param port The port index on the Driver Station that the joystick is plugged into.
    */
   public Joystick(final int port) {
     super(port);
 
-    m_axes[Axis.kX.value] = kDefaultXChannel;
-    m_axes[Axis.kY.value] = kDefaultYChannel;
-    m_axes[Axis.kZ.value] = kDefaultZChannel;
-    m_axes[Axis.kTwist.value] = kDefaultTwistChannel;
-    m_axes[Axis.kThrottle.value] = kDefaultThrottleChannel;
+    m_axes[AxisType.kX.value] = kDefaultXChannel;
+    m_axes[AxisType.kY.value] = kDefaultYChannel;
+    m_axes[AxisType.kZ.value] = kDefaultZChannel;
+    m_axes[AxisType.kTwist.value] = kDefaultTwistChannel;
+    m_axes[AxisType.kThrottle.value] = kDefaultThrottleChannel;
 
     HAL.report(tResourceType.kResourceType_Joystick, port + 1);
   }
@@ -101,7 +73,7 @@ public class Joystick extends GenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setXChannel(int channel) {
-    m_axes[Axis.kX.value] = (byte) channel;
+    m_axes[AxisType.kX.value] = (byte) channel;
   }
 
   /**
@@ -110,7 +82,7 @@ public class Joystick extends GenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setYChannel(int channel) {
-    m_axes[Axis.kY.value] = (byte) channel;
+    m_axes[AxisType.kY.value] = (byte) channel;
   }
 
   /**
@@ -119,7 +91,7 @@ public class Joystick extends GenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setZChannel(int channel) {
-    m_axes[Axis.kZ.value] = (byte) channel;
+    m_axes[AxisType.kZ.value] = (byte) channel;
   }
 
   /**
@@ -128,7 +100,7 @@ public class Joystick extends GenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setThrottleChannel(int channel) {
-    m_axes[Axis.kThrottle.value] = (byte) channel;
+    m_axes[AxisType.kThrottle.value] = (byte) channel;
   }
 
   /**
@@ -137,7 +109,7 @@ public class Joystick extends GenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setTwistChannel(int channel) {
-    m_axes[Axis.kTwist.value] = (byte) channel;
+    m_axes[AxisType.kTwist.value] = (byte) channel;
   }
 
   /**
@@ -146,7 +118,7 @@ public class Joystick extends GenericHID {
    * @return The channel for the axis.
    */
   public int getXChannel() {
-    return m_axes[Axis.kX.value];
+    return m_axes[AxisType.kX.value];
   }
 
   /**
@@ -155,7 +127,7 @@ public class Joystick extends GenericHID {
    * @return The channel for the axis.
    */
   public int getYChannel() {
-    return m_axes[Axis.kY.value];
+    return m_axes[AxisType.kY.value];
   }
 
   /**
@@ -164,7 +136,7 @@ public class Joystick extends GenericHID {
    * @return The channel for the axis.
    */
   public int getZChannel() {
-    return m_axes[Axis.kZ.value];
+    return m_axes[AxisType.kZ.value];
   }
 
   /**
@@ -173,7 +145,7 @@ public class Joystick extends GenericHID {
    * @return The channel for the axis.
    */
   public int getTwistChannel() {
-    return m_axes[Axis.kTwist.value];
+    return m_axes[AxisType.kTwist.value];
   }
 
   /**
@@ -182,31 +154,27 @@ public class Joystick extends GenericHID {
    * @return The channel for the axis.
    */
   public int getThrottleChannel() {
-    return m_axes[Axis.kThrottle.value];
+    return m_axes[AxisType.kThrottle.value];
   }
 
   /**
    * Get the X value of the joystick. This depends on the mapping of the joystick connected to the
    * current port.
    *
-   * @param hand Unused
    * @return The X value of the joystick.
    */
-  @Override
-  public final double getX(Hand hand) {
-    return getRawAxis(m_axes[Axis.kX.value]);
+  public final double getX() {
+    return getRawAxis(m_axes[AxisType.kX.value]);
   }
 
   /**
    * Get the Y value of the joystick. This depends on the mapping of the joystick connected to the
    * current port.
    *
-   * @param hand Unused
    * @return The Y value of the joystick.
    */
-  @Override
-  public final double getY(Hand hand) {
-    return getRawAxis(m_axes[Axis.kY.value]);
+  public final double getY() {
+    return getRawAxis(m_axes[AxisType.kY.value]);
   }
 
   /**
@@ -215,7 +183,7 @@ public class Joystick extends GenericHID {
    * @return the z position
    */
   public double getZ() {
-    return getRawAxis(m_axes[Axis.kZ.value]);
+    return getRawAxis(m_axes[AxisType.kZ.value]);
   }
 
   /**
@@ -225,7 +193,7 @@ public class Joystick extends GenericHID {
    * @return The Twist value of the joystick.
    */
   public double getTwist() {
-    return getRawAxis(m_axes[Axis.kTwist.value]);
+    return getRawAxis(m_axes[AxisType.kTwist.value]);
   }
 
   /**
@@ -235,7 +203,7 @@ public class Joystick extends GenericHID {
    * @return The Throttle value of the joystick.
    */
   public double getThrottle() {
-    return getRawAxis(m_axes[Axis.kThrottle.value]);
+    return getRawAxis(m_axes[AxisType.kThrottle.value]);
   }
 
   /**
@@ -244,7 +212,7 @@ public class Joystick extends GenericHID {
    * @return The state of the trigger.
    */
   public boolean getTrigger() {
-    return getRawButton(Button.kTrigger.value);
+    return getRawButton(ButtonType.kTrigger.value);
   }
 
   /**
@@ -253,7 +221,7 @@ public class Joystick extends GenericHID {
    * @return Whether the button was pressed since the last check.
    */
   public boolean getTriggerPressed() {
-    return getRawButtonPressed(Button.kTrigger.value);
+    return getRawButtonPressed(ButtonType.kTrigger.value);
   }
 
   /**
@@ -262,7 +230,7 @@ public class Joystick extends GenericHID {
    * @return Whether the button was released since the last check.
    */
   public boolean getTriggerReleased() {
-    return getRawButtonReleased(Button.kTrigger.value);
+    return getRawButtonReleased(ButtonType.kTrigger.value);
   }
 
   /**
@@ -271,7 +239,7 @@ public class Joystick extends GenericHID {
    * @return The state of the top button.
    */
   public boolean getTop() {
-    return getRawButton(Button.kTop.value);
+    return getRawButton(ButtonType.kTop.value);
   }
 
   /**
@@ -280,7 +248,7 @@ public class Joystick extends GenericHID {
    * @return Whether the button was pressed since the last check.
    */
   public boolean getTopPressed() {
-    return getRawButtonPressed(Button.kTop.value);
+    return getRawButtonPressed(ButtonType.kTop.value);
   }
 
   /**
@@ -289,7 +257,7 @@ public class Joystick extends GenericHID {
    * @return Whether the button was released since the last check.
    */
   public boolean getTopReleased() {
-    return getRawButtonReleased(Button.kTop.value);
+    return getRawButtonReleased(ButtonType.kTop.value);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/PS4Controller.java

@@ -0,0 +1,535 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+
+/**
+ * Handle input from PS4 controllers connected to the Driver Station.
+ *
+ * <p>This class handles PS4 input that comes from the Driver Station. Each time a value is
+ * requested the most recent value is returned. There is a single class instance for each controller
+ * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
+ */
+public class PS4Controller extends GenericHID {
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
+  public PS4Controller(int port) {
+    super(port);
+    HAL.report(tResourceType.kResourceType_PS4Controller, port + 1);
+  }
+
+  /** Represents a digital button on a PS4Controller. */
+  public enum Button {
+    kSquare(1),
+    kCross(2),
+    kCircle(3),
+    kTriangle(4),
+    kL1(5),
+    kR1(6),
+    kL2(7),
+    kR2(8),
+    kShare(9),
+    kOptions(10),
+    kL3(11),
+    kR3(12),
+    kPS(13),
+    kTouchpad(14);
+
+    public final int value;
+
+    Button(int index) {
+      this.value = index;
+    }
+
+    /**
+     * Get the human-friendly name of the button, matching the relevant methods. This is done by
+     * stripping the leading `k`, and if not the touchpad append `Button`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the button.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (this == kTouchpad) {
+        return name;
+      }
+      return name + "Button";
+    }
+  }
+
+  /** Represents an axis on a PS4Controller. */
+  public enum Axis {
+    kLeftX(0),
+    kLeftY(1),
+    kRightX(2),
+    kRightY(5),
+    kL2(3),
+    kR2(4);
+
+    public final int value;
+
+    Axis(int index) {
+      value = index;
+    }
+
+    /**
+     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
+     * stripping the leading `k`, and if one of L2/R2 append `Axis`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the axis.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (name.endsWith("2")) {
+        return name + "Axis";
+      }
+      return name;
+    }
+  }
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getLeftX() {
+    return getRawAxis(Axis.kLeftX.value);
+  }
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getRightX() {
+    return getRawAxis(Axis.kRightX.value);
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getLeftY() {
+    return getRawAxis(Axis.kLeftY.value);
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getRightY() {
+    return getRawAxis(Axis.kRightY.value);
+  }
+
+  /**
+   * Get the L2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
+   * opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  public double getL2Axis() {
+    return getRawAxis(Axis.kL2.value);
+  }
+
+  /**
+   * Get the R2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
+   * opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  public double getR2Axis() {
+    return getRawAxis(Axis.kR2.value);
+  }
+
+  /**
+   * Read the value of the left trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL2Button() {
+    return getRawButton(Button.kL2.value);
+  }
+
+  /**
+   * Read the value of the right trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR2Button() {
+    return getRawButton(Button.kR2.value);
+  }
+
+  /**
+   * Whether the L2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL2ButtonPressed() {
+    return getRawButtonPressed(Button.kL2.value);
+  }
+
+  /**
+   * Whether the R2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR2ButtonPressed() {
+    return getRawButtonPressed(Button.kR2.value);
+  }
+
+  /**
+   * Whether the L2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL2ButtonReleased() {
+    return getRawButtonReleased(Button.kL2.value);
+  }
+
+  /**
+   * Whether the R2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR2ButtonReleased() {
+    return getRawButtonReleased(Button.kR2.value);
+  }
+
+  /**
+   * Read the value of the L1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL1Button() {
+    return getRawButton(Button.kL1.value);
+  }
+
+  /**
+   * Read the value of the R1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR1Button() {
+    return getRawButton(Button.kR1.value);
+  }
+
+  /**
+   * Whether the L1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL1ButtonPressed() {
+    return getRawButtonPressed(Button.kL1.value);
+  }
+
+  /**
+   * Whether the R1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR1ButtonPressed() {
+    return getRawButtonPressed(Button.kR1.value);
+  }
+
+  /**
+   * Whether the L1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL1ButtonReleased() {
+    return getRawButtonReleased(Button.kL1.value);
+  }
+
+  /**
+   * Whether the R1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR1ButtonReleased() {
+    return getRawButtonReleased(Button.kR1.value);
+  }
+
+  /**
+   * Read the value of the L3 button (pressing the left analog stick) on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL3Button() {
+    return getRawButton(Button.kL3.value);
+  }
+
+  /**
+   * Read the value of the R3 button (pressing the right analog stick) on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR3Button() {
+    return getRawButton(Button.kR3.value);
+  }
+
+  /**
+   * Whether the L3 (left stick) button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL3ButtonPressed() {
+    return getRawButtonPressed(Button.kL3.value);
+  }
+
+  /**
+   * Whether the R3 (right stick) button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR3ButtonPressed() {
+    return getRawButtonPressed(Button.kR3.value);
+  }
+
+  /**
+   * Whether the L3 (left stick) button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL3ButtonReleased() {
+    return getRawButtonReleased(Button.kL3.value);
+  }
+
+  /**
+   * Whether the R3 (right stick) button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR3ButtonReleased() {
+    return getRawButtonReleased(Button.kR3.value);
+  }
+
+  /**
+   * Read the value of the Square button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getSquareButton() {
+    return getRawButton(Button.kSquare.value);
+  }
+
+  /**
+   * Whether the Square button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getSquareButtonPressed() {
+    return getRawButtonPressed(Button.kSquare.value);
+  }
+
+  /**
+   * Whether the Square button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getSquareButtonReleased() {
+    return getRawButtonReleased(Button.kSquare.value);
+  }
+
+  /**
+   * Read the value of the Cross button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCrossButton() {
+    return getRawButton(Button.kCross.value);
+  }
+
+  /**
+   * Whether the Cross button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCrossButtonPressed() {
+    return getRawButtonPressed(Button.kCross.value);
+  }
+
+  /**
+   * Whether the Cross button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCrossButtonReleased() {
+    return getRawButtonReleased(Button.kCross.value);
+  }
+
+  /**
+   * Read the value of the Triangle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getTriangleButton() {
+    return getRawButton(Button.kTriangle.value);
+  }
+
+  /**
+   * Whether the Triangle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getTriangleButtonPressed() {
+    return getRawButtonPressed(Button.kTriangle.value);
+  }
+
+  /**
+   * Whether the Triangle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTriangleButtonReleased() {
+    return getRawButtonReleased(Button.kTriangle.value);
+  }
+
+  /**
+   * Read the value of the Circle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCircleButton() {
+    return getRawButton(Button.kCircle.value);
+  }
+
+  /**
+   * Whether the Circle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCircleButtonPressed() {
+    return getRawButtonPressed(Button.kCircle.value);
+  }
+
+  /**
+   * Whether the Circle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCircleButtonReleased() {
+    return getRawButtonReleased(Button.kCircle.value);
+  }
+
+  /**
+   * Read the value of the share button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getShareButton() {
+    return getRawButton(Button.kShare.value);
+  }
+
+  /**
+   * Whether the share button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getShareButtonPressed() {
+    return getRawButtonPressed(Button.kShare.value);
+  }
+
+  /**
+   * Whether the share button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getShareButtonReleased() {
+    return getRawButtonReleased(Button.kShare.value);
+  }
+
+  /**
+   * Read the value of the PS button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getPSButton() {
+    return getRawButton(Button.kPS.value);
+  }
+
+  /**
+   * Whether the PS button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getPSButtonPressed() {
+    return getRawButtonPressed(Button.kPS.value);
+  }
+
+  /**
+   * Whether the PS button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getPSButtonReleased() {
+    return getRawButtonReleased(Button.kPS.value);
+  }
+
+  /**
+   * Read the value of the options button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getOptionsButton() {
+    return getRawButton(Button.kOptions.value);
+  }
+
+  /**
+   * Whether the options button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getOptionsButtonPressed() {
+    return getRawButtonPressed(Button.kOptions.value);
+  }
+
+  /**
+   * Whether the options button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getOptionsButtonReleased() {
+    return getRawButtonReleased(Button.kOptions.value);
+  }
+
+  /**
+   * Read the value of the touchpad on the controller.
+   *
+   * @return The state of the touchpad.
+   */
+  public boolean getTouchpad() {
+    return getRawButton(Button.kTouchpad.value);
+  }
+
+  /**
+   * Whether the touchpad was pressed since the last check.
+   *
+   * @return Whether the touchpad was pressed since the last check.
+   */
+  public boolean getTouchpadPressed() {
+    return getRawButtonPressed(Button.kTouchpad.value);
+  }
+
+  /**
+   * Whether the touchpad was released since the last check.
+   *
+   * @return Whether the touchpad was released since the last check.
+   */
+  public boolean getTouchpadReleased() {
+    return getRawButtonReleased(Button.kTouchpad.value);
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java

@@ -17,10 +17,10 @@ import edu.wpi.first.hal.HAL;
 public class XboxController extends GenericHID {
   /** Represents a digital button on an XboxController. */
   public enum Button {
-    kBumperLeft(5),
-    kBumperRight(6),
-    kStickLeft(9),
-    kStickRight(10),
+    kLeftBumper(5),
+    kRightBumper(6),
+    kLeftStick(9),
+    kRightStick(10),
     kA(1),
     kB(2),
     kX(3),
@@ -34,6 +34,23 @@ public class XboxController extends GenericHID {
     Button(int value) {
       this.value = value;
     }
+
+    /**
+     * Get the human-friendly name of the button, matching the relevant methods. This is done by
+     * stripping the leading `k`, and if not a Bumper button append `Button`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the button.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (name.endsWith("Bumper")) {
+        return name;
+      }
+      return name + "Button";
+    }
   }
 
   /** Represents an axis on an XboxController. */
@@ -51,12 +68,29 @@ public class XboxController extends GenericHID {
     Axis(int value) {
       this.value = value;
     }
+
+    /**
+     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
+     * stripping the leading `k`, and if a trigger axis append `Axis`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the axis.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (name.endsWith("Trigger")) {
+        return name + "Axis";
+      }
+      return name;
+    }
   }
 
   /**
-   * Construct an instance of a joystick. The joystick index is the USB port on the drivers station.
+   * Construct an instance of a controller.
    *
-   * @param port The port on the Driver Station that the joystick is plugged into.
+   * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public XboxController(final int port) {
     super(port);
@@ -65,131 +99,167 @@ public class XboxController extends GenericHID {
   }
 
   /**
-   * Get the X axis value of the controller.
+   * Get the X axis value of left side of the controller.
    *
-   * @param hand Side of controller whose value should be returned.
-   * @return The X axis value of the controller.
+   * @return The axis value.
    */
-  @Override
-  public double getX(Hand hand) {
-    if (hand.equals(Hand.kLeft)) {
-      return getRawAxis(Axis.kLeftX.value);
-    } else {
-      return getRawAxis(Axis.kRightX.value);
-    }
+  public double getLeftX() {
+    return getRawAxis(Axis.kLeftX.value);
   }
 
   /**
-   * Get the Y axis value of the controller.
+   * Get the X axis value of right side of the controller.
    *
-   * @param hand Side of controller whose value should be returned.
-   * @return The Y axis value of the controller.
+   * @return The axis value.
    */
-  @Override
-  public double getY(Hand hand) {
-    if (hand.equals(Hand.kLeft)) {
-      return getRawAxis(Axis.kLeftY.value);
-    } else {
-      return getRawAxis(Axis.kRightY.value);
-    }
+  public double getRightX() {
+    return getRawAxis(Axis.kRightX.value);
   }
 
   /**
-   * Get the trigger axis value of the controller.
+   * Get the Y axis value of left side of the controller.
    *
-   * @param hand Side of controller whose value should be returned.
-   * @return The trigger axis value of the controller.
+   * @return The axis value.
    */
-  public double getTriggerAxis(Hand hand) {
-    if (hand.equals(Hand.kLeft)) {
-      return getRawAxis(Axis.kLeftTrigger.value);
-    } else {
-      return getRawAxis(Axis.kRightTrigger.value);
-    }
+  public double getLeftY() {
+    return getRawAxis(Axis.kLeftY.value);
   }
 
   /**
-   * Read the value of the bumper button on the controller.
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getRawAxis(Axis.kRightY.value);
+  }
+
+  /**
+   * Get the left trigger (LT) axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double getLeftTriggerAxis() {
+    return getRawAxis(Axis.kLeftTrigger.value);
+  }
+
+  /**
+   * Get the right trigger (RT) axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double getRightTriggerAxis() {
+    return getRawAxis(Axis.kRightTrigger.value);
+  }
+
+  /**
+   * Read the value of the left bumper (LB) button on the controller.
    *
-   * @param hand Side of controller whose value should be returned.
    * @return The state of the button.
    */
-  public boolean getBumper(Hand hand) {
-    if (hand.equals(Hand.kLeft)) {
-      return getRawButton(Button.kBumperLeft.value);
-    } else {
-      return getRawButton(Button.kBumperRight.value);
-    }
+  public boolean getLeftBumper() {
+    return getRawButton(Button.kLeftBumper.value);
   }
 
   /**
-   * Whether the bumper was pressed since the last check.
+   * Read the value of the right bumper (RB) button on the controller.
    *
-   * @param hand Side of controller whose value should be returned.
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getBumperPressed(Hand hand) {
-    if (hand == Hand.kLeft) {
-      return getRawButtonPressed(Button.kBumperLeft.value);
-    } else {
-      return getRawButtonPressed(Button.kBumperRight.value);
-    }
-  }
-
-  /**
-   * Whether the bumper was released since the last check.
-   *
-   * @param hand Side of controller whose value should be returned.
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getBumperReleased(Hand hand) {
-    if (hand == Hand.kLeft) {
-      return getRawButtonReleased(Button.kBumperLeft.value);
-    } else {
-      return getRawButtonReleased(Button.kBumperRight.value);
-    }
-  }
-
-  /**
-   * Read the value of the stick button on the controller.
-   *
-   * @param hand Side of controller whose value should be returned.
    * @return The state of the button.
    */
-  public boolean getStickButton(Hand hand) {
-    if (hand.equals(Hand.kLeft)) {
-      return getRawButton(Button.kStickLeft.value);
-    } else {
-      return getRawButton(Button.kStickRight.value);
-    }
+  public boolean getRightBumper() {
+    return getRawButton(Button.kRightBumper.value);
   }
 
   /**
-   * Whether the stick button was pressed since the last check.
+   * Whether the left bumper (LB) was pressed since the last check.
    *
-   * @param hand Side of controller whose value should be returned.
    * @return Whether the button was pressed since the last check.
    */
-  public boolean getStickButtonPressed(Hand hand) {
-    if (hand == Hand.kLeft) {
-      return getRawButtonPressed(Button.kStickLeft.value);
-    } else {
-      return getRawButtonPressed(Button.kStickRight.value);
-    }
+  public boolean getLeftBumperPressed() {
+    return getRawButtonPressed(Button.kLeftBumper.value);
   }
 
   /**
-   * Whether the stick button was released since the last check.
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightBumperPressed() {
+    return getRawButtonPressed(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
    *
-   * @param hand Side of controller whose value should be returned.
    * @return Whether the button was released since the last check.
    */
-  public boolean getStickButtonReleased(Hand hand) {
-    if (hand == Hand.kLeft) {
-      return getRawButtonReleased(Button.kStickLeft.value);
-    } else {
-      return getRawButtonReleased(Button.kStickRight.value);
-    }
+  public boolean getLeftBumperReleased() {
+    return getRawButtonReleased(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the right bumper (RB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightBumperReleased() {
+    return getRawButtonReleased(Button.kRightBumper.value);
+  }
+
+  /**
+   * Read the value of the left stick button (LSB) on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftStickButton() {
+    return getRawButton(Button.kLeftStick.value);
+  }
+
+  /**
+   * Read the value of the right stick button (RSB) on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickButton() {
+    return getRawButton(Button.kRightStick.value);
+  }
+
+  /**
+   * Whether the left stick button (LSB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftStickButtonPressed() {
+    return getRawButtonPressed(Button.kLeftStick.value);
+  }
+
+  /**
+   * Whether the right stick button (RSB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickButtonPressed() {
+    return getRawButtonPressed(Button.kRightStick.value);
+  }
+
+  /**
+   * Whether the left stick button (LSB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftStickButtonReleased() {
+    return getRawButtonReleased(Button.kLeftStick.value);
+  }
+
+  /**
+   * Whether the right stick (RSB) button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickButtonReleased() {
+    return getRawButtonReleased(Button.kRightStick.value);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS4ControllerSim.java

@@ -0,0 +1,212 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.PS4Controller;
+
+/** Class to control a simulated PS4 controller. */
+public class PS4ControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a PS4Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  public PS4ControllerSim(PS4Controller joystick) {
+    super(joystick);
+    setAxisCount(6);
+    setButtonCount(14);
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  public PS4ControllerSim(int port) {
+    super(port);
+    setAxisCount(6);
+    setButtonCount(14);
+  }
+
+  /**
+   * Change the X axis value of the controller's left stick.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(PS4Controller.Axis.kLeftX.value, value);
+  }
+
+  /**
+   * Change the X axis value of the controller's right stick.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(PS4Controller.Axis.kRightX.value, value);
+  }
+
+  /**
+   * Change the Y axis value of the controller's left stick.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(PS4Controller.Axis.kLeftY.value, value);
+  }
+
+  /**
+   * Change the Y axis value of the controller's right stick.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(PS4Controller.Axis.kRightY.value, value);
+  }
+
+  /**
+   * Change the L2 axis axis value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setL2Axis(double value) {
+    setRawAxis(PS4Controller.Axis.kL2.value, value);
+  }
+
+  /**
+   * Change the R2 axis value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setR2Axis(double value) {
+    setRawAxis(PS4Controller.Axis.kR2.value, value);
+  }
+
+  /**
+   * Change the value of the Square button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setSquareButton(boolean value) {
+    setRawButton(PS4Controller.Button.kSquare.value, value);
+  }
+
+  /**
+   * Change the value of the Cross button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCrossButton(boolean value) {
+    setRawButton(PS4Controller.Button.kCross.value, value);
+  }
+
+  /**
+   * Change the value of the Circle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCircleButton(boolean value) {
+    setRawButton(PS4Controller.Button.kCircle.value, value);
+  }
+
+  /**
+   * Change the value of the Triangle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTriangleButton(boolean value) {
+    setRawButton(PS4Controller.Button.kTriangle.value, value);
+  }
+
+  /**
+   * Change the value of the L1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL1Button(boolean value) {
+    setRawButton(PS4Controller.Button.kL1.value, value);
+  }
+
+  /**
+   * Change the value of the R1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR1Button(boolean value) {
+    setRawButton(PS4Controller.Button.kR1.value, value);
+  }
+
+  /**
+   * Change the value of the L2 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL2Button(boolean value) {
+    setRawButton(PS4Controller.Button.kL2.value, value);
+  }
+
+  /**
+   * Change the value of the R2 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR2Button(boolean value) {
+    setRawButton(PS4Controller.Button.kR2.value, value);
+  }
+
+  /**
+   * Change the value of the Share button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setShareButton(boolean value) {
+    setRawButton(PS4Controller.Button.kShare.value, value);
+  }
+
+  /**
+   * Change the value of the Options button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setOptionsButton(boolean value) {
+    setRawButton(PS4Controller.Button.kOptions.value, value);
+  }
+
+  /**
+   * Change the value of the L3 (left stick) button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL3Button(boolean value) {
+    setRawButton(PS4Controller.Button.kL3.value, value);
+  }
+
+  /**
+   * Change the value of the R3 (right stick) button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR3Button(boolean value) {
+    setRawButton(PS4Controller.Button.kR3.value, value);
+  }
+
+  /**
+   * Change the value of the PS button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setPSButton(boolean value) {
+    setRawButton(PS4Controller.Button.kPS.value, value);
+  }
+
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTouchpad(boolean value) {
+    setRawButton(PS4Controller.Button.kTouchpad.value, value);
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java

@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 
 /** Class to control a simulated Xbox 360 or Xbox One controller. */
@@ -32,73 +31,93 @@ public class XboxControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the X value of the joystick.
+   * Change the left X value of the joystick.
    *
-   * @param hand the joystick hand
    * @param value the new value
    */
-  public void setX(GenericHID.Hand hand, double value) {
-    if (hand.equals(GenericHID.Hand.kLeft)) {
-      setRawAxis(XboxController.Axis.kLeftX.value, value);
-    } else {
-      setRawAxis(XboxController.Axis.kRightX.value, value);
-    }
+  public void setLeftX(double value) {
+    setRawAxis(XboxController.Axis.kLeftX.value, value);
   }
 
   /**
-   * Change the Y value of the joystick.
+   * Change the right X value of the joystick.
    *
-   * @param hand the joystick hand
    * @param value the new value
    */
-  public void setY(GenericHID.Hand hand, double value) {
-    if (hand.equals(GenericHID.Hand.kLeft)) {
-      setRawAxis(XboxController.Axis.kLeftY.value, value);
-    } else {
-      setRawAxis(XboxController.Axis.kRightY.value, value);
-    }
+  public void setRightX(double value) {
+    setRawAxis(XboxController.Axis.kRightX.value, value);
   }
 
   /**
-   * Change the value of a trigger axis on the joystick.
+   * Change the left Y value of the joystick.
    *
-   * @param hand the joystick hand
    * @param value the new value
    */
-  public void setTriggerAxis(GenericHID.Hand hand, double value) {
-    if (hand.equals(GenericHID.Hand.kLeft)) {
-      setRawAxis(XboxController.Axis.kLeftTrigger.value, value);
-    } else {
-      setRawAxis(XboxController.Axis.kRightTrigger.value, value);
-    }
+  public void setLeftY(double value) {
+    setRawAxis(XboxController.Axis.kLeftY.value, value);
   }
 
   /**
-   * Change the value of a bumper on the joystick.
+   * Change the right Y value of the joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(XboxController.Axis.kRightY.value, value);
+  }
+
+  /**
+   * Change the value of the left trigger axis on the joystick.
+   *
+   * @param value the new value
+   */
+  public void setLeftTriggerAxis(double value) {
+    setRawAxis(XboxController.Axis.kLeftTrigger.value, value);
+  }
+
+  /**
+   * Change the value of the right trigger axis on the joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightTriggerAxis(double value) {
+    setRawAxis(XboxController.Axis.kRightTrigger.value, value);
+  }
+
+  /**
+   * Change the value of the left bumper on the joystick.
    *
-   * @param hand the joystick hand
    * @param state the new value
    */
-  public void setBumper(GenericHID.Hand hand, boolean state) {
-    if (hand.equals(GenericHID.Hand.kLeft)) {
-      setRawButton(XboxController.Button.kBumperLeft.value, state);
-    } else {
-      setRawButton(XboxController.Button.kBumperRight.value, state);
-    }
+  public void setLeftBumper(boolean state) {
+    setRawButton(XboxController.Button.kLeftBumper.value, state);
   }
 
   /**
-   * Change the value of a button on the joystick.
+   * Change the value of the right bumper on the joystick.
    *
-   * @param hand the joystick hand
    * @param state the new value
    */
-  public void setStickButton(GenericHID.Hand hand, boolean state) {
-    if (hand.equals(GenericHID.Hand.kLeft)) {
-      setRawButton(XboxController.Button.kStickLeft.value, state);
-    } else {
-      setRawButton(XboxController.Button.kStickRight.value, state);
-    }
+  public void setRightBumper(boolean state) {
+    setRawButton(XboxController.Button.kRightBumper.value, state);
+  }
+
+  /**
+   * Change the value of the left stick button on the joystick.
+   *
+   * @param state the new value
+   */
+  public void setLeftStickButton(boolean state) {
+    setRawButton(XboxController.Button.kLeftStick.value, state);
+  }
+
+  /**
+   * Change the value of the right stick button on the joystick.
+   *
+   * @param state the new value
+   */
+  public void setRightStickButton(boolean state) {
+    setRawButton(XboxController.Button.kRightStick.value, state);
   }
 
   /**