[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
2026-06-20 00:51:42 +00:00 · 2021-08-14 20:00:46 +03:00
parent 25f6f478a5
commit 031962608b
82 changed files with 2548 additions and 934 deletions
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
@@ -4,7 +4,6 @@

 package edu.wpi.first.wpilibj.examples.arcadedrivexboxcontroller;

-import edu.wpi.first.wpilibj.GenericHID.Hand;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -25,7 +24,6 @@ public class Robot extends TimedRobot {
    // Drive with split arcade drive.
    // That means that the Y axis of the left stick moves forward
    // and backward, and the X of the right stick turns left and right.
-    m_robotDrive.arcadeDrive(
-        m_driverController.getY(Hand.kLeft), m_driverController.getX(Hand.kRight));
+    m_robotDrive.arcadeDrive(m_driverController.getLeftY(), m_driverController.getRightX());
  }
 }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj.examples.armbot;

 import static edu.wpi.first.wpilibj.XboxController.Button;

-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.armbot.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.armbot.subsystems.ArmSubsystem;
@@ -43,14 +42,13 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight)),
+                    m_driverController.getLeftY(), m_driverController.getRightX()),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * JoystickButton}.
   */
@@ -77,7 +75,7 @@ public class RobotContainer {
    new JoystickButton(m_driverController, Button.kY.value).whenPressed(m_robotArm::disable);

    // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj.examples.armbotoffboard;

 import static edu.wpi.first.wpilibj.XboxController.Button;

-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.ArmSubsystem;
@@ -43,14 +42,13 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight)),
+                    m_driverController.getLeftY(), m_driverController.getRightX()),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * JoystickButton}.
   */
@@ -64,7 +62,7 @@ public class RobotContainer {
        .whenPressed(() -> m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads), m_robotArm);

    // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.examples.differentialdrivebot;

 import edu.wpi.first.math.filter.SlewRateLimiter;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;

@@ -27,16 +26,13 @@ public class Robot extends TimedRobot {
  public void teleopPeriodic() {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    final var xSpeed =
-        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var xSpeed = -m_speedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    final var rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;

    m_drive.drive(xSpeed, rot);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Robot.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;

 import edu.wpi.first.math.filter.SlewRateLimiter;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;

@@ -27,16 +26,13 @@ public class Robot extends TimedRobot {
  public void teleopPeriodic() {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    final var xSpeed =
-        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var xSpeed = -m_speedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    final var rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;

    m_drive.drive(xSpeed, rot);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
@@ -7,7 +7,6 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
 import static edu.wpi.first.wpilibj.XboxController.Button;

 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants;
@@ -45,14 +44,13 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight)),
+                    m_driverController.getLeftY(), m_driverController.getRightX()),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * JoystickButton}.
   */
@@ -80,7 +78,7 @@ public class RobotContainer {
                .withTimeout(10));

    // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj.examples.frisbeebot;

 import static edu.wpi.first.wpilibj.XboxController.Button;

-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.OIConstants;
@@ -68,14 +67,13 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight)),
+                    m_driverController.getLeftY(), m_driverController.getRightX()),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
@@ -102,7 +100,7 @@ public class RobotContainer {
        .whenReleased(new InstantCommand(m_shooter::stopFeeder, m_shooter));

    // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
@@ -4,9 +4,6 @@

 package edu.wpi.first.wpilibj.examples.gearsbot;

-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.GenericHID.Hand;
-import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
 import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
@@ -39,7 +36,7 @@ public class RobotContainer {
  private final Wrist m_wrist = new Wrist();
  private final Claw m_claw = new Claw();

-  private final Joystick m_joystick = new Joystick(0);
+  private final XboxController m_joystick = new XboxController(0);

  private final CommandBase m_autonomousCommand =
      new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator);
@@ -61,8 +58,7 @@ public class RobotContainer {

    // Assign default commands
    m_drivetrain.setDefaultCommand(
-        new TankDrive(
-            () -> m_joystick.getY(Hand.kLeft), () -> m_joystick.getY(Hand.kRight), m_drivetrain));
+        new TankDrive(m_joystick::getLeftY, m_joystick::getRightY, m_drivetrain));

    // Show what command your subsystem is running on the SmartDashboard
    SmartDashboard.putData(m_drivetrain);
@@ -76,7 +72,7 @@ public class RobotContainer {

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
@@ -4,11 +4,10 @@

 package edu.wpi.first.wpilibj.examples.gyrodrivecommands;

-import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.PS4Controller.Button;

 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.PS4Controller;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngle;
@@ -31,7 +30,7 @@ public class RobotContainer {
  private final DriveSubsystem m_robotDrive = new DriveSubsystem();

  // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  PS4Controller m_driverController = new PS4Controller(OIConstants.kDriverControllerPort);

  /** The container for the robot. Contains subsystems, OI devices, and commands. */
  public RobotContainer() {
@@ -46,25 +45,24 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight)),
+                    m_driverController.getLeftY(), m_driverController.getRightX()),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
+   * edu.wpi.first.wpilibj.Joystick} or {@link PS4Controller}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
  private void configureButtonBindings() {
    // Drive at half speed when the right bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kR1.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));

    // Stabilize robot to drive straight with gyro when left bumper is held
-    new JoystickButton(m_driverController, Button.kBumperLeft.value)
+    new JoystickButton(m_driverController, Button.kL1.value)
        .whenHeld(
            new PIDCommand(
                new PIDController(
@@ -76,18 +74,16 @@ public class RobotContainer {
                // Setpoint is 0
                0,
                // Pipe the output to the turning controls
-                output ->
-                    m_robotDrive.arcadeDrive(
-                        m_driverController.getY(GenericHID.Hand.kLeft), output),
+                output -> m_robotDrive.arcadeDrive(m_driverController.getLeftY(), output),
                // Require the robot drive
                m_robotDrive));

    // Turn to 90 degrees when the 'X' button is pressed, with a 5 second timeout
-    new JoystickButton(m_driverController, Button.kX.value)
+    new JoystickButton(m_driverController, Button.kCross.value)
        .whenPressed(new TurnToAngle(90, m_robotDrive).withTimeout(5));

-    // Turn to -90 degrees with a profile when the 'A' button is pressed, with a 5 second timeout
-    new JoystickButton(m_driverController, Button.kA.value)
+    // Turn to -90 degrees with a profile when the Circle button is pressed, with a 5 second timeout
+    new JoystickButton(m_driverController, Button.kCircle.value)
        .whenPressed(new TurnToAngleProfiled(-90, m_robotDrive).withTimeout(5));
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
@@ -4,10 +4,9 @@

 package edu.wpi.first.wpilibj.examples.hatchbotinlined;

-import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.PS4Controller.Button;

-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.PS4Controller;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.ComplexAutoCommand;
@@ -55,7 +54,7 @@ public class RobotContainer {
  SendableChooser<Command> m_chooser = new SendableChooser<>();

  // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  PS4Controller m_driverController = new PS4Controller(OIConstants.kDriverControllerPort);

  /** The container for the robot. Contains subsystems, OI devices, and commands. */
  public RobotContainer() {
@@ -70,8 +69,7 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight)),
+                    m_driverController.getLeftY(), m_driverController.getRightX()),
            m_robotDrive));

    // Add commands to the autonomous command chooser
@@ -84,19 +82,19 @@ public class RobotContainer {

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
+   * edu.wpi.first.wpilibj.Joystick} or {@link PS4Controller}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
  private void configureButtonBindings() {
-    // Grab the hatch when the 'A' button is pressed.
-    new JoystickButton(m_driverController, Button.kA.value)
+    // Grab the hatch when the Circle button is pressed.
+    new JoystickButton(m_driverController, Button.kCircle.value)
        .whenPressed(new InstantCommand(m_hatchSubsystem::grabHatch, m_hatchSubsystem));
-    // Release the hatch when the 'B' button is pressed.
-    new JoystickButton(m_driverController, Button.kB.value)
+    // Release the hatch when the Square button is pressed.
+    new JoystickButton(m_driverController, Button.kSquare.value)
        .whenPressed(new InstantCommand(m_hatchSubsystem::releaseHatch, m_hatchSubsystem));
-    // While holding the shoulder button, drive at half speed
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    // While holding R1, drive at half speed
+    new JoystickButton(m_driverController, Button.kR1.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj.examples.hatchbottraditional;

 import static edu.wpi.first.wpilibj.XboxController.Button;

-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.OIConstants;
@@ -61,9 +60,7 @@ public class RobotContainer {
        // A split-stick arcade command, with forward/backward controlled by the left
        // hand, and turning controlled by the right.
        new DefaultDrive(
-            m_robotDrive,
-            () -> m_driverController.getY(GenericHID.Hand.kLeft),
-            () -> m_driverController.getX(GenericHID.Hand.kRight)));
+            m_robotDrive, m_driverController::getLeftY, m_driverController::getRightX));

    // Add commands to the autonomous command chooser
    m_chooser.setDefaultOption("Simple Auto", m_simpleAuto);
@@ -75,7 +72,7 @@ public class RobotContainer {

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
@@ -87,7 +84,7 @@ public class RobotContainer {
    new JoystickButton(m_driverController, Button.kB.value)
        .whenPressed(new ReleaseHatch(m_hatchSubsystem));
    // While holding the shoulder button, drive at half speed
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenHeld(new HalveDriveSpeed(m_robotDrive));
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.examples.mecanumbot;

 import edu.wpi.first.math.filter.SlewRateLimiter;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;

@@ -32,22 +31,18 @@ public class Robot extends TimedRobot {
  private void driveWithJoystick(boolean fieldRelative) {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    final var xSpeed =
-        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var xSpeed = -m_xspeedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the y speed or sideways/strafe speed. We are inverting this because
    // we want a positive value when we pull to the left. Xbox controllers
    // return positive values when you pull to the right by default.
-    final var ySpeed =
-        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var ySpeed = -m_yspeedLimiter.calculate(m_controller.getLeftX()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    final var rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;

    m_mecanum.drive(xSpeed, ySpeed, rot, fieldRelative);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
@@ -12,7 +12,6 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoConstants;
@@ -51,22 +50,22 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.drive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight),
-                    m_driverController.getX(GenericHID.Hand.kLeft),
+                    m_driverController.getLeftY(),
+                    m_driverController.getRightX(),
+                    m_driverController.getLeftX(),
                    false),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
   * {@link JoystickButton}.
   */
  private void configureButtonBindings() {
    // Drive at half speed when the right bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Robot.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;

 import edu.wpi.first.math.filter.SlewRateLimiter;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;

@@ -32,22 +31,18 @@ public class Robot extends TimedRobot {
  private void driveWithJoystick(boolean fieldRelative) {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    final var xSpeed =
-        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var xSpeed = -m_xspeedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the y speed or sideways/strafe speed. We are inverting this because
    // we want a positive value when we pull to the left. Xbox controllers
    // return positive values when you pull to the right by default.
-    final var ySpeed =
-        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var ySpeed = -m_yspeedLimiter.calculate(m_controller.getLeftX()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    final var rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;

    m_mecanum.drive(xSpeed, ySpeed, rot, fieldRelative);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
@@ -4,12 +4,12 @@

 package edu.wpi.first.wpilibj.examples.pacgoat.triggers;

-import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.buttons.Trigger;

 /** A custom button that is triggered when TWO buttons on a Joystick are simultaneously pressed. */
 public class DoubleButton extends Trigger {
-  private final Joystick m_joy;
+  private final GenericHID m_joy;
  private final int m_button1;
  private final int m_button2;

@@ -20,7 +20,7 @@ public class DoubleButton extends Trigger {
   * @param button1 The first button
   * @param button2 The second button
   */
-  public DoubleButton(Joystick joy, int button1, int button2) {
+  public DoubleButton(GenericHID joy, int button1, int button2) {
    this.m_joy = joy;
    this.m_button1 = button1;
    this.m_button2 = button2;
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
@@ -16,7 +16,6 @@ import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
@@ -54,20 +53,19 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight)),
+                    m_driverController.getLeftY(), m_driverController.getRightX()),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
   * {@link JoystickButton}.
   */
  private void configureButtonBindings() {
    // Drive at half speed when the right bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
@@ -13,7 +13,6 @@ import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.XboxController;
@@ -96,16 +95,13 @@ public class Robot extends TimedRobot {
  public void teleopPeriodic() {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    final var xSpeed =
-        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var xSpeed = -m_speedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    final var rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;

    m_drive.drive(xSpeed, rot);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
@@ -12,7 +12,6 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.XboxController;
@@ -70,16 +69,13 @@ public class Robot extends TimedRobot {
  public void teleopPeriodic() {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    double xSpeed =
-        -m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    double xSpeed = -m_speedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    double rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    double rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;
    m_drive.drive(xSpeed, rot);
  }

--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
@@ -14,7 +14,6 @@ import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems.DriveSubsystem;
@@ -51,20 +50,19 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.arcadeDrive(
-                    -m_driverController.getY(GenericHID.Hand.kRight),
-                    m_driverController.getX(GenericHID.Hand.kLeft)),
+                    -m_driverController.getRightY(), m_driverController.getLeftX()),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
   * {@link JoystickButton}.
   */
  private void configureButtonBindings() {
    // Drive at half speed when the right bumper is held
-    new JoystickButton(m_driverController, Button.kBumperRight.value)
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
        .whenPressed(() -> m_robotDrive.setMaxOutput(0.5))
        .whenReleased(() -> m_robotDrive.setMaxOutput(1));
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Robot.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.examples.swervebot;

 import edu.wpi.first.math.filter.SlewRateLimiter;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;

@@ -32,22 +31,18 @@ public class Robot extends TimedRobot {
  private void driveWithJoystick(boolean fieldRelative) {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    final var xSpeed =
-        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var xSpeed = -m_xspeedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the y speed or sideways/strafe speed. We are inverting this because
    // we want a positive value when we pull to the left. Xbox controllers
    // return positive values when you pull to the right by default.
-    final var ySpeed =
-        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var ySpeed = -m_yspeedLimiter.calculate(m_controller.getLeftX()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    final var rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;

    m_swerve.drive(xSpeed, ySpeed, rot, fieldRelative);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -12,7 +12,6 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
@@ -50,16 +49,16 @@ public class RobotContainer {
        new RunCommand(
            () ->
                m_robotDrive.drive(
-                    m_driverController.getY(GenericHID.Hand.kLeft),
-                    m_driverController.getX(GenericHID.Hand.kRight),
-                    m_driverController.getX(GenericHID.Hand.kLeft),
+                    m_driverController.getLeftY(),
+                    m_driverController.getRightX(),
+                    m_driverController.getLeftX(),
                    false),
            m_robotDrive));
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
   * {@link JoystickButton}.
   */
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Robot.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.examples.swervedriveposeestimator;

 import edu.wpi.first.math.filter.SlewRateLimiter;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;

@@ -32,22 +31,18 @@ public class Robot extends TimedRobot {
  private void driveWithJoystick(boolean fieldRelative) {
    // Get the x speed. We are inverting this because Xbox controllers return
    // negative values when we push forward.
-    final var xSpeed =
-        -m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var xSpeed = -m_xspeedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;

    // Get the y speed or sideways/strafe speed. We are inverting this because
    // we want a positive value when we pull to the left. Xbox controllers
    // return positive values when you pull to the right by default.
-    final var ySpeed =
-        -m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
+    final var ySpeed = -m_yspeedLimiter.calculate(m_controller.getLeftX()) * Drivetrain.kMaxSpeed;

    // Get the rate of angular rotation. We are inverting this because we want a
    // positive value when we pull to the left (remember, CCW is positive in
    // mathematics). Xbox controllers return positive values when you pull to
    // the right by default.
-    final var rot =
-        -m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
-            * Drivetrain.kMaxAngularSpeed;
+    final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;

    m_swerve.drive(xSpeed, ySpeed, rot, fieldRelative);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
@@ -4,7 +4,6 @@

 package edu.wpi.first.wpilibj.examples.tankdrivexboxcontroller;

-import edu.wpi.first.wpilibj.GenericHID.Hand;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -34,7 +33,6 @@ public class Robot extends TimedRobot {
    // That means that the Y axis of the left stick moves the left side
    // of the robot forward and backward, and the Y axis of the right stick
    // moves the right side of the robot forward and backward.
-    m_robotDrive.tankDrive(
-        m_driverController.getY(Hand.kLeft), m_driverController.getY(Hand.kRight));
+    m_robotDrive.tankDrive(m_driverController.getLeftY(), m_driverController.getRightY());
  }
 }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/RobotContainer.java
@@ -4,7 +4,6 @@

 package edu.wpi.first.wpilibj.templates.romicommandbased;

-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.templates.romicommandbased.commands.ExampleCommand;
 import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrain;
@@ -30,7 +29,7 @@ public class RobotContainer {

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link GenericHID} or one of its subclasses ({@link
+   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */