diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index fde7158324..98a7fa6e64 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -76,6 +76,110 @@ void DriverStation::ReportError(bool is_error, int32_t code,
                 location.c_str(locationTemp), stack.c_str(stackTemp), 1);
 }
 
+/**
+ * The state of one joystick button. Button indexes begin at 1.
+ *
+ * @param stick  The joystick to read.
+ * @param button The button index, beginning at 1.
+ * @return The state of the joystick button.
+ */
+bool DriverStation::GetStickButton(int stick, int button) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return false;
+  }
+  if (button == 0) {
+    ReportJoystickUnpluggedError(
+        "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
+    return false;
+  }
+  std::unique_lock<std::mutex> lock(m_joystickDataMutex);
+  if (button > m_joystickButtons[stick].count) {
+    // Unlock early so error printing isn't locked.
+    lock.unlock();
+    ReportJoystickUnpluggedWarning(
+        "Joystick Button missing, check if all controllers are "
+        "plugged in");
+    return false;
+  }
+
+  return m_joystickButtons[stick].buttons & 1 << (button - 1);
+}
+
+/**
+ * Whether one joystick button was pressed since the last check. Button indexes
+ * begin at 1.
+ *
+ * @param stick  The joystick to read.
+ * @param button The button index, beginning at 1.
+ * @return Whether the joystick button was pressed since the last check.
+ */
+bool DriverStation::GetStickButtonPressed(int stick, int button) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return false;
+  }
+  if (button == 0) {
+    ReportJoystickUnpluggedError(
+        "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
+    return false;
+  }
+  std::unique_lock<std::mutex> lock(m_joystickDataMutex);
+  if (button > m_joystickButtons[stick].count) {
+    // Unlock early so error printing isn't locked.
+    lock.unlock();
+    ReportJoystickUnpluggedWarning(
+        "Joystick Button missing, check if all controllers are "
+        "plugged in");
+    return false;
+  }
+
+  // If button was pressed, clear flag and return true
+  if (m_joystickButtonsPressed[stick] & 1 << (button - 1)) {
+    m_joystickButtonsPressed[stick] &= ~(1 << (button - 1));
+    return true;
+  } else {
+    return false;
+  }
+}
+
+/**
+ * Whether one joystick button was released since the last check. Button indexes
+ * begin at 1.
+ *
+ * @param stick  The joystick to read.
+ * @param button The button index, beginning at 1.
+ * @return Whether the joystick button was released since the last check.
+ */
+bool DriverStation::GetStickButtonReleased(int stick, int button) {
+  if (stick >= kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+    return false;
+  }
+  if (button == 0) {
+    ReportJoystickUnpluggedError(
+        "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
+    return false;
+  }
+  std::unique_lock<std::mutex> lock(m_joystickDataMutex);
+  if (button > m_joystickButtons[stick].count) {
+    // Unlock early so error printing isn't locked.
+    lock.unlock();
+    ReportJoystickUnpluggedWarning(
+        "Joystick Button missing, check if all controllers are "
+        "plugged in");
+    return false;
+  }
+
+  // If button was released, clear flag and return true
+  if (m_joystickButtonsReleased[stick] & 1 << (button - 1)) {
+    m_joystickButtonsReleased[stick] &= ~(1 << (button - 1));
+    return true;
+  } else {
+    return false;
+  }
+}
+
 /**
  * Get the value of the axis on a joystick.
  *
@@ -146,36 +250,6 @@ int DriverStation::GetStickButtons(int stick) const {
   return m_joystickButtons[stick].buttons;
 }
 
-/**
- * The state of one joystick button. Button indexes begin at 1.
- *
- * @param stick  The joystick to read.
- * @param button The button index, beginning at 1.
- * @return The state of the joystick button.
- */
-bool DriverStation::GetStickButton(int stick, int button) {
-  if (stick >= kJoystickPorts) {
-    wpi_setWPIError(BadJoystickIndex);
-    return false;
-  }
-  if (button == 0) {
-    ReportJoystickUnpluggedError(
-        "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
-    return false;
-  }
-  std::unique_lock<std::mutex> lock(m_joystickDataMutex);
-  if (button > m_joystickButtons[stick].count) {
-    // Unlock early so error printing isn't locked.
-    lock.unlock();
-    ReportJoystickUnpluggedWarning(
-        "Joystick Button missing, check if all controllers are "
-        "plugged in");
-    return false;
-  }
-
-  return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
-}
-
 /**
  * Returns the number of axes on a given joystick port.
  *
@@ -529,6 +603,17 @@ void DriverStation::GetData() {
   // Obtain a write lock on the data, swap the cached data into the
   // main data arrays
   std::lock_guard<std::mutex> lock(m_joystickDataMutex);
+
+  for (int32_t i = 0; i < kJoystickPorts; i++) {
+    // If buttons weren't pressed and are now, set flags in m_buttonsPressed
+    m_joystickButtonsPressed[i] |=
+        ~m_joystickButtons[i].buttons & m_joystickButtonsCache[i].buttons;
+
+    // If buttons were pressed and aren't now, set flags in m_buttonsReleased
+    m_joystickButtonsReleased[i] |=
+        m_joystickButtons[i].buttons & ~m_joystickButtonsCache[i].buttons;
+  }
+
   m_joystickAxes.swap(m_joystickAxesCache);
   m_joystickPOVs.swap(m_joystickPOVsCache);
   m_joystickButtons.swap(m_joystickButtonsCache);
@@ -569,6 +654,9 @@ DriverStation::DriverStation() {
     m_joystickDescriptorCache[i].isXbox = 0;
     m_joystickDescriptorCache[i].type = -1;
     m_joystickDescriptorCache[i].name[0] = '\0';
+
+    m_joystickButtonsPressed[i] = 0;
+    m_joystickButtonsReleased[i] = 0;
   }
 
   m_dsThread = std::thread(&DriverStation::Run, this);
diff --git a/wpilibc/src/main/native/cpp/GenericHID.cpp b/wpilibc/src/main/native/cpp/GenericHID.cpp
index f175be2887..9153158c12 100644
--- a/wpilibc/src/main/native/cpp/GenericHID.cpp
+++ b/wpilibc/src/main/native/cpp/GenericHID.cpp
@@ -10,13 +10,53 @@
 #include <HAL/HAL.h>
 
 #include "DriverStation.h"
+#include "WPIErrors.h"
 
 using namespace frc;
 
 GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
+  if (port >= DriverStation::kJoystickPorts) {
+    wpi_setWPIError(BadJoystickIndex);
+  }
   m_port = port;
 }
 
+/**
+ * Get the button value (starting at button 1).
+ *
+ * The buttons are returned in a single 16 bit value with one bit representing
+ * the state of each button. The appropriate button is returned as a boolean
+ * value.
+ *
+ * @param button The button number to be read (starting at 1)
+ * @return The state of the button.
+ */
+bool GenericHID::GetRawButton(int button) const {
+  return m_ds.GetStickButton(m_port, button);
+}
+
+/**
+ * Whether the button was pressed since the last check. Button indexes begin at
+ * 1.
+ *
+ * @param button The button index, beginning at 1.
+ * @return Whether the button was pressed since the last check.
+ */
+bool GenericHID::GetRawButtonPressed(int button) {
+  return m_ds.GetStickButtonPressed(m_port, button);
+}
+
+/**
+ * Whether the button was released since the last check. Button indexes begin at
+ * 1.
+ *
+ * @param button The button index, beginning at 1.
+ * @return Whether the button was released since the last check.
+ */
+bool GenericHID::GetRawButtonReleased(int button) {
+  return m_ds.GetStickButtonReleased(m_port, button);
+}
+
 /**
  * Get the value of the axis.
  *
@@ -27,20 +67,6 @@ double GenericHID::GetRawAxis(int axis) const {
   return m_ds.GetStickAxis(m_port, axis);
 }
 
-/**
- * Get the button value (starting at button 1)
- *
- * The buttons are returned in a single 16 bit value with one bit representing
- * the state of each button. The appropriate button is returned as a boolean
- * value.
- *
- * @param button The button number to be read (starting at 1)
- * @return The state of the button.
- **/
-bool GenericHID::GetRawButton(int button) const {
-  return m_ds.GetStickButton(m_port, button);
-}
-
 /**
  * Get the angle in degrees of a POV on the HID.
  *
@@ -50,23 +76,30 @@ bool GenericHID::GetRawButton(int button) const {
  * @param pov The index of the POV to read (starting at 0)
  * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
  */
-int GenericHID::GetPOV(int pov) const {
-  return m_ds.GetStickPOV(GetPort(), pov);
-}
+int GenericHID::GetPOV(int pov) const { return m_ds.GetStickPOV(m_port, pov); }
+
+/**
+ * Get the number of axes for the HID.
+ *
+ * @return the number of axis for the current HID
+ */
+int GenericHID::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
 
 /**
  * Get the number of POVs for the HID.
  *
  * @return the number of POVs for the current HID
  */
-int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(GetPort()); }
+int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
 
 /**
- * Get the port number of the HID.
+ * Get the number of buttons for the HID.
  *
- * @return The port number of the HID.
+ * @return the number of buttons on the current HID
  */
-int GenericHID::GetPort() const { return m_port; }
+int GenericHID::GetButtonCount() const {
+  return m_ds.GetStickButtonCount(m_port);
+}
 
 /**
  * Get the type of the HID.
@@ -84,6 +117,22 @@ GenericHID::HIDType GenericHID::GetType() const {
  */
 std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); }
 
+/**
+ * Get the axis type of a joystick axis.
+ *
+ * @return the axis type of a joystick axis.
+ */
+int GenericHID::GetAxisType(int axis) const {
+  return m_ds.GetJoystickAxisType(m_port, axis);
+}
+
+/**
+ * Get the port number of the HID.
+ *
+ * @return The port number of the HID.
+ */
+int GenericHID::GetPort() const { return m_port; }
+
 /**
  * Set a single HID output value for the HID.
  *
diff --git a/wpilibc/src/main/native/cpp/Joystick.cpp b/wpilibc/src/main/native/cpp/Joystick.cpp
index 65ec8164d8..9b08dc493f 100644
--- a/wpilibc/src/main/native/cpp/Joystick.cpp
+++ b/wpilibc/src/main/native/cpp/Joystick.cpp
@@ -7,6 +7,8 @@
 
 #include "Joystick.h"
 
+#include <algorithm>
+#include <array>
 #include <cmath>
 
 #include <HAL/HAL.h>
@@ -16,15 +18,9 @@
 
 using namespace frc;
 
-const int Joystick::kDefaultXAxis;
-const int Joystick::kDefaultYAxis;
-const int Joystick::kDefaultZAxis;
-const int Joystick::kDefaultTwistAxis;
-const int Joystick::kDefaultThrottleAxis;
-const int Joystick::kDefaultTriggerButton;
-const int Joystick::kDefaultTopButton;
-static Joystick* joysticks[DriverStation::kJoystickPorts];
-static bool joySticksInitialized = false;
+constexpr int Joystick::kMinNumAxes;
+
+constexpr double kPi = 3.14159265358979323846;
 
 /**
  * Construct an instance of a joystick.
@@ -34,53 +30,113 @@ static bool joySticksInitialized = false;
  * @param port The port on the Driver Station that the joystick is plugged into
  *             (0-5).
  */
-Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
-  m_axes[kXAxis] = kDefaultXAxis;
-  m_axes[kYAxis] = kDefaultYAxis;
-  m_axes[kZAxis] = kDefaultZAxis;
-  m_axes[kTwistAxis] = kDefaultTwistAxis;
-  m_axes[kThrottleAxis] = kDefaultThrottleAxis;
-
-  m_buttons[kTriggerButton] = kDefaultTriggerButton;
-  m_buttons[kTopButton] = kDefaultTopButton;
+Joystick::Joystick(int port)
+    : GenericHID(port), m_axes(std::max(GetAxisCount(), kMinNumAxes)) {
+  m_axes[static_cast<int>(Axis::kX)] = kDefaultXAxis;
+  m_axes[static_cast<int>(Axis::kY)] = kDefaultYAxis;
+  m_axes[static_cast<int>(Axis::kZ)] = kDefaultZAxis;
+  m_axes[static_cast<int>(Axis::kTwist)] = kDefaultTwistAxis;
+  m_axes[static_cast<int>(Axis::kThrottle)] = kDefaultThrottleAxis;
 
   HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
 }
 
 /**
- * Version of the constructor to be called by sub-classes.
+ * Set the channel associated with a specified axis.
  *
- * This constructor allows the subclass to configure the number of constants
- * for axes and buttons.
- *
- * @param port           The port on the Driver Station that the joystick is
- *                       plugged into.
- * @param numAxisTypes   The number of axis types in the enum.
- * @param numButtonTypes The number of button types in the enum.
+ * @param axis    The axis to set the channel for.
+ * @param channel The channel to set the axis to.
  */
-Joystick::Joystick(int port, int numAxisTypes, int numButtonTypes)
-    : JoystickBase(port),
-      m_ds(DriverStation::GetInstance()),
-      m_axes(numAxisTypes),
-      m_buttons(numButtonTypes) {
-  if (!joySticksInitialized) {
-    for (auto& joystick : joysticks) joystick = nullptr;
-    joySticksInitialized = true;
-  }
-  if (GetPort() >= DriverStation::kJoystickPorts) {
-    wpi_setWPIError(BadJoystickIndex);
-  } else {
-    joysticks[GetPort()] = this;
-  }
+void Joystick::SetAxisChannel(AxisType axis, int channel) {
+  m_axes[axis] = channel;
 }
 
-Joystick* Joystick::GetStickForPort(int port) {
-  Joystick* stick = joysticks[port];
-  if (stick == nullptr) {
-    stick = new Joystick(port);
-    joysticks[port] = stick;
-  }
-  return stick;
+/**
+ * Set the channel associated with the X axis.
+ *
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetXChannel(int channel) {
+  m_axes[static_cast<int>(Axis::kX)] = channel;
+}
+
+/**
+ * Set the channel associated with the Y axis.
+ *
+ * @param axis    The axis to set the channel for.
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetYChannel(int channel) {
+  m_axes[static_cast<int>(Axis::kY)] = channel;
+}
+
+/**
+ * Set the channel associated with the Z axis.
+ *
+ * @param axis    The axis to set the channel for.
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetZChannel(int channel) {
+  m_axes[static_cast<int>(Axis::kZ)] = channel;
+}
+
+/**
+ * Set the channel associated with the twist axis.
+ *
+ * @param axis    The axis to set the channel for.
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetTwistChannel(int channel) {
+  m_axes[static_cast<int>(Axis::kTwist)] = channel;
+}
+
+/**
+ * Set the channel associated with the throttle axis.
+ *
+ * @param axis    The axis to set the channel for.
+ * @param channel The channel to set the axis to.
+ */
+void Joystick::SetThrottleChannel(int channel) {
+  m_axes[static_cast<int>(Axis::kThrottle)] = channel;
+}
+
+/**
+ * Get the channel currently associated with the X axis.
+ *
+ * @return The channel for the axis.
+ */
+int Joystick::GetXChannel() const { return m_axes[static_cast<int>(Axis::kX)]; }
+
+/**
+ * Get the channel currently associated with the Y axis.
+ *
+ * @return The channel for the axis.
+ */
+int Joystick::GetYChannel() const { return m_axes[static_cast<int>(Axis::kY)]; }
+
+/**
+ * Get the channel currently associated with the Z axis.
+ *
+ * @return The channel for the axis.
+ */
+int Joystick::GetZChannel() const { return m_axes[static_cast<int>(Axis::kZ)]; }
+
+/**
+ * Get the channel currently associated with the twist axis.
+ *
+ * @return The channel for the axis.
+ */
+int Joystick::GetTwistChannel() const {
+  return m_axes[static_cast<int>(Axis::kTwist)];
+}
+
+/**
+ * Get the channel currently associated with the throttle axis.
+ *
+ * @return The channel for the axis.
+ */
+int Joystick::GetThrottleChannel() const {
+  return m_axes[static_cast<int>(Axis::kThrottle)];
 }
 
 /**
@@ -92,7 +148,7 @@ Joystick* Joystick::GetStickForPort(int port) {
  *             here to complete the GenericHID interface.
  */
 double Joystick::GetX(JoystickHand hand) const {
-  return GetRawAxis(m_axes[kXAxis]);
+  return GetRawAxis(m_axes[kDefaultXAxis]);
 }
 
 /**
@@ -104,7 +160,7 @@ double Joystick::GetX(JoystickHand hand) const {
  *             here to complete the GenericHID interface.
  */
 double Joystick::GetY(JoystickHand hand) const {
-  return GetRawAxis(m_axes[kYAxis]);
+  return GetRawAxis(m_axes[kDefaultYAxis]);
 }
 
 /**
@@ -112,16 +168,16 @@ double Joystick::GetY(JoystickHand hand) const {
  *
  * This depends on the mapping of the joystick connected to the current port.
  */
-double Joystick::GetZ(JoystickHand hand) const {
-  return GetRawAxis(m_axes[kZAxis]);
-}
+double Joystick::GetZ() const { return GetRawAxis(m_axes[kDefaultZAxis]); }
 
 /**
  * Get the twist value of the current joystick.
  *
  * This depends on the mapping of the joystick connected to the current port.
  */
-double Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
+double Joystick::GetTwist() const {
+  return GetRawAxis(m_axes[kDefaultTwistAxis]);
+}
 
 /**
  * Get the throttle value of the current joystick.
@@ -129,7 +185,7 @@ double Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
  * This depends on the mapping of the joystick connected to the current port.
  */
 double Joystick::GetThrottle() const {
-  return GetRawAxis(m_axes[kThrottleAxis]);
+  return GetRawAxis(m_axes[kDefaultThrottleAxis]);
 }
 
 /**
@@ -145,15 +201,15 @@ double Joystick::GetThrottle() const {
 double Joystick::GetAxis(AxisType axis) const {
   switch (axis) {
     case kXAxis:
-      return this->GetX();
+      return GetX();
     case kYAxis:
-      return this->GetY();
+      return GetY();
     case kZAxis:
-      return this->GetZ();
+      return GetZ();
     case kTwistAxis:
-      return this->GetTwist();
+      return GetTwist();
     case kThrottleAxis:
-      return this->GetThrottle();
+      return GetThrottle();
     default:
       wpi_setWPIError(BadJoystickAxis);
       return 0.0;
@@ -165,12 +221,28 @@ double Joystick::GetAxis(AxisType axis) const {
  *
  * Look up which button has been assigned to the trigger and read its state.
  *
- * @param hand This parameter is ignored for the Joystick class and is only
- *             here to complete the GenericHID interface.
  * @return The state of the trigger.
  */
-bool Joystick::GetTrigger(JoystickHand hand) const {
-  return GetRawButton(m_buttons[kTriggerButton]);
+bool Joystick::GetTrigger() const {
+  return GetRawButton(static_cast<int>(Button::kTrigger));
+}
+
+/**
+ * Whether the trigger was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool Joystick::GetTriggerPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kTrigger));
+}
+
+/**
+ * Whether the trigger was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool Joystick::GetTriggerReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kTrigger));
 }
 
 /**
@@ -178,12 +250,39 @@ bool Joystick::GetTrigger(JoystickHand hand) const {
  *
  * Look up which button has been assigned to the top and read its state.
  *
- * @param hand This parameter is ignored for the Joystick class and is only
- *             here to complete the GenericHID interface.
  * @return The state of the top button.
  */
-bool Joystick::GetTop(JoystickHand hand) const {
-  return GetRawButton(m_buttons[kTopButton]);
+bool Joystick::GetTop() const {
+  return GetRawButton(static_cast<int>(Button::kTop));
+}
+
+/**
+ * Whether the top button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool Joystick::GetTopPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kTop));
+}
+
+/**
+ * Whether the top button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool Joystick::GetTopReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kTop));
+}
+
+Joystick* Joystick::GetStickForPort(int port) {
+  static std::array<std::unique_ptr<Joystick>, DriverStation::kJoystickPorts>
+      joysticks{};
+  auto stick = joysticks[port].get();
+  if (stick == nullptr) {
+    joysticks[port] = std::make_unique<Joystick>(port);
+    stick = joysticks[port].get();
+  }
+  return stick;
 }
 
 /**
@@ -195,57 +294,8 @@ bool Joystick::GetTop(JoystickHand hand) const {
  * @return The state of the button.
  */
 bool Joystick::GetButton(ButtonType button) const {
-  switch (button) {
-    case kTriggerButton:
-      return GetTrigger();
-    case kTopButton:
-      return GetTop();
-    default:
-      return false;
-  }
-}
-
-/**
- * Get the number of axis for a joystick
- *
- * @return the number of axis for the current joystick
- */
-int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(GetPort()); }
-
-/**
- * Get the axis type of a joystick axis.
- *
- * @return the axis type of a joystick axis.
- */
-int Joystick::GetAxisType(int axis) const {
-  return m_ds.GetJoystickAxisType(GetPort(), axis);
-}
-
-/**
- * Get the number of buttons for a joystick.
- *
- * @return the number of buttons on the current joystick
- */
-int Joystick::GetButtonCount() const {
-  return m_ds.GetStickButtonCount(GetPort());
-}
-
-/**
- * Get the channel currently associated with the specified axis.
- *
- * @param axis The axis to look up the channel for.
- * @return The channel fr the axis.
- */
-int Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
-
-/**
- * Set the channel associated with a specified axis.
- *
- * @param axis    The axis to set the channel for.
- * @param channel The channel to set the axis to.
- */
-void Joystick::SetAxisChannel(AxisType axis, int channel) {
-  m_axes[axis] = channel;
+  int temp = button;
+  return GetRawButton(static_cast<int>(static_cast<Button>(temp)));
 }
 
 /**
@@ -278,5 +328,5 @@ double Joystick::GetDirectionRadians() const {
  * @return The direction of the vector in degrees
  */
 double Joystick::GetDirectionDegrees() const {
-  return (180 / std::acos(-1)) * GetDirectionRadians();
+  return (180 / kPi) * GetDirectionRadians();
 }
diff --git a/wpilibc/src/main/native/cpp/XboxController.cpp b/wpilibc/src/main/native/cpp/XboxController.cpp
index ffbc4a137a..9bbf031ce0 100644
--- a/wpilibc/src/main/native/cpp/XboxController.cpp
+++ b/wpilibc/src/main/native/cpp/XboxController.cpp
@@ -9,20 +9,17 @@
 
 #include <HAL/HAL.h>
 
-#include "DriverStation.h"
-
 using namespace frc;
 
 /**
  * Construct an instance of an Xbox controller.
  *
- * The joystick index is the USB port on the Driver Station.
+ * The controller index is the USB port on the Driver Station.
  *
- * @param port The port on the Driver Station that the joystick is plugged into
- *             (0-5).
+ * @param port The port on the Driver Station that the controller is plugged
+ *             into (0-5).
  */
-XboxController::XboxController(int port)
-    : GamepadBase(port), m_ds(DriverStation::GetInstance()) {
+XboxController::XboxController(int port) : GenericHID(port) {
   // HAL_Report(HALUsageReporting::kResourceType_XboxController, port);
   HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
 }
@@ -53,33 +50,6 @@ double XboxController::GetY(JoystickHand hand) const {
   }
 }
 
-/**
- * Read the value of the bumper button on the controller.
- *
- * @param hand Side of controller whose value should be returned.
- */
-bool XboxController::GetBumper(JoystickHand hand) const {
-  if (hand == kLeftHand) {
-    return GetRawButton(5);
-  } else {
-    return GetRawButton(6);
-  }
-}
-
-/**
- * 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.
- */
-bool XboxController::GetStickButton(JoystickHand hand) const {
-  if (hand == kLeftHand) {
-    return GetRawButton(9);
-  } else {
-    return GetRawButton(10);
-  }
-}
-
 /**
  * Get the trigger axis value of the controller.
  *
@@ -94,36 +64,195 @@ double XboxController::GetTriggerAxis(JoystickHand hand) const {
 }
 
 /**
- * Read the value of the A button on the controller.
+ * Read the value of the bumper button on the controller.
+ *
+ * @param hand Side of controller whose value should be returned.
+ */
+bool XboxController::GetBumper(JoystickHand hand) const {
+  if (hand == kLeftHand) {
+    return GetRawButton(static_cast<int>(Button::kBumperLeft));
+  } else {
+    return GetRawButton(static_cast<int>(Button::kBumperRight));
+  }
+}
+
+/**
+ * Whether the bumper 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.
+ */
+bool XboxController::GetBumperPressed(JoystickHand hand) {
+  if (hand == kLeftHand) {
+    return GetRawButtonPressed(static_cast<int>(Button::kBumperLeft));
+  } else {
+    return GetRawButtonPressed(static_cast<int>(Button::kBumperRight));
+  }
+}
+
+/**
+ * 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.
+ */
+bool XboxController::GetBumperReleased(JoystickHand hand) {
+  if (hand == kLeftHand) {
+    return GetRawButtonReleased(static_cast<int>(Button::kBumperLeft));
+  } else {
+    return GetRawButtonReleased(static_cast<int>(Button::kBumperRight));
+  }
+}
+
+/**
+ * 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.
  */
-bool XboxController::GetAButton() const { return GetRawButton(1); }
+bool XboxController::GetStickButton(JoystickHand hand) const {
+  if (hand == kLeftHand) {
+    return GetRawButton(static_cast<int>(Button::kStickLeft));
+  } else {
+    return GetRawButton(static_cast<int>(Button::kStickRight));
+  }
+}
+
+/**
+ * Whether the stick button 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.
+ */
+bool XboxController::GetStickButtonPressed(JoystickHand hand) {
+  if (hand == kLeftHand) {
+    return GetRawButtonPressed(static_cast<int>(Button::kStickLeft));
+  } else {
+    return GetRawButtonPressed(static_cast<int>(Button::kStickRight));
+  }
+}
+
+/**
+ * Whether the stick button 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.
+ */
+bool XboxController::GetStickButtonReleased(JoystickHand hand) {
+  if (hand == kLeftHand) {
+    return GetRawButtonReleased(static_cast<int>(Button::kStickLeft));
+  } else {
+    return GetRawButtonReleased(static_cast<int>(Button::kStickRight));
+  }
+}
+
+/**
+ * Read the value of the A button on the controller.
+ *
+ * @return The state of the button.
+ */
+bool XboxController::GetAButton() const {
+  return GetRawButton(static_cast<int>(Button::kA));
+}
+
+/**
+ * Whether the A button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool XboxController::GetAButtonPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kA));
+}
+
+/**
+ * Whether the A button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool XboxController::GetAButtonReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kA));
+}
 
 /**
  * Read the value of the B button on the controller.
  *
- * @param hand Side of controller whose value should be returned.
  * @return The state of the button.
  */
-bool XboxController::GetBButton() const { return GetRawButton(2); }
+bool XboxController::GetBButton() const {
+  return GetRawButton(static_cast<int>(Button::kB));
+}
+
+/**
+ * Whether the B button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool XboxController::GetBButtonPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kB));
+}
+
+/**
+ * Whether the B button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool XboxController::GetBButtonReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kB));
+}
 
 /**
  * Read the value of the X button on the controller.
  *
- * @param hand Side of controller whose value should be returned.
  * @return The state of the button.
  */
-bool XboxController::GetXButton() const { return GetRawButton(3); }
+bool XboxController::GetXButton() const {
+  return GetRawButton(static_cast<int>(Button::kX));
+}
+
+/**
+ * Whether the X button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool XboxController::GetXButtonPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kX));
+}
+
+/**
+ * Whether the X button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool XboxController::GetXButtonReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kX));
+}
 
 /**
  * Read the value of the Y button on the controller.
  *
- * @param hand Side of controller whose value should be returned.
  * @return The state of the button.
  */
-bool XboxController::GetYButton() const { return GetRawButton(4); }
+bool XboxController::GetYButton() const {
+  return GetRawButton(static_cast<int>(Button::kY));
+}
+
+/**
+ * Whether the Y button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool XboxController::GetYButtonPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kY));
+}
+
+/**
+ * Whether the Y button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool XboxController::GetYButtonReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kY));
+}
 
 /**
  * Read the value of the back button on the controller.
@@ -131,7 +260,27 @@ bool XboxController::GetYButton() const { return GetRawButton(4); }
  * @param hand Side of controller whose value should be returned.
  * @return The state of the button.
  */
-bool XboxController::GetBackButton() const { return GetRawButton(7); }
+bool XboxController::GetBackButton() const {
+  return GetRawButton(static_cast<int>(Button::kBack));
+}
+
+/**
+ * Whether the back button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool XboxController::GetBackButtonPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kBack));
+}
+
+/**
+ * Whether the back button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool XboxController::GetBackButtonReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kBack));
+}
 
 /**
  * Read the value of the start button on the controller.
@@ -139,4 +288,24 @@ bool XboxController::GetBackButton() const { return GetRawButton(7); }
  * @param hand Side of controller whose value should be returned.
  * @return The state of the button.
  */
-bool XboxController::GetStartButton() const { return GetRawButton(8); }
+bool XboxController::GetStartButton() const {
+  return GetRawButton(static_cast<int>(Button::kStart));
+}
+
+/**
+ * Whether the start button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+bool XboxController::GetStartButtonPressed() {
+  return GetRawButtonPressed(static_cast<int>(Button::kStart));
+}
+
+/**
+ * Whether the start button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+bool XboxController::GetStartButtonReleased() {
+  return GetRawButtonReleased(static_cast<int>(Button::kStart));
+}
diff --git a/wpilibc/src/main/native/include/DriverStation.h b/wpilibc/src/main/native/include/DriverStation.h
index 86117fa68b..7355a0a15c 100644
--- a/wpilibc/src/main/native/include/DriverStation.h
+++ b/wpilibc/src/main/native/include/DriverStation.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <array>
 #include <atomic>
 #include <memory>
 #include <mutex>
@@ -38,10 +39,13 @@ class DriverStation : public SensorBase, public RobotStateInterface {
 
   static const int kJoystickPorts = 6;
 
+  bool GetStickButton(int stick, int button);
+  bool GetStickButtonPressed(int stick, int button);
+  bool GetStickButtonReleased(int stick, int button);
+
   double GetStickAxis(int stick, int axis);
   int GetStickPOV(int stick, int pov);
   int GetStickButtons(int stick) const;
-  bool GetStickButton(int stick, int button);
 
   int GetStickAxisCount(int stick) const;
   int GetStickPOVCount(int stick) const;
@@ -112,6 +116,10 @@ class DriverStation : public SensorBase, public RobotStateInterface {
   std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
   std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
 
+  // Joystick button rising/falling edge flags
+  std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
+  std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
+
   // Internal Driver Station thread
   std::thread m_dsThread;
   std::atomic<bool> m_isRunning{false};
diff --git a/wpilibc/src/main/native/include/GamepadBase.h b/wpilibc/src/main/native/include/GamepadBase.h
index fe885ef342..4dee65145c 100644
--- a/wpilibc/src/main/native/include/GamepadBase.h
+++ b/wpilibc/src/main/native/include/GamepadBase.h
@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <support/deprecated.h>
+
 #include "GenericHID.h"
 
 namespace frc {
@@ -14,7 +16,8 @@ namespace frc {
 /**
  * Gamepad Interface.
  */
-class GamepadBase : public GenericHID {
+class WPI_DEPRECATED("Inherit directly from GenericHID instead.") GamepadBase
+    : public GenericHID {
  public:
   explicit GamepadBase(int port);
   virtual ~GamepadBase() = default;
diff --git a/wpilibc/src/main/native/include/GenericHID.h b/wpilibc/src/main/native/include/GenericHID.h
index e2cb873a4e..29da38f1e6 100644
--- a/wpilibc/src/main/native/include/GenericHID.h
+++ b/wpilibc/src/main/native/include/GenericHID.h
@@ -11,6 +11,8 @@
 
 #include <string>
 
+#include "ErrorBase.h"
+
 namespace frc {
 
 class DriverStation;
@@ -18,11 +20,11 @@ class DriverStation;
 /**
  * GenericHID Interface.
  */
-class GenericHID {
+class GenericHID : public ErrorBase {
  public:
-  typedef enum { kLeftRumble, kRightRumble } RumbleType;
+  enum RumbleType { kLeftRumble, kRightRumble };
 
-  typedef enum {
+  enum HIDType {
     kUnknown = -1,
     kXInputUnknown = 0,
     kXInputGamepad = 1,
@@ -40,7 +42,7 @@ class GenericHID {
     kHIDDriving = 22,
     kHIDFlight = 23,
     kHID1stPerson = 24
-  } HIDType;
+  };
 
   enum JoystickHand { kLeftHand = 0, kRightHand = 1 };
 
@@ -49,16 +51,23 @@ class GenericHID {
 
   virtual double GetX(JoystickHand hand = kRightHand) const = 0;
   virtual double GetY(JoystickHand hand = kRightHand) const = 0;
-  virtual double GetRawAxis(int axis) const;
 
   bool GetRawButton(int button) const;
+  bool GetRawButtonPressed(int button);
+  bool GetRawButtonReleased(int button);
 
+  double GetRawAxis(int axis) const;
   int GetPOV(int pov = 0) const;
-  int GetPOVCount() const;
 
-  int GetPort() const;
+  int GetAxisCount() const;
+  int GetPOVCount() const;
+  int GetButtonCount() const;
+
   GenericHID::HIDType GetType() const;
   std::string GetName() const;
+  int GetAxisType(int axis) const;
+
+  int GetPort() const;
 
   void SetOutput(int outputNumber, bool value);
   void SetOutputs(int value);
diff --git a/wpilibc/src/main/native/include/Joystick.h b/wpilibc/src/main/native/include/Joystick.h
index f4afdc1c1b..ac2acfe79b 100644
--- a/wpilibc/src/main/native/include/Joystick.h
+++ b/wpilibc/src/main/native/include/Joystick.h
@@ -7,82 +7,90 @@
 
 #pragma once
 
-#include <stdint.h>
-
-#include <memory>
 #include <vector>
 
-#include "ErrorBase.h"
-#include "JoystickBase.h"
+#include <support/deprecated.h>
+
+#include "GenericHID.h"
 
 namespace frc {
 
-class DriverStation;
-
 /**
  * Handle input from standard Joysticks connected to the Driver Station.
+ *
  * 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 and the mapping of ports to hardware
  * buttons depends on the code in the Driver Station.
  */
-class Joystick : public JoystickBase, public ErrorBase {
+class Joystick : public GenericHID {
  public:
-  static const int kDefaultXAxis = 0;
-  static const int kDefaultYAxis = 1;
-  static const int kDefaultZAxis = 2;
-  static const int kDefaultTwistAxis = 2;
-  static const int kDefaultThrottleAxis = 3;
+  static constexpr int kDefaultXAxis = 0;
+  static constexpr int kDefaultYAxis = 1;
+  static constexpr int kDefaultZAxis = 2;
+  static constexpr int kDefaultTwistAxis = 2;
+  static constexpr int kDefaultThrottleAxis = 3;
+  static constexpr int kMinNumAxes = 4;
 
-  typedef enum {
-    kXAxis,
-    kYAxis,
-    kZAxis,
-    kTwistAxis,
-    kThrottleAxis,
-    kNumAxisTypes
-  } AxisType;
-
-  static const int kDefaultTriggerButton = 1;
-  static const int kDefaultTopButton = 2;
-
-  typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
+  enum AxisType { kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis };
+  enum ButtonType { kTriggerButton, kTopButton };
 
   explicit Joystick(int port);
-  Joystick(int port, int numAxisTypes, int numButtonTypes);
   virtual ~Joystick() = default;
 
   Joystick(const Joystick&) = delete;
   Joystick& operator=(const Joystick&) = delete;
 
-  int GetAxisChannel(AxisType axis) const;
+  void SetXChannel(int channel);
+  void SetYChannel(int channel);
+  void SetZChannel(int channel);
+  void SetTwistChannel(int channel);
+  void SetThrottleChannel(int channel);
+
+  WPI_DEPRECATED("Use the more specific axis channel setter functions.")
   void SetAxisChannel(AxisType axis, int channel);
 
+  int GetXChannel() const;
+  int GetYChannel() const;
+  int GetZChannel() const;
+  int GetTwistChannel() const;
+  int GetThrottleChannel() const;
+
+  WPI_DEPRECATED("Use the more specific axis channel getter functions.")
+  int GetAxisChannel(AxisType axis) const;
+
   double GetX(JoystickHand hand = kRightHand) const override;
   double GetY(JoystickHand hand = kRightHand) const override;
-  double GetZ(JoystickHand hand = kRightHand) const override;
-  double GetTwist() const override;
-  double GetThrottle() const override;
-  virtual double GetAxis(AxisType axis) const;
+  double GetZ() const;
+  double GetTwist() const;
+  double GetThrottle() const;
 
-  bool GetTrigger(JoystickHand hand = kRightHand) const override;
-  bool GetTop(JoystickHand hand = kRightHand) const override;
-  bool GetButton(ButtonType button) const;
+  WPI_DEPRECATED("Use the more specific axis channel getter functions.")
+  double GetAxis(AxisType axis) const;
+
+  bool GetTrigger() const;
+  bool GetTriggerPressed();
+  bool GetTriggerReleased();
+
+  bool GetTop() const;
+  bool GetTopPressed();
+  bool GetTopReleased();
+
+  WPI_DEPRECATED("Use Joystick instances instead.")
   static Joystick* GetStickForPort(int port);
 
-  virtual double GetMagnitude() const;
-  virtual double GetDirectionRadians() const;
-  virtual double GetDirectionDegrees() const;
+  WPI_DEPRECATED("Use the more specific button getter functions.")
+  bool GetButton(ButtonType button) const;
 
-  int GetAxisType(int axis) const;
-
-  int GetAxisCount() const;
-  int GetButtonCount() const;
+  double GetMagnitude() const;
+  double GetDirectionRadians() const;
+  double GetDirectionDegrees() const;
 
  private:
-  DriverStation& m_ds;
+  enum class Axis { kX, kY, kZ, kTwist, kThrottle };
+  enum class Button { kTrigger = 1, kTop = 2 };
+
   std::vector<int> m_axes;
-  std::vector<int> m_buttons;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/JoystickBase.h b/wpilibc/src/main/native/include/JoystickBase.h
index eade3d1d19..77946bee65 100644
--- a/wpilibc/src/main/native/include/JoystickBase.h
+++ b/wpilibc/src/main/native/include/JoystickBase.h
@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <support/deprecated.h>
+
 #include "GenericHID.h"
 
 namespace frc {
@@ -14,7 +16,8 @@ namespace frc {
 /**
  * Joystick Interface.
  */
-class JoystickBase : public GenericHID {
+class WPI_DEPRECATED("Inherit directly from GenericHID instead.") JoystickBase
+    : public GenericHID {
  public:
   explicit JoystickBase(int port);
   virtual ~JoystickBase() = default;
@@ -22,9 +25,6 @@ class JoystickBase : public GenericHID {
   virtual double GetZ(JoystickHand hand = kRightHand) const = 0;
   virtual double GetTwist() const = 0;
   virtual double GetThrottle() const = 0;
-
-  virtual bool GetTrigger(JoystickHand hand = kRightHand) const = 0;
-  virtual bool GetTop(JoystickHand hand = kRightHand) const = 0;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/XboxController.h b/wpilibc/src/main/native/include/XboxController.h
index 479c9aa00a..4230b1de3d 100644
--- a/wpilibc/src/main/native/include/XboxController.h
+++ b/wpilibc/src/main/native/include/XboxController.h
@@ -7,23 +7,20 @@
 
 #pragma once
 
-#include "ErrorBase.h"
-#include "GamepadBase.h"
+#include "GenericHID.h"
 
 namespace frc {
 
-class DriverStation;
-
 /**
  * Handle input from Xbox 360 or Xbox One controllers connected to the Driver
  * Station.
  *
  * This class handles Xbox input that comes from the Driver Station. Each time a
- * value is requested the most recent value is returend. There is a single class
+ * 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.
  */
-class XboxController : public GamepadBase, public ErrorBase {
+class XboxController : public GenericHID {
  public:
   explicit XboxController(int port);
   virtual ~XboxController() = default;
@@ -33,21 +30,53 @@ class XboxController : public GamepadBase, public ErrorBase {
 
   double GetX(JoystickHand hand) const override;
   double GetY(JoystickHand hand) const override;
+  double GetTriggerAxis(JoystickHand hand) const;
 
-  bool GetBumper(JoystickHand hand) const override;
-  bool GetStickButton(JoystickHand hand) const override;
+  bool GetBumper(JoystickHand hand) const;
+  bool GetBumperPressed(JoystickHand hand);
+  bool GetBumperReleased(JoystickHand hand);
 
-  virtual double GetTriggerAxis(JoystickHand hand) const;
+  bool GetStickButton(JoystickHand hand) const;
+  bool GetStickButtonPressed(JoystickHand hand);
+  bool GetStickButtonReleased(JoystickHand hand);
 
   bool GetAButton() const;
+  bool GetAButtonPressed();
+  bool GetAButtonReleased();
+
   bool GetBButton() const;
+  bool GetBButtonPressed();
+  bool GetBButtonReleased();
+
   bool GetXButton() const;
+  bool GetXButtonPressed();
+  bool GetXButtonReleased();
+
   bool GetYButton() const;
+  bool GetYButtonPressed();
+  bool GetYButtonReleased();
+
   bool GetBackButton() const;
+  bool GetBackButtonPressed();
+  bool GetBackButtonReleased();
+
   bool GetStartButton() const;
+  bool GetStartButtonPressed();
+  bool GetStartButtonReleased();
 
  private:
-  DriverStation& m_ds;
+  enum class Button {
+    kBumperLeft = 5,
+    kBumperRight = 6,
+    kStickLeft = 9,
+    kStickRight = 10,
+    kA = 1,
+    kB = 2,
+    kX = 3,
+    kY = 4,
+    kBack = 7,
+    kStart = 8
+  };
 };
 
 }  // namespace frc
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index 35649d63ff..ca23bc3a76 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -81,6 +81,11 @@ public class DriverStation implements RobotState.Interface {
   private HALJoystickAxes[] m_joystickAxesCache = new HALJoystickAxes[kJoystickPorts];
   private HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts];
   private HALJoystickButtons[] m_joystickButtonsCache = new HALJoystickButtons[kJoystickPorts];
+
+  // Joystick button rising/falling edge flags
+  HALJoystickButtons[] m_joystickButtonsPressed = new HALJoystickButtons[kJoystickPorts];
+  HALJoystickButtons[] m_joystickButtonsReleased = new HALJoystickButtons[kJoystickPorts];
+
   // preallocated byte buffer for button count
   private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
 
@@ -126,6 +131,9 @@ public class DriverStation implements RobotState.Interface {
       m_joystickButtonsCache[i] = new HALJoystickButtons();
       m_joystickAxesCache[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes);
       m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs);
+
+      m_joystickButtonsPressed[i].m_buttons = 0;
+      m_joystickButtonsReleased[i].m_buttons = 0;
     }
 
     m_controlWordMutex = new Object();
@@ -188,6 +196,89 @@ public class DriverStation implements RobotState.Interface {
     HAL.sendError(isError, code, false, error, locString, printTrace ? traceString : "", true);
   }
 
+  /**
+   * The state of one joystick button. Button indexes begin at 1.
+   *
+   * @param stick  The joystick to read.
+   * @param button The button index, beginning at 1.
+   * @return The state of the joystick button.
+   */
+  public boolean getStickButton(final int stick, final int button) {
+    if (button <= 0) {
+      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
+      return false;
+    }
+    if (stick < 0 || stick >= kJoystickPorts) {
+      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+    }
+    boolean error = false;
+    boolean retVal = false;
+    synchronized (m_joystickMutex) {
+      if (button > m_joystickButtons[stick].m_count) {
+        error = true;
+        retVal = false;
+      } else {
+        retVal = (m_joystickButtons[stick].m_buttons & 1 << (button - 1)) != 0;
+      }
+    }
+    if (error) {
+      reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
+          + " not available, check if controller is plugged in");
+    }
+    return retVal;
+  }
+
+  /**
+   * Whether one joystick button was pressed since the last check. Button indexes begin at 1.
+   *
+   * @param stick  The joystick to read.
+   * @param button The button index, beginning at 1.
+   * @return Whether the joystick button was pressed since the last check.
+   */
+  boolean getStickButtonPressed(final int stick, final int button) {
+    if (button <= 0) {
+      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
+      return false;
+    }
+    if (stick < 0 || stick >= kJoystickPorts) {
+      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+    }
+
+    // If button was pressed, clear flag and return true
+    if ((m_joystickButtonsPressed[stick].m_buttons & 1 << (button - 1)) != 0) {
+      m_joystickButtonsPressed[stick].m_buttons &= ~(1 << (button - 1));
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+  /**
+   * Whether one joystick button was released since the last check. Button indexes
+   * begin at 1.
+   *
+   * @param stick  The joystick to read.
+   * @param button The button index, beginning at 1.
+   * @return Whether the joystick button was released since the last check.
+   */
+  boolean getStickButtonReleased(final int stick, final int button) {
+    if (button <= 0) {
+      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
+      return false;
+    }
+    if (stick < 0 || stick >= kJoystickPorts) {
+      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+    }
+
+    // If button was released, clear flag and return true
+    if ((m_joystickButtonsReleased[stick].m_buttons & 1 << (button - 1)) != 0) {
+      m_joystickButtonsReleased[stick].m_buttons &= ~(1 << (button - 1));
+      return true;
+    } else {
+      return false;
+    }
+  }
+
   /**
    * Get the value of the axis on a joystick. This depends on the mapping of the joystick connected
    * to the specified port.
@@ -266,38 +357,6 @@ public class DriverStation implements RobotState.Interface {
     }
   }
 
-  /**
-   * The state of one joystick button. Button indexes begin at 1.
-   *
-   * @param stick  The joystick to read.
-   * @param button The button index, beginning at 1.
-   * @return The state of the joystick button.
-   */
-  public boolean getStickButton(final int stick, byte button) {
-    if (button <= 0) {
-      reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
-      return false;
-    }
-    if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-3");
-    }
-    boolean error = false;
-    boolean retVal = false;
-    synchronized (m_joystickMutex) {
-      if (button > m_joystickButtons[stick].m_count) {
-        error = true;
-        retVal = false;
-      } else {
-        retVal = ((0x1 << (button - 1)) & m_joystickButtons[stick].m_buttons) != 0;
-      }
-    }
-    if (error) {
-      reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
-          + " not available, check if controller is plugged in");
-    }
-    return retVal;
-  }
-
   /**
    * Returns the number of axes on a given joystick port.
    *
@@ -717,6 +776,16 @@ public class DriverStation implements RobotState.Interface {
 
     // lock joystick mutex to swap cache data
     synchronized (m_joystickMutex) {
+      for (int i = 0; i < kJoystickPorts; i++) {
+        // If buttons weren't pressed and are now, set flags in m_buttonsPressed
+        m_joystickButtonsPressed[i].m_buttons |=
+            ~m_joystickButtons[i].m_buttons & m_joystickButtonsCache[i].m_buttons;
+
+        // If buttons were pressed and aren't now, set flags in m_buttonsReleased
+        m_joystickButtonsReleased[i].m_buttons |=
+            m_joystickButtons[i].m_buttons & ~m_joystickButtonsCache[i].m_buttons;
+      }
+
       // move cache to actual data
       HALJoystickAxes[] currentAxes = m_joystickAxes;
       m_joystickAxes = m_joystickAxesCache;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java
index a4d88176ac..08594e0420 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java
@@ -9,7 +9,10 @@ package edu.wpi.first.wpilibj;
 
 /**
  * Gamepad Interface.
+ *
+ * @deprecated Inherit directly from GenericHID instead.
  */
+@Deprecated
 public abstract class GamepadBase extends GenericHID {
   public GamepadBase(int port) {
     super(port);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
index 31fb7e4b9e..4784a93d6d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -7,6 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.wpilibj.hal.HAL;
+
 /**
  * GenericHID Interface.
  */
@@ -59,9 +61,14 @@ public abstract class GenericHID {
     }
   }
 
+  private DriverStation m_ds;
   private final int m_port;
+  private int m_outputs;
+  private short m_leftRumble;
+  private short m_rightRumble;
 
   public GenericHID(int port) {
+    m_ds = DriverStation.getInstance();
     m_port = port;
   }
 
@@ -100,20 +107,49 @@ public abstract class GenericHID {
   public abstract double getY(Hand hand);
 
   /**
-   * Get the raw axis.
+   * Get the button value (starting at button 1).
    *
-   * @param which index of the axis
-   * @return the raw value of the selected axis
+   * <p>The buttons are returned in a single 16 bit value with one bit representing the state of
+   * each button. The appropriate button is returned as a boolean value.
+   *
+   * @param button The button number to be read (starting at 1)
+   * @return The state of the button.
    */
-  public abstract double getRawAxis(int which);
+  public boolean getRawButton(int button) {
+    return m_ds.getStickButton(m_port, (byte) button);
+  }
 
   /**
-   * Is the given button pressed.
+   * Whether the button was pressed since the last check. Button indexes begin at
+   * 1.
    *
-   * @param button which button number
-   * @return true if the button is pressed
+   * @param button The button index, beginning at 1.
+   * @return Whether the button was pressed since the last check.
    */
-  public abstract boolean getRawButton(int button);
+  public boolean getRawButtonPressed(int button) {
+    return m_ds.getStickButtonPressed(m_port, (byte) button);
+  }
+
+  /**
+   * Whether the button was released since the last check. Button indexes begin at
+   * 1.
+   *
+   * @param button The button index, beginning at 1.
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRawButtonReleased(int button) {
+    return m_ds.getStickButtonReleased(m_port, button);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read, starting at 0.
+   * @return The value of the axis.
+   */
+  public double getRawAxis(int axis) {
+    return m_ds.getStickAxis(m_port, axis);
+  }
 
   /**
    * Get the angle in degrees of a POV on the HID.
@@ -124,16 +160,63 @@ public abstract class GenericHID {
    * @param pov The index of the POV to read (starting at 0)
    * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
    */
-  public abstract int getPOV(int pov);
+  public int getPOV(int pov) {
+    return m_ds.getStickPOV(m_port, pov);
+  }
 
   public int getPOV() {
     return getPOV(0);
   }
 
+  /**
+   * Get the number of axes for the HID.
+   *
+   * @return the number of axis for the current HID
+   */
+  public int getAxisCount() {
+    return m_ds.getStickAxisCount(m_port);
+  }
+
   /**
    * For the current HID, return the number of POVs.
    */
-  public abstract int getPOVCount();
+  public int getPOVCount() {
+    return m_ds.getStickPOVCount(m_port);
+  }
+
+  /**
+   * For the current HID, return the number of buttons.
+   */
+  public int getButtonCount() {
+    return m_ds.getStickButtonCount(m_port);
+  }
+
+  /**
+   * Get the type of the HID.
+   *
+   * @return the type of the HID.
+   */
+  public HIDType getType() {
+    return HIDType.values()[m_ds.getJoystickType(m_port)];
+  }
+
+  /**
+   * Get the name of the HID.
+   *
+   * @return the name of the HID.
+   */
+  public String getName() {
+    return m_ds.getJoystickName(m_port);
+  }
+
+  /**
+   * Get the axis type of a joystick axis.
+   *
+   * @return the axis type of a joystick axis.
+   */
+  public int getAxisType(int axis) {
+    return m_ds.getJoystickAxisType(m_port, axis);
+  }
 
   /**
    * Get the port number of the HID.
@@ -144,34 +227,26 @@ public abstract class GenericHID {
     return m_port;
   }
 
-  /**
-   * Get the type of the HID.
-   *
-   * @return the type of the HID.
-   */
-  public abstract HIDType getType();
-
-  /**
-   * Get the name of the HID.
-   *
-   * @return the name of the HID.
-   */
-  public abstract String getName();
-
   /**
    * Set a single HID output value for the HID.
    *
    * @param outputNumber The index of the output to set (1-32)
    * @param value        The value to set the output to
    */
-  public abstract void setOutput(int outputNumber, boolean value);
+  public void setOutput(int outputNumber, boolean value) {
+    m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+  }
 
   /**
    * Set all HID output values for the HID.
    *
    * @param value The 32 bit output value (1 bit for each output)
    */
-  public abstract void setOutputs(int value);
+  public void setOutputs(int value) {
+    m_outputs = value;
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+  }
 
   /**
    * Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and
@@ -180,5 +255,17 @@ public abstract class GenericHID {
    * @param type  Which rumble value to set
    * @param value The normalized value (0 to 1) to set the rumble to
    */
-  public abstract void setRumble(RumbleType type, double value);
+  public void setRumble(RumbleType type, double value) {
+    if (value < 0) {
+      value = 0;
+    } else if (value > 1) {
+      value = 1;
+    }
+    if (type == RumbleType.kLeftRumble) {
+      m_leftRumble = (short) (value * 65535);
+    } else {
+      m_rightRumble = (short) (value * 65535);
+    }
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+  }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
index 2cc0483481..696795eefa 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
@@ -11,26 +11,25 @@ import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
- * Handle input from standard Joysticks connected to the Driver Station. 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 and the mapping of ports to hardware
- * buttons depends on the code in the Driver Station.
+ * Handle input from standard 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
+ * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  */
-public class Joystick extends JoystickBase {
-
+public class Joystick extends GenericHID {
   static final byte kDefaultXAxis = 0;
   static final byte kDefaultYAxis = 1;
   static final byte kDefaultZAxis = 2;
   static final byte kDefaultTwistAxis = 2;
   static final byte kDefaultThrottleAxis = 3;
-  static final int kDefaultTriggerButton = 1;
-  static final int kDefaultTopButton = 2;
+  static final byte kMinNumAxes = 4;
 
   /**
    * Represents an analog axis on a joystick.
    */
   public enum AxisType {
-    kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4), kNumAxis(5);
+    kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4);
 
     @SuppressWarnings("MemberName")
     public final int value;
@@ -41,10 +40,10 @@ public class Joystick extends JoystickBase {
   }
 
   /**
-   * Represents a digital button on the JoyStick.
+   * Represents a digital button on a joystick.
    */
   public enum ButtonType {
-    kTrigger(0), kTop(1), kNumButton(2);
+    kTrigger(1), kTop(2);
 
     @SuppressWarnings("MemberName")
     public final int value;
@@ -54,12 +53,35 @@ public class Joystick extends JoystickBase {
     }
   }
 
-  private final DriverStation m_ds;
+  /**
+   * Represents a digital button on a joystick.
+   */
+  private enum Button {
+    kTrigger(1), kTop(2);
+
+    @SuppressWarnings("MemberName")
+    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);
+
+    @SuppressWarnings("MemberName")
+    public final int value;
+
+    Axis(int value) {
+      this.value = value;
+    }
+  }
+
   private final byte[] m_axes;
-  private final byte[] m_buttons;
-  private int m_outputs;
-  private short m_leftRumble;
-  private short m_rightRumble;
 
   /**
    * Construct an instance of a joystick. The joystick index is the USB port on the drivers
@@ -68,36 +90,131 @@ public class Joystick extends JoystickBase {
    * @param port The port on the Driver Station that the joystick is plugged into.
    */
   public Joystick(final int port) {
-    this(port, AxisType.kNumAxis.value, ButtonType.kNumButton.value);
+    super(port);
 
-    m_axes[AxisType.kX.value] = kDefaultXAxis;
-    m_axes[AxisType.kY.value] = kDefaultYAxis;
-    m_axes[AxisType.kZ.value] = kDefaultZAxis;
-    m_axes[AxisType.kTwist.value] = kDefaultTwistAxis;
-    m_axes[AxisType.kThrottle.value] = kDefaultThrottleAxis;
+    m_axes = new byte[Math.max(getAxisCount(), kMinNumAxes)];
 
-    m_buttons[ButtonType.kTrigger.value] = kDefaultTriggerButton;
-    m_buttons[ButtonType.kTop.value] = kDefaultTopButton;
+    m_axes[Axis.kX.value] = kDefaultXAxis;
+    m_axes[Axis.kY.value] = kDefaultYAxis;
+    m_axes[Axis.kZ.value] = kDefaultZAxis;
+    m_axes[Axis.kTwist.value] = kDefaultTwistAxis;
+    m_axes[Axis.kThrottle.value] = kDefaultThrottleAxis;
 
     HAL.report(tResourceType.kResourceType_Joystick, port);
   }
 
   /**
-   * Protected version of the constructor to be called by sub-classes.
+   * Set the channel associated with the X axis.
    *
-   * <p>This constructor allows the subclass to configure the number of constants for axes and
-   * buttons.
-   *
-   * @param port           The port on the Driver Station that the joystick is plugged into.
-   * @param numAxisTypes   The number of axis types in the enum.
-   * @param numButtonTypes The number of button types in the enum.
+   * @param channel The channel to set the axis to.
    */
-  protected Joystick(int port, int numAxisTypes, int numButtonTypes) {
-    super(port);
+  public void setXChannel(int channel) {
+    m_axes[Axis.kX.value] = (byte) channel;
+  }
 
-    m_ds = DriverStation.getInstance();
-    m_axes = new byte[numAxisTypes];
-    m_buttons = new byte[numButtonTypes];
+  /**
+   * Set the channel associated with the Y axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setYChannel(int channel) {
+    m_axes[Axis.kY.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with the Z axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setZChannel(int channel) {
+    m_axes[Axis.kZ.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with the throttle axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setThrottleChannel(int channel) {
+    m_axes[Axis.kThrottle.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with the twist axis.
+   *
+   * @param channel The channel to set the axis to.
+   */
+  public void setTwistChannel(int channel) {
+    m_axes[Axis.kTwist.value] = (byte) channel;
+  }
+
+  /**
+   * Set the channel associated with a specified axis.
+   *
+   * @deprecated    Use the more specific axis channel setter functions.
+   * @param axis    The axis to set the channel for.
+   * @param channel The channel to set the axis to.
+   */
+  @Deprecated
+  public void setAxisChannel(AxisType axis, int channel) {
+    m_axes[axis.value] = (byte) channel;
+  }
+
+  /**
+   * Get the channel currently associated with the X axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getXChannel() {
+    return m_axes[Axis.kX.value];
+  }
+
+  /**
+   * Get the channel currently associated with the Y axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getYChannel() {
+    return m_axes[Axis.kY.value];
+  }
+
+  /**
+   * Get the channel currently associated with the Z axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getZChannel() {
+    return m_axes[Axis.kZ.value];
+  }
+
+  /**
+   * Get the channel currently associated with the twist axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getTwistChannel() {
+    return m_axes[Axis.kTwist.value];
+  }
+
+  /**
+   * Get the channel currently associated with the throttle axis.
+   *
+   * @return The channel for the axis.
+   */
+  public int getThrottleChannel() {
+    return m_axes[Axis.kThrottle.value];
+  }
+
+  /**
+   * Get the channel currently associated with the specified axis.
+   *
+   * @deprecated Use the more specific axis channel getter functions.
+   * @param axis The axis to look up the channel for.
+   * @return The channel for the axis.
+   */
+  @Deprecated
+  public int getAxisChannel(AxisType axis) {
+    return m_axes[axis.value];
   }
 
   /**
@@ -109,7 +226,7 @@ public class Joystick extends JoystickBase {
    */
   @Override
   public final double getX(Hand hand) {
-    return getRawAxis(m_axes[AxisType.kX.value]);
+    return getRawAxis(m_axes[Axis.kX.value]);
   }
 
   /**
@@ -121,12 +238,16 @@ public class Joystick extends JoystickBase {
    */
   @Override
   public final double getY(Hand hand) {
-    return getRawAxis(m_axes[AxisType.kY.value]);
+    return getRawAxis(m_axes[Axis.kY.value]);
   }
 
-  @Override
-  public final double getZ(Hand hand) {
-    return getRawAxis(m_axes[AxisType.kZ.value]);
+  /**
+   * Get the z position of the HID.
+   *
+   * @return the z position
+   */
+  public double getZ() {
+    return getRawAxis(m_axes[Axis.kZ.value]);
   }
 
   /**
@@ -136,7 +257,7 @@ public class Joystick extends JoystickBase {
    * @return The Twist value of the joystick.
    */
   public double getTwist() {
-    return getRawAxis(m_axes[AxisType.kTwist.value]);
+    return getRawAxis(m_axes[Axis.kTwist.value]);
   }
 
   /**
@@ -146,17 +267,7 @@ public class Joystick extends JoystickBase {
    * @return The Throttle value of the joystick.
    */
   public double getThrottle() {
-    return getRawAxis(m_axes[AxisType.kThrottle.value]);
-  }
-
-  /**
-   * Get the value of the axis.
-   *
-   * @param axis The axis to read, starting at 0.
-   * @return The value of the axis.
-   */
-  public double getRawAxis(final int axis) {
-    return m_ds.getStickAxis(getPort(), axis);
+    return getRawAxis(m_axes[Axis.kThrottle.value]);
   }
 
   /**
@@ -165,9 +276,11 @@ public class Joystick extends JoystickBase {
    * <p>This is for cases where the joystick axis is returned programmatically, otherwise one of the
    * previous functions would be preferable (for example getX()).
    *
+   * @deprecated Use the more specific axis getter functions.
    * @param axis The axis to read.
    * @return The value of the axis.
    */
+  @Deprecated
   public double getAxis(final AxisType axis) {
     switch (axis) {
       case kX:
@@ -186,80 +299,57 @@ public class Joystick extends JoystickBase {
   }
 
   /**
-   * For the current joystick, return the number of axis.
+   * Read the state of the trigger on the joystick.
+   *
+   * @return The state of the trigger.
    */
-  public int getAxisCount() {
-    return m_ds.getStickAxisCount(getPort());
+  public boolean getTrigger() {
+    return getRawButton(Button.kTrigger.value);
   }
 
   /**
-   * Read the state of the trigger on the joystick.
+   * Whether the trigger was pressed since the last check.
    *
-   * <p>Look up which button has been assigned to the trigger and read its state.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the trigger.
+   * @return Whether the button was pressed since the last check.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTrigger(Hand hand) {
-    return getRawButton(m_buttons[ButtonType.kTrigger.value]);
+  public boolean getTriggerPressed() {
+    return getRawButtonPressed(Button.kTrigger.value);
+  }
+
+  /**
+   * Whether the trigger was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTriggerReleased() {
+    return getRawButtonReleased(Button.kTrigger.value);
   }
 
   /**
    * Read the state of the top button on the joystick.
    *
-   * <p>Look up which button has been assigned to the top and read its state.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
    * @return The state of the top button.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTop(Hand hand) {
-    return getRawButton(m_buttons[ButtonType.kTop.value]);
-  }
-
-  @Override
-  public int getPOV(int pov) {
-    return m_ds.getStickPOV(getPort(), pov);
-  }
-
-  @Override
-  public int getPOVCount() {
-    return m_ds.getStickPOVCount(getPort());
+  public boolean getTop() {
+    return getRawButton(Button.kTop.value);
   }
 
   /**
-   * This is not supported for the Joystick. This method is only here to complete the GenericHID
-   * interface.
+   * Whether the top button was pressed since the last check.
    *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the bumper (always false)
+   * @return Whether the button was pressed since the last check.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getBumper(Hand hand) {
-    return false;
+  public boolean getTopPressed() {
+    return getRawButtonPressed(Button.kTop.value);
   }
 
   /**
-   * Get the button value (starting at button 1).
+   * Whether the top button was released since the last check.
    *
-   * <p>The appropriate button is returned as a boolean value.
-   *
-   * @param button The button number to be read (starting at 1).
-   * @return The state of the button.
+   * @return Whether the button was released since the last check.
    */
-  public boolean getRawButton(final int button) {
-    return m_ds.getStickButton(getPort(), (byte) button);
-  }
-
-  /**
-   * For the current joystick, return the number of buttons.
-   */
-  public int getButtonCount() {
-    return m_ds.getStickButtonCount(getPort());
+  public boolean getTopReleased() {
+    return getRawButtonReleased(Button.kTop.value);
   }
 
   /**
@@ -267,18 +357,13 @@ public class Joystick extends JoystickBase {
    *
    * <p>The button type will be looked up in the list of buttons and then read.
    *
+   * @deprecated Use Button enum values instead of ButtonType.
    * @param button The type of button to read.
    * @return The state of the button.
    */
+  @Deprecated
   public boolean getButton(ButtonType button) {
-    switch (button) {
-      case kTrigger:
-        return getTrigger();
-      case kTop:
-        return getTop();
-      default:
-        return false;
-    }
+    return getRawButton(button.value);
   }
 
   /**
@@ -308,89 +393,4 @@ public class Joystick extends JoystickBase {
   public double getDirectionDegrees() {
     return Math.toDegrees(getDirectionRadians());
   }
-
-  /**
-   * Get the channel currently associated with the specified axis.
-   *
-   * @param axis The axis to look up the channel for.
-   * @return The channel fr the axis.
-   */
-  public int getAxisChannel(AxisType axis) {
-    return m_axes[axis.value];
-  }
-
-  /**
-   * Set the channel associated with a specified axis.
-   *
-   * @param axis    The axis to set the channel for.
-   * @param channel The channel to set the axis to.
-   */
-  public void setAxisChannel(AxisType axis, int channel) {
-    m_axes[axis.value] = (byte) channel;
-  }
-
-  /**
-   * Get the value of isXbox for the current joystick.
-   *
-   * @return A boolean that is true if the controller is an xbox controller.
-   */
-  public boolean getIsXbox() {
-    return m_ds.getJoystickIsXbox(getPort());
-  }
-
-  /**
-   * Get the axis type of a joystick axis.
-   *
-   * @return the axis type of a joystick axis.
-   */
-  public int getAxisType(int axis) {
-    return m_ds.getJoystickAxisType(getPort(), axis);
-  }
-
-  /**
-   * Get the type of the HID.
-   *
-   * @return the type of the HID.
-   */
-  @Override
-  public HIDType getType() {
-    return HIDType.values()[m_ds.getJoystickType(getPort())];
-  }
-
-  /**
-   * Get the name of the HID.
-   *
-   * @return the name of the HID.
-   */
-  @Override
-  public String getName() {
-    return m_ds.getJoystickName(getPort());
-  }
-
-  @Override
-  public void setOutput(int outputNumber, boolean value) {
-    m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setOutputs(int value) {
-    m_outputs = value;
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setRumble(RumbleType type, double value) {
-    if (value < 0) {
-      value = 0;
-    } else if (value > 1) {
-      value = 1;
-    }
-    if (type == RumbleType.kLeftRumble) {
-      m_leftRumble = (short) (value * 65535);
-    } else {
-      m_rightRumble = (short) (value * 65535);
-    }
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java
index f753c8ea22..c16b72896c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java
@@ -9,7 +9,10 @@ package edu.wpi.first.wpilibj;
 
 /**
  * JoystickBase Interface.
+ *
+ * @deprecated Inherit directly from GenericHID instead.
  */
+@Deprecated
 public abstract class JoystickBase extends GenericHID {
   public JoystickBase(int port) {
     super(port);
@@ -40,52 +43,4 @@ public abstract class JoystickBase extends GenericHID {
    * @return the throttle value
    */
   public abstract double getThrottle();
-
-  /**
-   * Is the trigger pressed.
-   *
-   * @return true if pressed
-   */
-  public final boolean getTrigger() {
-    return getTrigger(Hand.kRight);
-  }
-
-  /**
-   * Is the trigger pressed.
-   *
-   * @param hand which hand
-   * @return true if the trigger for the given hand is pressed
-   */
-  public abstract boolean getTrigger(Hand hand);
-
-  /**
-   * Is the top button pressed.
-   *
-   * @return true if the top button is pressed
-   */
-  public final boolean getTop() {
-    return getTop(Hand.kRight);
-  }
-
-  /**
-   * Is the top button pressed.
-   *
-   * @param hand which hand
-   * @return true if hte top button for the given hand is pressed
-   */
-  public abstract boolean getTop(Hand hand);
-
-  public abstract int getPOV(int pov);
-
-  public abstract int getPOVCount();
-
-  public abstract HIDType getType();
-
-  public abstract String getName();
-
-  public abstract void setOutput(int outputNumber, boolean value);
-
-  public abstract void setOutputs(int value);
-
-  public abstract void setRumble(RumbleType type, double value);
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
index 861565bcd6..4771c3c547 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -17,11 +17,29 @@ import edu.wpi.first.wpilibj.hal.HAL;
  * 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 XboxController extends GamepadBase {
-  private DriverStation m_ds;
-  private int m_outputs;
-  private short m_leftRumble;
-  private short m_rightRumble;
+public class XboxController extends GenericHID {
+  /**
+   * Represents a digital button on an XboxController.
+   */
+  private enum Button {
+    kBumperLeft(5),
+    kBumperRight(6),
+    kStickLeft(9),
+    kStickRight(10),
+    kA(1),
+    kB(2),
+    kX(3),
+    kY(4),
+    kBack(7),
+    kStart(8);
+
+    @SuppressWarnings("MemberName")
+    private int value;
+
+    Button(int value) {
+      this.value = value;
+    }
+  }
 
   /**
    * Construct an instance of a joystick. The joystick index is the USB port on the drivers
@@ -31,7 +49,6 @@ public class XboxController extends GamepadBase {
    */
   public XboxController(final int port) {
     super(port);
-    m_ds = DriverStation.getInstance();
 
     // HAL.report(tResourceType.kResourceType_XboxController, port);
     HAL.report(tResourceType.kResourceType_Joystick, port);
@@ -67,69 +84,6 @@ public class XboxController extends GamepadBase {
     }
   }
 
-  /**
-   * Get the value of the axis.
-   *
-   * @param axis The axis to read, starting at 0.
-   * @return The value of the axis.
-   */
-  public double getRawAxis(final int axis) {
-    return m_ds.getStickAxis(getPort(), axis);
-  }
-
-  /**
-   * Read the value of the bumper button on the controller.
-   *
-   * @param hand Side of controller whose value should be returned.
-   * @return The state of the button.
-   */
-  @Override
-  public boolean getBumper(Hand hand) {
-    if (hand.equals(Hand.kLeft)) {
-      return getRawButton(5);
-    } else {
-      return getRawButton(6);
-    }
-  }
-
-  /**
-   * This is not supported for the XboxController. This method is only here to complete the
-   * GenericHID interface.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the trigger (always false)
-   */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTrigger(Hand hand) {
-    return false;
-  }
-
-  /**
-   * This is not supported for the XboxController. This method is only here to complete the
-   * GenericHID interface.
-   *
-   * @param hand This parameter is ignored for the Joystick class and is only here to complete the
-   *             GenericHID interface.
-   * @return The state of the top button (always false)
-   */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
-  public boolean getTop(Hand hand) {
-    return false;
-  }
-
-  /**
-   * Get the button value (starting at button 1).
-   *
-   * <p>The appropriate button is returned as a boolean value.
-   *
-   * @param button The button number to be read (starting at 1).
-   * @return The state of the button.
-   */
-  public boolean getRawButton(final int button) {
-    return m_ds.getStickButton(getPort(), (byte) button);
-  }
-
   /**
    * Get the trigger axis value of the controller.
    *
@@ -145,39 +99,45 @@ public class XboxController extends GamepadBase {
   }
 
   /**
-   * Read the value of the A button on the controller.
+   * Read the value of the bumper button on the controller.
    *
+   * @param hand Side of controller whose value should be returned.
    * @return The state of the button.
    */
-  public boolean getAButton() {
-    return getRawButton(1);
+  public boolean getBumper(Hand hand) {
+    if (hand.equals(Hand.kLeft)) {
+      return getRawButton(Button.kBumperLeft.value);
+    } else {
+      return getRawButton(Button.kBumperRight.value);
+    }
   }
 
   /**
-   * Read the value of the B button on the controller.
+   * Whether the bumper was pressed since the last check.
    *
-   * @return The state of the button.
+   * @param hand Side of controller whose value should be returned.
+   * @return Whether the button was pressed since the last check.
    */
-  public boolean getBButton() {
-    return getRawButton(2);
+  public boolean getBumperPressed(Hand hand) {
+    if (hand == Hand.kLeft) {
+      return getRawButtonPressed(Button.kBumperLeft.value);
+    } else {
+      return getRawButtonPressed(Button.kBumperRight.value);
+    }
   }
 
   /**
-   * Read the value of the X button on the controller.
+   * Whether the bumper was released since the last check.
    *
-   * @return The state of the button.
+   * @param hand Side of controller whose value should be returned.
+   * @return Whether the button was released since the last check.
    */
-  public boolean getXButton() {
-    return getRawButton(3);
-  }
-
-  /**
-   * Read the value of the Y button on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getYButton() {
-    return getRawButton(4);
+  public boolean getBumperReleased(Hand hand) {
+    if (hand == Hand.kLeft) {
+      return getRawButtonReleased(Button.kBumperLeft.value);
+    } else {
+      return getRawButtonReleased(Button.kBumperRight.value);
+    }
   }
 
   /**
@@ -186,22 +146,175 @@ public class XboxController extends GamepadBase {
    * @param hand Side of controller whose value should be returned.
    * @return The state of the button.
    */
-  @Override
   public boolean getStickButton(Hand hand) {
     if (hand.equals(Hand.kLeft)) {
-      return getRawButton(9);
+      return getRawButton(Button.kStickLeft.value);
     } else {
-      return getRawButton(10);
+      return getRawButton(Button.kStickRight.value);
     }
   }
 
+  /**
+   * Whether the stick button 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);
+    }
+  }
+
+  /**
+   * Whether the stick button 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);
+    }
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getRawButton(Button.kA.value);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getRawButtonPressed(Button.kA.value);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getRawButtonReleased(Button.kA.value);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getRawButton(Button.kB.value);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getRawButtonPressed(Button.kB.value);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getRawButtonReleased(Button.kB.value);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getRawButton(Button.kX.value);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getRawButtonPressed(Button.kX.value);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getRawButtonReleased(Button.kX.value);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getRawButton(Button.kY.value);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getRawButtonPressed(Button.kY.value);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getRawButtonReleased(Button.kY.value);
+  }
+
   /**
    * Read the value of the back button on the controller.
    *
    * @return The state of the button.
    */
   public boolean getBackButton() {
-    return getRawButton(7);
+    return getRawButton(Button.kBack.value);
+  }
+
+  /**
+   * Whether the back button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBackButtonPressed() {
+    return getRawButtonPressed(Button.kBack.value);
+  }
+
+  /**
+   * Whether the back button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBackButtonReleased() {
+    return getRawButtonReleased(Button.kBack.value);
   }
 
   /**
@@ -210,53 +323,24 @@ public class XboxController extends GamepadBase {
    * @return The state of the button.
    */
   public boolean getStartButton() {
-    return getRawButton(8);
+    return getRawButton(Button.kStart.value);
   }
 
-  @Override
-  public int getPOV(int pov) {
-    return m_ds.getStickPOV(getPort(), pov);
+  /**
+   * Whether the start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getStartButtonPressed() {
+    return getRawButtonPressed(Button.kStart.value);
   }
 
-  @Override
-  public int getPOVCount() {
-    return m_ds.getStickPOVCount(getPort());
-  }
-
-  @Override
-  public HIDType getType() {
-    return HIDType.values()[m_ds.getJoystickType(getPort())];
-  }
-
-  @Override
-  public String getName() {
-    return m_ds.getJoystickName(getPort());
-  }
-
-  @Override
-  public void setOutput(int outputNumber, boolean value) {
-    m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setOutputs(int value) {
-    m_outputs = value;
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  @Override
-  public void setRumble(RumbleType type, double value) {
-    if (value < 0) {
-      value = 0;
-    } else if (value > 1) {
-      value = 1;
-    }
-    if (type == RumbleType.kLeftRumble) {
-      m_leftRumble = (short) (value * 65535);
-    } else {
-      m_rightRumble = (short) (value * 65535);
-    }
-    HAL.setJoystickOutputs((byte) getPort(), m_outputs, m_leftRumble, m_rightRumble);
+  /**
+   * Whether the start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getStartButtonReleased() {
+    return getRawButtonReleased(Button.kStart.value);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
index db0ba4b1ce..18c60b8e15 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
@@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Joystick.AxisType;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
@@ -104,7 +103,7 @@ public class DriveTrain extends Subsystem {
 	 * @param joy The ps3 style joystick to use to drive tank style.
 	 */
 	public void drive(Joystick joy) {
-		drive(-joy.getY(), -joy.getAxis(AxisType.kThrottle));
+		drive(-joy.getY(), -joy.getThrottle());
 	}
 
 	/**