diff --git a/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja b/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja
index a13d673afd..331c7723a2 100644
--- a/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja
+++ b/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja
@@ -60,7 +60,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger {{ button.name }}(EventLoop loop) {
-    return m_hid.{{ button.name }}(loop).castTo(Trigger::new);
+    return button({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, loop);
   }
 {% endfor -%}
 {% for trigger in triggers -%}
@@ -76,7 +76,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    *     threshold, attached to the given event loop
    */
   public Trigger {{ trigger.name }}(double threshold, EventLoop loop) {
-    return m_hid.{{ trigger.name }}(threshold, loop).castTo(Trigger::new);
+    return axisGreaterThan({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja b/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
index b6e5058598..38878f9b33 100644
--- a/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
+++ b/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
@@ -18,14 +18,16 @@ frc::{{ ConsoleName }}Controller& Command{{ ConsoleName }}Controller::GetHID() {
 }
 {% for button in buttons %}
 Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(frc::EventLoop* loop) const {
-  return m_hid.{{ capitalize_first(button.name) }}(loop).CastTo<Trigger>();
+  return Button(frc::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
 }
 {% endfor -%}
 {% for trigger in triggers -%}
 {% if trigger.UseThresholdMethods %}
 Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold,
                                            frc::EventLoop* loop) const {
-  return m_hid.{{ capitalize_first(trigger.name) }}(threshold, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, threshold] {
+    return m_hid.Get{{ capitalize_first(trigger.name) }}Axis() > threshold;
+  });
 }
 {% endif -%}
 {% endfor -%}
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
index 150d124228..9c72f60cbd 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
@@ -58,7 +58,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return m_hid.square(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return m_hid.cross(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return m_hid.circle(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return m_hid.triangle(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return m_hid.L1(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return m_hid.R1(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return m_hid.L2(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return m_hid.R2(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger share(EventLoop loop) {
-    return m_hid.share(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kShare.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return m_hid.options(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return m_hid.L3(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return m_hid.R3(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return m_hid.PS(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public class CommandPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return m_hid.touchpad(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
index 2f3d271837..908d24e842 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
@@ -58,7 +58,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return m_hid.square(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return m_hid.cross(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return m_hid.circle(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return m_hid.triangle(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return m_hid.L1(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return m_hid.R1(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return m_hid.L2(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return m_hid.R2(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger create(EventLoop loop) {
-    return m_hid.create(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kCreate.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return m_hid.options(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return m_hid.L3(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return m_hid.R3(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return m_hid.PS(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public class CommandPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return m_hid.touchpad(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
index 90bc5d0178..0890bbde48 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
@@ -58,7 +58,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return m_hid.a(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return m_hid.b(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return m_hid.x(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return m_hid.y(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return m_hid.leftBumper(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return m_hid.rightBumper(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return m_hid.leftStick(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return m_hid.rightStick(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger ellipses(EventLoop loop) {
-    return m_hid.ellipses(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kEllipses.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger hamburger(EventLoop loop) {
-    return m_hid.hamburger(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kHamburger.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger stadia(EventLoop loop) {
-    return m_hid.stadia(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kStadia.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightTrigger(EventLoop loop) {
-    return m_hid.rightTrigger(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kRightTrigger.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftTrigger(EventLoop loop) {
-    return m_hid.leftTrigger(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kLeftTrigger.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger google(EventLoop loop) {
-    return m_hid.google(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kGoogle.value, loop);
   }
 
   /**
@@ -366,7 +366,7 @@ public class CommandStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger frame(EventLoop loop) {
-    return m_hid.frame(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kFrame.value, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
index 0f6417674e..a5ea65da28 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
@@ -58,7 +58,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return m_hid.a(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return m_hid.b(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return m_hid.x(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return m_hid.y(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return m_hid.leftBumper(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return m_hid.rightBumper(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger back(EventLoop loop) {
-    return m_hid.back(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kBack.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger start(EventLoop loop) {
-    return m_hid.start(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kStart.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return m_hid.leftStick(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return m_hid.rightStick(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -270,7 +270,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     threshold, attached to the given event loop
    */
   public Trigger leftTrigger(double threshold, EventLoop loop) {
-    return m_hid.leftTrigger(threshold, loop).castTo(Trigger::new);
+    return axisGreaterThan(XboxController.Axis.kLeftTrigger.value, threshold, loop);
   }
 
   /**
@@ -309,7 +309,7 @@ public class CommandXboxController extends CommandGenericHID {
    *     threshold, attached to the given event loop
    */
   public Trigger rightTrigger(double threshold, EventLoop loop) {
-    return m_hid.rightTrigger(threshold, loop).castTo(Trigger::new);
+    return axisGreaterThan(XboxController.Axis.kRightTrigger.value, threshold, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
index e5418f845a..78d77b8fa4 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
@@ -16,59 +16,59 @@ frc::PS4Controller& CommandPS4Controller::GetHID() {
 }
 
 Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
-  return m_hid.Square(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kSquare, loop);
 }
 
 Trigger CommandPS4Controller::Cross(frc::EventLoop* loop) const {
-  return m_hid.Cross(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kCross, loop);
 }
 
 Trigger CommandPS4Controller::Circle(frc::EventLoop* loop) const {
-  return m_hid.Circle(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kCircle, loop);
 }
 
 Trigger CommandPS4Controller::Triangle(frc::EventLoop* loop) const {
-  return m_hid.Triangle(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kTriangle, loop);
 }
 
 Trigger CommandPS4Controller::L1(frc::EventLoop* loop) const {
-  return m_hid.L1(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kL1, loop);
 }
 
 Trigger CommandPS4Controller::R1(frc::EventLoop* loop) const {
-  return m_hid.R1(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kR1, loop);
 }
 
 Trigger CommandPS4Controller::L2(frc::EventLoop* loop) const {
-  return m_hid.L2(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kL2, loop);
 }
 
 Trigger CommandPS4Controller::R2(frc::EventLoop* loop) const {
-  return m_hid.R2(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kR2, loop);
 }
 
 Trigger CommandPS4Controller::Share(frc::EventLoop* loop) const {
-  return m_hid.Share(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kShare, loop);
 }
 
 Trigger CommandPS4Controller::Options(frc::EventLoop* loop) const {
-  return m_hid.Options(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kOptions, loop);
 }
 
 Trigger CommandPS4Controller::L3(frc::EventLoop* loop) const {
-  return m_hid.L3(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kL3, loop);
 }
 
 Trigger CommandPS4Controller::R3(frc::EventLoop* loop) const {
-  return m_hid.R3(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kR3, loop);
 }
 
 Trigger CommandPS4Controller::PS(frc::EventLoop* loop) const {
-  return m_hid.PS(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kPS, loop);
 }
 
 Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
-  return m_hid.Touchpad(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kTouchpad, loop);
 }
 
 double CommandPS4Controller::GetLeftX() const {
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
index bb0c5b8e5b..667c58b9af 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
@@ -16,59 +16,59 @@ frc::PS5Controller& CommandPS5Controller::GetHID() {
 }
 
 Trigger CommandPS5Controller::Square(frc::EventLoop* loop) const {
-  return m_hid.Square(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kSquare, loop);
 }
 
 Trigger CommandPS5Controller::Cross(frc::EventLoop* loop) const {
-  return m_hid.Cross(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kCross, loop);
 }
 
 Trigger CommandPS5Controller::Circle(frc::EventLoop* loop) const {
-  return m_hid.Circle(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kCircle, loop);
 }
 
 Trigger CommandPS5Controller::Triangle(frc::EventLoop* loop) const {
-  return m_hid.Triangle(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kTriangle, loop);
 }
 
 Trigger CommandPS5Controller::L1(frc::EventLoop* loop) const {
-  return m_hid.L1(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kL1, loop);
 }
 
 Trigger CommandPS5Controller::R1(frc::EventLoop* loop) const {
-  return m_hid.R1(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kR1, loop);
 }
 
 Trigger CommandPS5Controller::L2(frc::EventLoop* loop) const {
-  return m_hid.L2(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kL2, loop);
 }
 
 Trigger CommandPS5Controller::R2(frc::EventLoop* loop) const {
-  return m_hid.R2(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kR2, loop);
 }
 
 Trigger CommandPS5Controller::Create(frc::EventLoop* loop) const {
-  return m_hid.Create(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kCreate, loop);
 }
 
 Trigger CommandPS5Controller::Options(frc::EventLoop* loop) const {
-  return m_hid.Options(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kOptions, loop);
 }
 
 Trigger CommandPS5Controller::L3(frc::EventLoop* loop) const {
-  return m_hid.L3(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kL3, loop);
 }
 
 Trigger CommandPS5Controller::R3(frc::EventLoop* loop) const {
-  return m_hid.R3(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kR3, loop);
 }
 
 Trigger CommandPS5Controller::PS(frc::EventLoop* loop) const {
-  return m_hid.PS(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kPS, loop);
 }
 
 Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
-  return m_hid.Touchpad(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kTouchpad, loop);
 }
 
 double CommandPS5Controller::GetLeftX() const {
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
index ee032b1926..72088defe8 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
@@ -16,63 +16,63 @@ frc::StadiaController& CommandStadiaController::GetHID() {
 }
 
 Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
-  return m_hid.A(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kA, loop);
 }
 
 Trigger CommandStadiaController::B(frc::EventLoop* loop) const {
-  return m_hid.B(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kB, loop);
 }
 
 Trigger CommandStadiaController::X(frc::EventLoop* loop) const {
-  return m_hid.X(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kX, loop);
 }
 
 Trigger CommandStadiaController::Y(frc::EventLoop* loop) const {
-  return m_hid.Y(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kY, loop);
 }
 
 Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
-  return m_hid.LeftBumper(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kLeftBumper, loop);
 }
 
 Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
-  return m_hid.RightBumper(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kRightBumper, loop);
 }
 
 Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
-  return m_hid.LeftStick(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kLeftStick, loop);
 }
 
 Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
-  return m_hid.RightStick(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kRightStick, loop);
 }
 
 Trigger CommandStadiaController::Ellipses(frc::EventLoop* loop) const {
-  return m_hid.Ellipses(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kEllipses, loop);
 }
 
 Trigger CommandStadiaController::Hamburger(frc::EventLoop* loop) const {
-  return m_hid.Hamburger(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kHamburger, loop);
 }
 
 Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
-  return m_hid.Stadia(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kStadia, loop);
 }
 
 Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
-  return m_hid.RightTrigger(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kRightTrigger, loop);
 }
 
 Trigger CommandStadiaController::LeftTrigger(frc::EventLoop* loop) const {
-  return m_hid.LeftTrigger(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kLeftTrigger, loop);
 }
 
 Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
-  return m_hid.Google(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kGoogle, loop);
 }
 
 Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
-  return m_hid.Frame(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kFrame, loop);
 }
 
 double CommandStadiaController::GetLeftX() const {
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
index 39fa015454..9f4ad960b8 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
@@ -16,53 +16,57 @@ frc::XboxController& CommandXboxController::GetHID() {
 }
 
 Trigger CommandXboxController::A(frc::EventLoop* loop) const {
-  return m_hid.A(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kA, loop);
 }
 
 Trigger CommandXboxController::B(frc::EventLoop* loop) const {
-  return m_hid.B(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kB, loop);
 }
 
 Trigger CommandXboxController::X(frc::EventLoop* loop) const {
-  return m_hid.X(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kX, loop);
 }
 
 Trigger CommandXboxController::Y(frc::EventLoop* loop) const {
-  return m_hid.Y(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kY, loop);
 }
 
 Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
-  return m_hid.LeftBumper(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kLeftBumper, loop);
 }
 
 Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
-  return m_hid.RightBumper(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kRightBumper, loop);
 }
 
 Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
-  return m_hid.Back(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kBack, loop);
 }
 
 Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
-  return m_hid.Start(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kStart, loop);
 }
 
 Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
-  return m_hid.LeftStick(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kLeftStick, loop);
 }
 
 Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
-  return m_hid.RightStick(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kRightStick, loop);
 }
 
 Trigger CommandXboxController::LeftTrigger(double threshold,
                                            frc::EventLoop* loop) const {
-  return m_hid.LeftTrigger(threshold, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, threshold] {
+    return m_hid.GetLeftTriggerAxis() > threshold;
+  });
 }
 
 Trigger CommandXboxController::RightTrigger(double threshold,
                                            frc::EventLoop* loop) const {
-  return m_hid.RightTrigger(threshold, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, threshold] {
+    return m_hid.GetRightTriggerAxis() > threshold;
+  });
 }
 
 double CommandXboxController::GetLeftX() const {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
index 423d88ea14..6eafae5046 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
@@ -4,9 +4,12 @@
 
 package edu.wpi.first.wpilibj2.command.button;
 
+import edu.wpi.first.math.Pair;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import java.util.HashMap;
+import java.util.Map;
 
 /**
  * A version of {@link GenericHID} with {@link Trigger} factories for command-based.
@@ -15,6 +18,12 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
  */
 public class CommandGenericHID {
   private final GenericHID m_hid;
+  private final Map<EventLoop, Map<Integer, Trigger>> m_buttonCache = new HashMap<>();
+  private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisLessThanCache =
+      new HashMap<>();
+  private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisGreaterThanCache =
+      new HashMap<>();
+  private final Map<EventLoop, Map<Integer, Trigger>> m_povCache = new HashMap<>();
 
   /**
    * Construct an instance of a device.
@@ -43,7 +52,7 @@ public class CommandGenericHID {
    * @see #button(int, EventLoop)
    */
   public Trigger button(int button) {
-    return this.button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
@@ -54,7 +63,8 @@ public class CommandGenericHID {
    * @return an event instance representing the button's digital signal attached to the given loop.
    */
   public Trigger button(int button, EventLoop loop) {
-    return new Trigger(loop, () -> m_hid.getRawButton(button));
+    var cache = m_buttonCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(button, k -> new Trigger(loop, () -> m_hid.getRawButton(k)));
   }
 
   /**
@@ -85,7 +95,10 @@ public class CommandGenericHID {
    * @return a Trigger instance based around this angle of a POV on the HID.
    */
   public Trigger pov(int pov, int angle, EventLoop loop) {
-    return new Trigger(loop, () -> m_hid.getPOV(pov) == angle);
+    var cache = m_povCache.computeIfAbsent(loop, k -> new HashMap<>());
+    // angle can be -1, so use 3600 instead of 360
+    return cache.computeIfAbsent(
+        pov * 3600 + angle, k -> new Trigger(loop, () -> m_hid.getPOV(pov) == angle));
   }
 
   /**
@@ -212,7 +225,9 @@ public class CommandGenericHID {
    *     threshold.
    */
   public Trigger axisLessThan(int axis, double threshold, EventLoop loop) {
-    return m_hid.axisLessThan(axis, threshold, loop).castTo(Trigger::new);
+    var cache = m_axisLessThanCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(
+        Pair.of(axis, threshold), k -> new Trigger(loop, () -> getRawAxis(axis) < threshold));
   }
 
   /**
@@ -240,7 +255,9 @@ public class CommandGenericHID {
    *     threshold.
    */
   public Trigger axisGreaterThan(int axis, double threshold, EventLoop loop) {
-    return m_hid.axisGreaterThan(axis, threshold, loop).castTo(Trigger::new);
+    var cache = m_axisGreaterThanCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(
+        Pair.of(axis, threshold), k -> new Trigger(loop, () -> getRawAxis(axis) > threshold));
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
index f9936096c4..647369f401 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
@@ -55,7 +55,7 @@ public class CommandJoystick extends CommandGenericHID {
    *     given loop.
    */
   public Trigger trigger(EventLoop loop) {
-    return m_hid.trigger(loop).castTo(Trigger::new);
+    return button(Joystick.ButtonType.kTrigger.value, loop);
   }
 
   /**
@@ -77,7 +77,7 @@ public class CommandJoystick extends CommandGenericHID {
    *     loop.
    */
   public Trigger top(EventLoop loop) {
-    return m_hid.top(loop).castTo(Trigger::new);
+    return button(Joystick.ButtonType.kTop.value, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
index cfe12cd25d..b39d3d4838 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
@@ -13,7 +13,7 @@ frc::GenericHID& CommandGenericHID::GetHID() {
 }
 
 Trigger CommandGenericHID::Button(int button, frc::EventLoop* loop) const {
-  return m_hid.Button(button, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, button] { return m_hid.GetRawButton(button); });
 }
 
 Trigger CommandGenericHID::POV(int angle, frc::EventLoop* loop) const {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
index 03cb6d89d2..ae25fb05ea 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
@@ -14,11 +14,11 @@ frc::Joystick& CommandJoystick::GetHID() {
 }
 
 Trigger CommandJoystick::Trigger(frc::EventLoop* loop) const {
-  return m_hid.Trigger(loop).CastTo<class Trigger>();
+  return Button(frc::Joystick::ButtonType::kTriggerButton, loop);
 }
 
 Trigger CommandJoystick::Top(frc::EventLoop* loop) const {
-  return m_hid.Top(loop).CastTo<class Trigger>();
+  return Button(frc::Joystick::ButtonType::kTopButton, loop);
 }
 
 double CommandJoystick::GetMagnitude() const {
diff --git a/wpilibj/src/generate/hid.java.jinja b/wpilibj/src/generate/hid.java.jinja
index 3c78bd5a3d..48a3d67d43 100644
--- a/wpilibj/src/generate/hid.java.jinja
+++ b/wpilibj/src/generate/hid.java.jinja
@@ -133,7 +133,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
    *     threshold, attached to the given event loop
    */
   public BooleanEvent {{ trigger.name }}(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> get{{ capitalize_first(trigger.name) }}Axis() > threshold);
+    return axisGreaterThan(Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
   }
 
   /**
@@ -185,7 +185,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
    *     attached to the given loop.
    */
   public BooleanEvent {{ button.name }}(EventLoop loop) {
-    return new BooleanEvent(loop, this::get{{ capitalize_first(button.name) }}Button);
+    return button(Button.k{{ capitalize_first(button.name) }}.value, loop);
   }
 {% endfor -%}
 {% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
index ca8ae5058f..669cd65cfe 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
@@ -219,7 +219,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent square(EventLoop loop) {
-    return new BooleanEvent(loop, this::getSquareButton);
+    return button(Button.kSquare.value, loop);
   }
 
   /**
@@ -257,7 +257,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent cross(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCrossButton);
+    return button(Button.kCross.value, loop);
   }
 
   /**
@@ -295,7 +295,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent circle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCircleButton);
+    return button(Button.kCircle.value, loop);
   }
 
   /**
@@ -333,7 +333,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent triangle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTriangleButton);
+    return button(Button.kTriangle.value, loop);
   }
 
   /**
@@ -371,7 +371,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent L1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL1Button);
+    return button(Button.kL1.value, loop);
   }
 
   /**
@@ -409,7 +409,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent R1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR1Button);
+    return button(Button.kR1.value, loop);
   }
 
   /**
@@ -447,7 +447,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent L2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL2Button);
+    return button(Button.kL2.value, loop);
   }
 
   /**
@@ -485,7 +485,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent R2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR2Button);
+    return button(Button.kR2.value, loop);
   }
 
   /**
@@ -523,7 +523,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent share(EventLoop loop) {
-    return new BooleanEvent(loop, this::getShareButton);
+    return button(Button.kShare.value, loop);
   }
 
   /**
@@ -561,7 +561,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent options(EventLoop loop) {
-    return new BooleanEvent(loop, this::getOptionsButton);
+    return button(Button.kOptions.value, loop);
   }
 
   /**
@@ -599,7 +599,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent L3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL3Button);
+    return button(Button.kL3.value, loop);
   }
 
   /**
@@ -637,7 +637,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent R3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR3Button);
+    return button(Button.kR3.value, loop);
   }
 
   /**
@@ -675,7 +675,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent PS(EventLoop loop) {
-    return new BooleanEvent(loop, this::getPSButton);
+    return button(Button.kPS.value, loop);
   }
 
   /**
@@ -713,7 +713,7 @@ public class PS4Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent touchpad(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTouchpadButton);
+    return button(Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
index 26c747906f..52ca2e91d8 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
@@ -219,7 +219,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent square(EventLoop loop) {
-    return new BooleanEvent(loop, this::getSquareButton);
+    return button(Button.kSquare.value, loop);
   }
 
   /**
@@ -257,7 +257,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent cross(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCrossButton);
+    return button(Button.kCross.value, loop);
   }
 
   /**
@@ -295,7 +295,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent circle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCircleButton);
+    return button(Button.kCircle.value, loop);
   }
 
   /**
@@ -333,7 +333,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent triangle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTriangleButton);
+    return button(Button.kTriangle.value, loop);
   }
 
   /**
@@ -371,7 +371,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent L1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL1Button);
+    return button(Button.kL1.value, loop);
   }
 
   /**
@@ -409,7 +409,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent R1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR1Button);
+    return button(Button.kR1.value, loop);
   }
 
   /**
@@ -447,7 +447,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent L2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL2Button);
+    return button(Button.kL2.value, loop);
   }
 
   /**
@@ -485,7 +485,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent R2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR2Button);
+    return button(Button.kR2.value, loop);
   }
 
   /**
@@ -523,7 +523,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent create(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCreateButton);
+    return button(Button.kCreate.value, loop);
   }
 
   /**
@@ -561,7 +561,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent options(EventLoop loop) {
-    return new BooleanEvent(loop, this::getOptionsButton);
+    return button(Button.kOptions.value, loop);
   }
 
   /**
@@ -599,7 +599,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent L3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL3Button);
+    return button(Button.kL3.value, loop);
   }
 
   /**
@@ -637,7 +637,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent R3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR3Button);
+    return button(Button.kR3.value, loop);
   }
 
   /**
@@ -675,7 +675,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent PS(EventLoop loop) {
-    return new BooleanEvent(loop, this::getPSButton);
+    return button(Button.kPS.value, loop);
   }
 
   /**
@@ -713,7 +713,7 @@ public class PS5Controller extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent touchpad(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTouchpadButton);
+    return button(Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
index 3bcd395eb9..4434586191 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
@@ -197,7 +197,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent a(EventLoop loop) {
-    return new BooleanEvent(loop, this::getAButton);
+    return button(Button.kA.value, loop);
   }
 
   /**
@@ -235,7 +235,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent b(EventLoop loop) {
-    return new BooleanEvent(loop, this::getBButton);
+    return button(Button.kB.value, loop);
   }
 
   /**
@@ -273,7 +273,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent x(EventLoop loop) {
-    return new BooleanEvent(loop, this::getXButton);
+    return button(Button.kX.value, loop);
   }
 
   /**
@@ -311,7 +311,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent y(EventLoop loop) {
-    return new BooleanEvent(loop, this::getYButton);
+    return button(Button.kY.value, loop);
   }
 
   /**
@@ -349,7 +349,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent leftBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftBumperButton);
+    return button(Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -387,7 +387,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent rightBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightBumperButton);
+    return button(Button.kRightBumper.value, loop);
   }
 
   /**
@@ -425,7 +425,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent leftStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftStickButton);
+    return button(Button.kLeftStick.value, loop);
   }
 
   /**
@@ -463,7 +463,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent rightStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightStickButton);
+    return button(Button.kRightStick.value, loop);
   }
 
   /**
@@ -501,7 +501,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent ellipses(EventLoop loop) {
-    return new BooleanEvent(loop, this::getEllipsesButton);
+    return button(Button.kEllipses.value, loop);
   }
 
   /**
@@ -539,7 +539,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent hamburger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getHamburgerButton);
+    return button(Button.kHamburger.value, loop);
   }
 
   /**
@@ -577,7 +577,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent stadia(EventLoop loop) {
-    return new BooleanEvent(loop, this::getStadiaButton);
+    return button(Button.kStadia.value, loop);
   }
 
   /**
@@ -615,7 +615,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent rightTrigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightTriggerButton);
+    return button(Button.kRightTrigger.value, loop);
   }
 
   /**
@@ -653,7 +653,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent leftTrigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftTriggerButton);
+    return button(Button.kLeftTrigger.value, loop);
   }
 
   /**
@@ -691,7 +691,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent google(EventLoop loop) {
-    return new BooleanEvent(loop, this::getGoogleButton);
+    return button(Button.kGoogle.value, loop);
   }
 
   /**
@@ -729,7 +729,7 @@ public class StadiaController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent frame(EventLoop loop) {
-    return new BooleanEvent(loop, this::getFrameButton);
+    return button(Button.kFrame.value, loop);
   }
 
   /**
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
index 5dc2a0258f..2bc096f8ef 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -177,7 +177,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     threshold, attached to the given event loop
    */
   public BooleanEvent leftTrigger(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getLeftTriggerAxis() > threshold);
+    return axisGreaterThan(Axis.kLeftTrigger.value, threshold, loop);
   }
 
   /**
@@ -213,7 +213,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     threshold, attached to the given event loop
    */
   public BooleanEvent rightTrigger(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRightTriggerAxis() > threshold);
+    return axisGreaterThan(Axis.kRightTrigger.value, threshold, loop);
   }
 
   /**
@@ -263,7 +263,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent a(EventLoop loop) {
-    return new BooleanEvent(loop, this::getAButton);
+    return button(Button.kA.value, loop);
   }
 
   /**
@@ -301,7 +301,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent b(EventLoop loop) {
-    return new BooleanEvent(loop, this::getBButton);
+    return button(Button.kB.value, loop);
   }
 
   /**
@@ -339,7 +339,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent x(EventLoop loop) {
-    return new BooleanEvent(loop, this::getXButton);
+    return button(Button.kX.value, loop);
   }
 
   /**
@@ -377,7 +377,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent y(EventLoop loop) {
-    return new BooleanEvent(loop, this::getYButton);
+    return button(Button.kY.value, loop);
   }
 
   /**
@@ -415,7 +415,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent leftBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftBumperButton);
+    return button(Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -453,7 +453,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent rightBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightBumperButton);
+    return button(Button.kRightBumper.value, loop);
   }
 
   /**
@@ -491,7 +491,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent back(EventLoop loop) {
-    return new BooleanEvent(loop, this::getBackButton);
+    return button(Button.kBack.value, loop);
   }
 
   /**
@@ -529,7 +529,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent start(EventLoop loop) {
-    return new BooleanEvent(loop, this::getStartButton);
+    return button(Button.kStart.value, loop);
   }
 
   /**
@@ -567,7 +567,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent leftStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftStickButton);
+    return button(Button.kLeftStick.value, loop);
   }
 
   /**
@@ -605,7 +605,7 @@ public class XboxController extends GenericHID implements Sendable {
    *     attached to the given loop.
    */
   public BooleanEvent rightStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightStickButton);
+    return button(Button.kRightStick.value, loop);
   }
 
   /**
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 ceb00a780b..ba48da1662 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.DriverStationJNI;
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.Pair;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import java.util.HashMap;
@@ -97,6 +98,12 @@ public class GenericHID {
   private int m_outputs;
   private int m_leftRumble;
   private int m_rightRumble;
+  private final Map<EventLoop, Map<Integer, BooleanEvent>> m_buttonCache = new HashMap<>();
+  private final Map<EventLoop, Map<Pair<Integer, Double>, BooleanEvent>> m_axisLessThanCache =
+      new HashMap<>();
+  private final Map<EventLoop, Map<Pair<Integer, Double>, BooleanEvent>> m_axisGreaterThanCache =
+      new HashMap<>();
+  private final Map<EventLoop, Map<Integer, BooleanEvent>> m_povCache = new HashMap<>();
 
   /**
    * Construct an instance of a device.
@@ -159,7 +166,10 @@ public class GenericHID {
    * @return an event instance representing the button's digital signal attached to the given loop.
    */
   public BooleanEvent button(int button, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRawButton(button));
+    synchronized (m_buttonCache) {
+      var cache = m_buttonCache.computeIfAbsent(loop, k -> new HashMap<>());
+      return cache.computeIfAbsent(button, k -> new BooleanEvent(loop, () -> getRawButton(k)));
+    }
   }
 
   /**
@@ -223,7 +233,12 @@ public class GenericHID {
    * @return a BooleanEvent instance based around this angle of a POV on the HID.
    */
   public BooleanEvent pov(int pov, int angle, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getPOV(pov) == angle);
+    synchronized (m_povCache) {
+      var cache = m_povCache.computeIfAbsent(loop, k -> new HashMap<>());
+      // angle can be -1, so use 3600 instead of 360
+      return cache.computeIfAbsent(
+          pov * 3600 + angle, k -> new BooleanEvent(loop, () -> getPOV(pov) == angle));
+    }
   }
 
   /**
@@ -335,7 +350,12 @@ public class GenericHID {
    * @return an event instance that is true when the axis value is less than the provided threshold.
    */
   public BooleanEvent axisLessThan(int axis, double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRawAxis(axis) < threshold);
+    synchronized (m_axisLessThanCache) {
+      var cache = m_axisLessThanCache.computeIfAbsent(loop, k -> new HashMap<>());
+      return cache.computeIfAbsent(
+          Pair.of(axis, threshold),
+          k -> new BooleanEvent(loop, () -> getRawAxis(axis) < threshold));
+    }
   }
 
   /**
@@ -349,7 +369,12 @@ public class GenericHID {
    *     threshold.
    */
   public BooleanEvent axisGreaterThan(int axis, double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRawAxis(axis) > threshold);
+    synchronized (m_axisGreaterThanCache) {
+      var cache = m_axisGreaterThanCache.computeIfAbsent(loop, k -> new HashMap<>());
+      return cache.computeIfAbsent(
+          Pair.of(axis, threshold),
+          k -> new BooleanEvent(loop, () -> getRawAxis(axis) > threshold));
+    }
   }
 
   /**
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 5536009e32..08eebeef7d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
@@ -261,7 +261,7 @@ public class Joystick extends GenericHID {
    *     given loop.
    */
   public BooleanEvent trigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTrigger);
+    return button(ButtonType.kTrigger.value, loop);
   }
 
   /**
@@ -299,7 +299,7 @@ public class Joystick extends GenericHID {
    *     loop.
    */
   public BooleanEvent top(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTop);
+    return button(ButtonType.kTop.value, loop);
   }
 
   /**