diff --git a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
index 5b8ce63d68..fd9c831fe9 100644
--- a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
@@ -7,56 +7,61 @@
 using namespace frc;
 
 BooleanEvent::BooleanEvent(EventLoop* loop, std::function<bool()> condition)
-    : m_loop(loop), m_condition(std::move(condition)) {}
+    : m_loop(loop), m_condition(std::move(condition)) {
+  m_state = std::make_shared<bool>(m_condition());
+  m_loop->Bind(
+      // NOLINTNEXTLINE(clang-analyzer-cplusplus.NewDeleteLeaks)
+      [condition = m_condition, state = m_state] { *state = condition(); });
+}
 
 BooleanEvent::operator std::function<bool()>() {
-  return m_condition;
+  return [state = m_state] { return *state; };
 }
 
 bool BooleanEvent::GetAsBoolean() const {
-  return m_condition();
+  return *m_state;
 }
 
 void BooleanEvent::IfHigh(std::function<void()> action) {
-  m_loop->Bind([condition = m_condition, action = std::move(action)] {
-    if (condition()) {
+  m_loop->Bind([state = m_state, action = std::move(action)] {
+    if (*state) {
       action();
     }
   });
 }
 
 BooleanEvent BooleanEvent::operator!() {
-  return BooleanEvent(this->m_loop, [lhs = m_condition] { return !lhs(); });
+  return BooleanEvent(this->m_loop, [state = m_state] { return !*state; });
 }
 
 BooleanEvent BooleanEvent::operator&&(std::function<bool()> rhs) {
   return BooleanEvent(this->m_loop,
-                      [lhs = m_condition, rhs] { return lhs() && rhs(); });
+                      [state = m_state, rhs] { return *state && rhs(); });
 }
 
 BooleanEvent BooleanEvent::operator||(std::function<bool()> rhs) {
   return BooleanEvent(this->m_loop,
-                      [lhs = m_condition, rhs] { return lhs() || rhs(); });
+                      [state = m_state, rhs] { return *state || rhs(); });
 }
 
 BooleanEvent BooleanEvent::Rising() {
-  return BooleanEvent(
-      this->m_loop, [lhs = m_condition, m_previous = m_condition()]() mutable {
-        bool present = lhs();
-        bool past = m_previous;
-        m_previous = present;
-        return !past && present;
-      });
+  return BooleanEvent(this->m_loop,
+                      [state = m_state, m_previous = *m_state]() mutable {
+                        bool present = *state;
+                        bool past = m_previous;
+                        m_previous = present;
+                        return !past && present;
+                      });
 }
 
 BooleanEvent BooleanEvent::Falling() {
-  return BooleanEvent(
-      this->m_loop, [lhs = m_condition, m_previous = m_condition()]() mutable {
-        bool present = lhs();
-        bool past = m_previous;
-        m_previous = present;
-        return past && !present;
-      });
+  return BooleanEvent(this->m_loop,
+                      [state = m_state, m_previous = *m_state]() mutable {
+                        bool present = *state;
+                        bool past = m_previous;
+                        m_previous = present;
+                        return past && !present;
+                      });
 }
 
 BooleanEvent BooleanEvent::Debounce(units::second_t debounceTime,
@@ -64,5 +69,5 @@ BooleanEvent BooleanEvent::Debounce(units::second_t debounceTime,
   return BooleanEvent(
       this->m_loop,
       [debouncer = frc::Debouncer(debounceTime, type),
-       lhs = m_condition]() mutable { return debouncer.Calculate(lhs()); });
+       state = m_state]() mutable { return debouncer.Calculate(*state); });
 }
diff --git a/wpilibc/src/main/native/include/frc/event/BooleanEvent.h b/wpilibc/src/main/native/include/frc/event/BooleanEvent.h
index 745a53c095..7c19c90e8b 100644
--- a/wpilibc/src/main/native/include/frc/event/BooleanEvent.h
+++ b/wpilibc/src/main/native/include/frc/event/BooleanEvent.h
@@ -40,9 +40,10 @@ class BooleanEvent {
   BooleanEvent(EventLoop* loop, std::function<bool()> condition);
 
   /**
-   * Check whether this event is active or not.
+   * Check whether this event is active or not as of the last loop poll.
    *
-   * @return true if active.
+   * @return true if active, false if not active. If the event was never polled,
+   * it returns the state at event construction.
    */
   bool GetAsBoolean() const;
 
@@ -69,7 +70,7 @@ class BooleanEvent {
                [](EventLoop* loop, std::function<bool()> condition) {
                  return T(loop, condition);
                }) {
-    return ctor(m_loop, m_condition);
+    return ctor(m_loop, [state = m_state] { return *state; });
   }
 
   /**
@@ -84,7 +85,8 @@ class BooleanEvent {
    * Composes this event with another event, returning a new event that is
    * active when both events are active.
    *
-   * <p>The new event will use this event's polling loop.
+   * <p>The events must use the same event loop. If the events use different
+   * event loops, the composed signal won't update until both loops are polled.
    *
    * @param rhs the event to compose with
    * @return the event that is active when both events are active
@@ -95,7 +97,8 @@ class BooleanEvent {
    * Composes this event with another event, returning a new event that is
    * active when either event is active.
    *
-   * <p>The new event will use this event's polling loop.
+   * <p>The events must use the same event loop. If the events use different
+   * event loops, the composed signal won't update until both loops are polled.
    *
    * @param rhs the event to compose with
    * @return the event that is active when either event is active
@@ -131,5 +134,6 @@ class BooleanEvent {
  private:
   EventLoop* m_loop;
   std::function<bool()> m_condition;
+  std::shared_ptr<bool> m_state;  // A programmer's worst nightmare.
 };
 }  // namespace frc
diff --git a/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
new file mode 100644
index 0000000000..28209b4e7f
--- /dev/null
+++ b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
@@ -0,0 +1,487 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <atomic>
+
+#include <gtest/gtest.h>
+
+#include "frc/event/BooleanEvent.h"
+#include "frc/event/EventLoop.h"
+
+using namespace frc;
+
+TEST(BooleanEventTest, BinaryCompositions) {
+  EventLoop loop;
+  int andCounter = 0;
+  int orCounter = 0;
+
+  EXPECT_EQ(0, andCounter);
+  EXPECT_EQ(0, orCounter);
+
+  (BooleanEvent(&loop, [] { return true; }) && BooleanEvent(&loop, [] {
+     return false;
+   })).IfHigh([&] { ++andCounter; });
+  (BooleanEvent(&loop, [] { return true; }) || BooleanEvent(&loop, [] {
+     return false;
+   })).IfHigh([&] { ++orCounter; });
+
+  loop.Poll();
+
+  EXPECT_EQ(0, andCounter);
+  EXPECT_EQ(1, orCounter);
+}
+
+/**
+ * Tests that composed edge events only execute on edges (two
+ * rising edge events composed with and() should only execute when both signals
+ * are on the rising edge)
+ */
+TEST(BooleanEventTest, BinaryCompositionsWithEdgeDecorators) {
+  EventLoop loop;
+  bool boolean1 = false;
+  bool boolean2 = false;
+  bool boolean3 = false;
+  bool boolean4 = false;
+  int counter = 0;
+
+  auto event1 = BooleanEvent(&loop, [&] { return boolean1; }).Rising();
+  auto event2 = BooleanEvent(&loop, [&] { return boolean2; }).Rising();
+  auto event3 = BooleanEvent(&loop, [&] { return boolean3; }).Rising();
+  auto event4 = BooleanEvent(&loop, [&] { return boolean4; }).Rising();
+  (event1 && event2).IfHigh([&] { ++counter; });
+  (event3 || event4).IfHigh([&] { ++counter; });
+  EXPECT_EQ(0, counter);
+
+  boolean1 = true;
+  boolean2 = true;
+  boolean3 = true;
+  boolean4 = true;
+  loop.Poll();  // Both actions execute
+
+  EXPECT_EQ(2, counter);
+
+  loop.Poll();  // Nothing should happen since nothing is on rising edge
+
+  EXPECT_EQ(2, counter);
+
+  boolean1 = false;
+  boolean2 = false;
+  boolean3 = false;
+  boolean4 = false;
+  loop.Poll();  // Nothing should happen
+
+  EXPECT_EQ(2, counter);
+
+  boolean1 = true;
+  loop.Poll();  // Nothing should happen since only Bool 1 is on rising edge
+
+  EXPECT_EQ(2, counter);
+
+  boolean2 = true;
+  loop.Poll();  // Bool 2 is on rising edge, but Bool 1 isn't, nothing should
+                // happen
+
+  EXPECT_EQ(2, counter);
+
+  boolean1 = false;
+  boolean2 = false;
+  loop.Poll();  // Nothing should happen
+
+  EXPECT_EQ(2, counter);
+
+  boolean1 = true;
+  boolean2 = true;
+  loop.Poll();  // Bool 1 and 2 are on rising edge, increments counter once
+
+  EXPECT_EQ(3, counter);
+
+  boolean3 = true;
+  loop.Poll();  // Bool 3 is on rising edge, increments counter once
+
+  EXPECT_EQ(4, counter);
+
+  loop.Poll();  // Nothing should happen, Bool 3 isn't on rising edge
+
+  EXPECT_EQ(4, counter);
+
+  boolean4 = true;
+  loop.Poll();  // Bool 4 is on rising edge, increments counter once
+
+  EXPECT_EQ(5, counter);
+
+  loop.Poll();  // Nothing should happen, Bool 4 isn't on rising edge
+
+  EXPECT_EQ(5, counter);
+}
+
+TEST(BooleanEventTest, BinaryCompositionLoopSemantics) {
+  EventLoop loop1;
+  EventLoop loop2;
+  bool boolean1 = true;
+  bool boolean2 = true;
+  int counter1 = 0;
+  int counter2 = 0;
+
+  (BooleanEvent(&loop1, [&] { return boolean1; }) && BooleanEvent(&loop2, [&] {
+     return boolean2;
+   })).IfHigh([&] { ++counter1; });
+  (BooleanEvent(&loop2, [&] { return boolean2; }) && BooleanEvent(&loop1, [&] {
+     return boolean1;
+   })).IfHigh([&] { ++counter2; });
+
+  EXPECT_EQ(0, counter1);
+  EXPECT_EQ(0, counter2);
+
+  loop1
+      .Poll();  // 1st event executes, Bool 1 and 2 are true, increments counter
+
+  EXPECT_EQ(1, counter1);
+  EXPECT_EQ(0, counter2);
+
+  loop2
+      .Poll();  // 2nd event executes, Bool 1 and 2 are true, increments counter
+
+  EXPECT_EQ(1, counter1);
+  EXPECT_EQ(1, counter2);
+
+  boolean2 = false;
+  loop1.Poll();  // 1st event executes, Bool 2 is still true because loop 2
+                 // hasn't updated it, increments counter
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(1, counter2);
+
+  loop2.Poll();  // 2nd event executes, Bool 2 is now false because this loop
+                 // updated it, does nothing
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(1, counter2);
+
+  loop1.Poll();  // All bools are updated at this point, nothing should happen
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(1, counter2);
+
+  boolean2 = true;
+  loop2.Poll();  // 2nd event executes, Bool 2 is true because this loop updated
+                 // it, increments counter
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(2, counter2);
+
+  loop1.Poll();  // 1st event executes, Bool 2 is true because loop 2 updated
+                 // it, increments counter
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(2, counter2);
+
+  boolean1 = false;
+  loop2.Poll();  // 2nd event executes, Bool 1 is still true because loop 1
+                 // hasn't updated it, increments counter
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(3, counter2);
+
+  loop1.Poll();  // 1st event executes, Bool 1 is false because this loop
+                 // updated it, does nothing
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(3, counter2);
+
+  loop2.Poll();  // All bools are updated at this point, nothing should happen
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(3, counter2);
+}
+
+/** Tests the order of actions bound to an event loop. */
+TEST(BooleanEventTest, PollOrdering) {
+  EventLoop loop;
+  bool boolean1 = true;
+  bool boolean2 = true;
+  bool enableAssert = false;
+  int counter = 0;
+
+  (BooleanEvent(  // This event binds an action to the event loop first
+       &loop,
+       [&] {
+         if (enableAssert) {
+           ++counter;
+           EXPECT_EQ(1, counter % 3);
+         }
+         return boolean1;
+       }) &&  // The composed event binds an action to the event loop third
+              // This event binds an action to the event loop second
+   BooleanEvent(&loop, [&] {
+     if (enableAssert) {
+       ++counter;
+       EXPECT_EQ(2, counter % 3);
+     }
+     return boolean2;
+     // This binds an action to the event loop fourth
+   })).IfHigh([&] {
+    if (enableAssert) {
+      ++counter;
+      EXPECT_EQ(0, counter % 3);
+    }
+  });
+  enableAssert = true;
+  loop.Poll();
+  loop.Poll();
+  loop.Poll();
+  loop.Poll();
+}
+
+TEST(BooleanEventTest, EdgeDecorators) {
+  EventLoop loop;
+  bool boolean = false;
+  int counter = 0;
+
+  BooleanEvent(&loop, [&] { return boolean; }).Falling().IfHigh([&] {
+    --counter;
+  });
+  BooleanEvent(&loop, [&] { return boolean; }).Rising().IfHigh([&] {
+    ++counter;
+  });
+
+  EXPECT_EQ(0, counter);
+
+  boolean = false;
+  loop.Poll();
+
+  EXPECT_EQ(0, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(1, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(1, counter);
+
+  boolean = false;
+  loop.Poll();
+
+  EXPECT_EQ(0, counter);
+}
+
+/**
+ * Tests that binding actions to the same edge event will result in all actions
+ * executing.
+ */
+TEST(BooleanEventTest, EdgeReuse) {
+  EventLoop loop;
+  bool boolean = false;
+  int counter = 0;
+
+  auto event = BooleanEvent(&loop, [&] { return boolean; }).Rising();
+  event.IfHigh([&] { ++counter; });
+  event.IfHigh([&] { ++counter; });
+
+  EXPECT_EQ(0, counter);
+
+  loop.Poll();
+
+  EXPECT_EQ(0, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  boolean = false;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(4, counter);
+}
+
+/**
+ * Tests that all actions execute on separate edge events constructed from the
+ * original event.
+ */
+TEST(BooleanEventTest, EdgeReconstruct) {
+  EventLoop loop;
+  bool boolean = false;
+  int counter = 0;
+
+  auto event = BooleanEvent(&loop, [&] { return boolean; });
+  event.Rising().IfHigh([&] { ++counter; });
+  event.Rising().IfHigh([&] { ++counter; });
+
+  EXPECT_EQ(0, counter);
+
+  loop.Poll();
+
+  EXPECT_EQ(0, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  boolean = false;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(4, counter);
+}
+
+/** Tests that all actions bound to an event will still execute even if the
+ * signal is changed during the loop poll */
+TEST(BooleanEventTest, MidLoopBooleanChange) {
+  EventLoop loop;
+  bool boolean = false;
+  int counter = 0;
+
+  auto event = BooleanEvent(&loop, [&] { return boolean; }).Rising();
+  event.IfHigh([&] {
+    boolean = false;
+    ++counter;
+  });
+  event.IfHigh([&] { ++counter; });
+
+  EXPECT_EQ(0, counter);
+
+  loop.Poll();
+
+  EXPECT_EQ(0, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  boolean = false;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(4, counter);
+}
+
+/**
+ * Tests that all actions bound to composed events will still execute even if
+ * the composed signal changes during the loop poll.
+ */
+TEST(BooleanEventTest, MidLoopBooleanChangeWithComposedEvents) {
+  EventLoop loop;
+  bool boolean1 = false;
+  bool boolean2 = false;
+  bool boolean3 = false;
+  bool boolean4 = false;
+  int counter = 0;
+
+  auto event1 = BooleanEvent(&loop, [&] { return boolean1; });
+  auto event2 = BooleanEvent(&loop, [&] { return boolean2; });
+  auto event3 = BooleanEvent(&loop, [&] { return boolean3; });
+  auto event4 = BooleanEvent(&loop, [&] { return boolean4; });
+  event1.IfHigh([&] {
+    boolean2 = false;
+    boolean3 = false;
+    ++counter;
+  });
+  (event3 || event4).IfHigh([&] {
+    boolean1 = false;
+    ++counter;
+  });
+  (event1 && event2).IfHigh([&] {
+    boolean4 = false;
+    ++counter;
+  });
+
+  EXPECT_EQ(0, counter);
+
+  boolean1 = true;
+  boolean2 = true;
+  boolean3 = true;
+  boolean4 = true;
+  loop.Poll();  // All three actions execute, incrementing the counter three
+                // times and setting all booleans to false
+
+  EXPECT_EQ(3, counter);
+
+  loop.Poll();  // Nothing should happen since everything was set to false
+
+  EXPECT_EQ(3, counter);
+
+  boolean1 = true;
+  boolean2 = true;
+  loop.Poll();  // Bool 1 and 2 are true, increments counter twice, Bool 2 gets
+                // set to false
+
+  EXPECT_EQ(5, counter);
+
+  boolean1 = false;
+  loop.Poll();  // Nothing should happen
+
+  EXPECT_EQ(5, counter);
+
+  boolean1 = true;
+  boolean3 = true;
+  loop.Poll();  // Bool 1 and 3 are true, increments counter twice, Bool 3 gets
+                // set to false
+
+  EXPECT_EQ(7, counter);
+
+  boolean1 = false;
+  boolean4 = true;
+  loop.Poll();  // Bool 4 is true, increments counter once
+
+  EXPECT_EQ(8, counter);
+}
+
+TEST(BooleanEventTest, Negation) {
+  EventLoop loop;
+  bool boolean = false;
+  int counter = 0;
+
+  (!BooleanEvent(&loop, [&] { return boolean; })).IfHigh([&] { ++counter; });
+
+  EXPECT_EQ(0, counter);
+
+  loop.Poll();
+
+  EXPECT_EQ(1, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(1, counter);
+
+  boolean = false;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+
+  boolean = true;
+  loop.Poll();
+
+  EXPECT_EQ(2, counter);
+}
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java
index 0786f34d05..c8f58461c2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java
@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj.event;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.math.filter.Debouncer;
+import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.BiFunction;
 import java.util.function.BooleanSupplier;
 
@@ -28,6 +29,9 @@ public class BooleanEvent implements BooleanSupplier {
   /** Condition. */
   private final BooleanSupplier m_signal;
 
+  /** The state of the condition in the current loop poll. Nightmare to manage. */
+  private final AtomicBoolean m_state = new AtomicBoolean(false);
+
   /**
    * Creates a new event with the given signal determining whether it is active.
    *
@@ -37,16 +41,19 @@ public class BooleanEvent implements BooleanSupplier {
   public BooleanEvent(EventLoop loop, BooleanSupplier signal) {
     m_loop = requireNonNullParam(loop, "loop", "BooleanEvent");
     m_signal = requireNonNullParam(signal, "signal", "BooleanEvent");
+    m_state.set(m_signal.getAsBoolean());
+    m_loop.bind(() -> m_state.set(m_signal.getAsBoolean()));
   }
 
   /**
-   * Check the state of this signal (high or low).
+   * Check the state of this signal (high or low) as of the last loop poll.
    *
-   * @return true for the high state, false for the low state.
+   * @return true for the high state, false for the low state. If the event was never polled, it
+   *     returns the state at event construction.
    */
   @Override
   public final boolean getAsBoolean() {
-    return m_signal.getAsBoolean();
+    return m_state.get();
   }
 
   /**
@@ -57,7 +64,7 @@ public class BooleanEvent implements BooleanSupplier {
   public final void ifHigh(Runnable action) {
     m_loop.bind(
         () -> {
-          if (m_signal.getAsBoolean()) {
+          if (m_state.get()) {
             action.run();
           }
         });
@@ -72,11 +79,11 @@ public class BooleanEvent implements BooleanSupplier {
     return new BooleanEvent(
         m_loop,
         new BooleanSupplier() {
-          private boolean m_previous = m_signal.getAsBoolean();
+          private boolean m_previous = m_state.get();
 
           @Override
           public boolean getAsBoolean() {
-            boolean present = m_signal.getAsBoolean();
+            boolean present = m_state.get();
             boolean ret = !m_previous && present;
             m_previous = present;
             return ret;
@@ -93,11 +100,11 @@ public class BooleanEvent implements BooleanSupplier {
     return new BooleanEvent(
         m_loop,
         new BooleanSupplier() {
-          private boolean m_previous = m_signal.getAsBoolean();
+          private boolean m_previous = m_state.get();
 
           @Override
           public boolean getAsBoolean() {
-            boolean present = m_signal.getAsBoolean();
+            boolean present = m_state.get();
             boolean ret = m_previous && !present;
             m_previous = present;
             return ret;
@@ -132,7 +139,7 @@ public class BooleanEvent implements BooleanSupplier {
 
           @Override
           public boolean getAsBoolean() {
-            return m_debouncer.calculate(m_signal.getAsBoolean());
+            return m_debouncer.calculate(m_state.get());
           }
         });
   }
@@ -144,35 +151,37 @@ public class BooleanEvent implements BooleanSupplier {
    * @return the negated event
    */
   public BooleanEvent negate() {
-    return new BooleanEvent(m_loop, () -> !m_signal.getAsBoolean());
+    return new BooleanEvent(m_loop, () -> !m_state.get());
   }
 
   /**
    * Composes this event with another event, returning a new signal that is in the high state when
    * both signals are in the high state.
    *
-   * <p>The new event will use this event's polling loop.
+   * <p>The events must use the same event loop. If the events use different event loops, the
+   * composed signal won't update until both loops are polled.
    *
    * @param other the event to compose with
    * @return the event that is active when both events are active
    */
   public BooleanEvent and(BooleanSupplier other) {
     requireNonNullParam(other, "other", "and");
-    return new BooleanEvent(m_loop, () -> m_signal.getAsBoolean() && other.getAsBoolean());
+    return new BooleanEvent(m_loop, () -> m_state.get() && other.getAsBoolean());
   }
 
   /**
    * Composes this event with another event, returning a new signal that is high when either signal
    * is high.
    *
-   * <p>The new event will use this event's polling loop.
+   * <p>The events must use the same event loop. If the events use different event loops, the
+   * composed signal won't update until both loops are polled.
    *
    * @param other the event to compose with
    * @return a signal that is high when either signal is high.
    */
   public BooleanEvent or(BooleanSupplier other) {
     requireNonNullParam(other, "other", "or");
-    return new BooleanEvent(m_loop, () -> m_signal.getAsBoolean() || other.getAsBoolean());
+    return new BooleanEvent(m_loop, () -> m_state.get() || other.getAsBoolean());
   }
 
   /**
@@ -185,6 +194,6 @@ public class BooleanEvent implements BooleanSupplier {
    * @return an instance of the subclass.
    */
   public <T extends BooleanSupplier> T castTo(BiFunction<EventLoop, BooleanSupplier, T> ctor) {
-    return ctor.apply(m_loop, m_signal);
+    return ctor.apply(m_loop, m_state::get);
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java
index 59caf23e5b..834a0ef3f2 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java
@@ -30,43 +30,218 @@ class BooleanEventTest {
     assertEquals(1, orCounter.get());
   }
 
+  /**
+   * Tests that composed edge events only execute on edges (two rising edge events composed with
+   * and() should only execute when both signals are on the rising edge).
+   */
+  @Test
+  void testBinaryCompositionsWithEdgeDecorators() {
+    var loop = new EventLoop();
+    var bool1 = new AtomicBoolean(false);
+    var bool2 = new AtomicBoolean(false);
+    var bool3 = new AtomicBoolean(false);
+    var bool4 = new AtomicBoolean(false);
+    var counter = new AtomicInteger(0);
+
+    var event1 = new BooleanEvent(loop, bool1::get).rising();
+    var event2 = new BooleanEvent(loop, bool2::get).rising();
+    var event3 = new BooleanEvent(loop, bool3::get).rising();
+    var event4 = new BooleanEvent(loop, bool4::get).rising();
+    event1.and(event2).ifHigh(counter::incrementAndGet);
+    event3.or(event4).ifHigh(counter::incrementAndGet);
+    assertEquals(0, counter.get());
+
+    bool1.set(true);
+    bool2.set(true);
+    bool3.set(true);
+    bool4.set(true);
+    loop.poll(); // Both actions execute
+
+    assertEquals(2, counter.get());
+
+    loop.poll(); // Nothing should happen since nothing is on rising edge
+
+    assertEquals(2, counter.get());
+
+    bool1.set(false);
+    bool2.set(false);
+    bool3.set(false);
+    bool4.set(false);
+    loop.poll(); // Nothing should happen
+
+    assertEquals(2, counter.get());
+
+    bool1.set(true);
+    loop.poll(); // Nothing should happen since only Bool 1 is on rising edge
+
+    assertEquals(2, counter.get());
+
+    bool2.set(true);
+    loop.poll(); // Bool 2 is on rising edge, but Bool 1 isn't, nothing should happen
+
+    assertEquals(2, counter.get());
+
+    bool1.set(false);
+    bool2.set(false);
+    loop.poll(); // Nothing should happen
+
+    assertEquals(2, counter.get());
+
+    bool1.set(true);
+    bool2.set(true);
+    loop.poll(); // Bool 1 and 2 are on rising edge, increments counter once
+
+    assertEquals(3, counter.get());
+
+    bool3.set(true);
+    loop.poll(); // Bool 3 is on rising edge, increments counter once
+
+    assertEquals(4, counter.get());
+
+    loop.poll(); // Nothing should happen, Bool 3 isn't on rising edge
+
+    assertEquals(4, counter.get());
+
+    bool4.set(true);
+    loop.poll(); // Bool 4 is on rising edge, increments counter once
+
+    assertEquals(5, counter.get());
+
+    loop.poll(); // Nothing should happen, Bool 4 isn't on rising edge
+
+    assertEquals(5, counter.get());
+  }
+
   @Test
   void testBinaryCompositionLoopSemantics() {
     var loop1 = new EventLoop();
     var loop2 = new EventLoop();
-
+    var bool1 = new AtomicBoolean(true);
+    var bool2 = new AtomicBoolean(true);
     var counter1 = new AtomicInteger(0);
     var counter2 = new AtomicInteger(0);
 
-    new BooleanEvent(loop1, () -> true)
-        .and(new BooleanEvent(loop2, () -> true))
+    new BooleanEvent(loop1, bool1::get)
+        .and(new BooleanEvent(loop2, bool2::get))
         .ifHigh(counter1::incrementAndGet);
 
-    new BooleanEvent(loop2, () -> true)
-        .and(new BooleanEvent(loop1, () -> true))
+    new BooleanEvent(loop2, bool2::get)
+        .and(new BooleanEvent(loop1, bool1::get))
         .ifHigh(counter2::incrementAndGet);
 
     assertEquals(0, counter1.get());
     assertEquals(0, counter2.get());
 
-    loop1.poll();
+    loop1.poll(); // 1st event executes, Bool 1 and 2 are true, increments counter
 
     assertEquals(1, counter1.get());
     assertEquals(0, counter2.get());
 
-    loop2.poll();
+    loop2.poll(); // 2nd event executes, Bool 1 and 2 are true, increments counter
 
     assertEquals(1, counter1.get());
     assertEquals(1, counter2.get());
+
+    bool2.set(false);
+    loop1.poll(); // 1st event executes, Bool 2 is still true because loop 2 hasn't updated it,
+    // increments counter
+
+    assertEquals(2, counter1.get());
+    assertEquals(1, counter2.get());
+
+    loop2.poll(); // 2nd event executes, Bool 2 is now false because this loop updated it, does
+    // nothing
+
+    assertEquals(2, counter1.get());
+    assertEquals(1, counter2.get());
+
+    loop1.poll(); // All bools are updated at this point, nothing should happen
+
+    assertEquals(2, counter1.get());
+    assertEquals(1, counter2.get());
+
+    bool2.set(true);
+    loop2.poll(); // 2nd event executes, Bool 2 is true because this loop updated it, increments
+    // counter
+
+    assertEquals(2, counter1.get());
+    assertEquals(2, counter2.get());
+
+    loop1
+        .poll(); // 1st event executes, Bool 2 is true because loop 2 updated it, increments counter
+
+    assertEquals(3, counter1.get());
+    assertEquals(2, counter2.get());
+
+    bool1.set(false);
+    loop2.poll(); // 2nd event executes, Bool 1 is still true because loop 1 hasn't updated it,
+    // increments counter
+
+    assertEquals(3, counter1.get());
+    assertEquals(3, counter2.get());
+
+    loop1.poll(); // 1st event executes, Bool 1 is false because this loop updated it, does nothing
+
+    assertEquals(3, counter1.get());
+    assertEquals(3, counter2.get());
+
+    loop2.poll(); // All bools are updated at this point, nothing should happen
+
+    assertEquals(3, counter1.get());
+    assertEquals(3, counter2.get());
+  }
+
+  /** Tests the order of actions bound to an event loop. */
+  @Test
+  void testPollOrdering() {
+    var loop = new EventLoop();
+    var bool1 = new AtomicBoolean(true);
+    var bool2 = new AtomicBoolean(true);
+    var enableAssert = new AtomicBoolean(false);
+    var counter = new AtomicInteger(0);
+    // This event binds an action to the event loop first
+    new BooleanEvent(
+            loop,
+            () -> {
+              if (enableAssert.get()) {
+                counter.incrementAndGet();
+                assertEquals(1, counter.get() % 3);
+              }
+              return bool1.get();
+            })
+        // The composed event binds an action to the event loop third
+        .and(
+            // This event binds an action to the event loop second
+            new BooleanEvent(
+                loop,
+                () -> {
+                  if (enableAssert.get()) {
+                    counter.incrementAndGet();
+                    assertEquals(2, counter.get() % 3);
+                  }
+                  return bool2.get();
+                }))
+        // This binds an action to the event loop fourth
+        .ifHigh(
+            () -> {
+              if (enableAssert.get()) {
+                counter.incrementAndGet();
+                assertEquals(0, counter.get() % 3);
+              }
+            });
+    enableAssert.set(true);
+    loop.poll();
+    loop.poll();
+    loop.poll();
+    loop.poll();
   }
 
   @Test
   void testEdgeDecorators() {
+    var loop = new EventLoop();
     var bool = new AtomicBoolean(false);
     var counter = new AtomicInteger(0);
 
-    var loop = new EventLoop();
-
     new BooleanEvent(loop, bool::get).falling().ifHigh(counter::decrementAndGet);
     new BooleanEvent(loop, bool::get).rising().ifHigh(counter::incrementAndGet);
 
@@ -93,6 +268,7 @@ class BooleanEventTest {
     assertEquals(0, counter.get());
   }
 
+  /** Tests that binding actions to the same edge event will result in all actions executing. */
   @Test
   void testEdgeReuse() {
     var loop = new EventLoop();
@@ -112,23 +288,24 @@ class BooleanEventTest {
     bool.set(true);
     loop.poll();
 
-    assertEquals(1, counter.get()); // FIXME?: natural sense dictates counter == 2!!
+    assertEquals(2, counter.get());
 
     loop.poll();
 
-    assertEquals(1, counter.get());
+    assertEquals(2, counter.get());
 
     bool.set(false);
     loop.poll();
 
-    assertEquals(1, counter.get());
+    assertEquals(2, counter.get());
 
     bool.set(true);
     loop.poll();
 
-    assertEquals(2, counter.get());
+    assertEquals(4, counter.get());
   }
 
+  /** Tests that all actions execute on separate edge events constructed from the original event. */
   @Test
   void testEdgeReconstruct() {
     var loop = new EventLoop();
@@ -148,8 +325,7 @@ class BooleanEventTest {
     bool.set(true);
     loop.poll();
 
-    // unlike the previous test ...
-    assertEquals(2, counter.get()); // as natural sense dictates, counter == 2
+    assertEquals(2, counter.get());
 
     loop.poll();
 
@@ -165,4 +341,155 @@ class BooleanEventTest {
 
     assertEquals(4, counter.get());
   }
+
+  /**
+   * Tests that all actions bound to an event will still execute even if the signal is changed
+   * during the loop poll.
+   */
+  @Test
+  void testMidLoopBooleanChange() {
+    var loop = new EventLoop();
+    var bool = new AtomicBoolean(false);
+    var counter = new AtomicInteger(0);
+
+    var event = new BooleanEvent(loop, bool::get).rising();
+    event.ifHigh(
+        () -> {
+          bool.set(false);
+          counter.incrementAndGet();
+        });
+    event.ifHigh(counter::incrementAndGet);
+
+    assertEquals(0, counter.get());
+
+    loop.poll();
+
+    assertEquals(0, counter.get());
+
+    bool.set(true);
+    loop.poll();
+
+    assertEquals(2, counter.get());
+
+    loop.poll();
+
+    assertEquals(2, counter.get());
+
+    bool.set(false);
+    loop.poll();
+
+    assertEquals(2, counter.get());
+
+    bool.set(true);
+    loop.poll();
+
+    assertEquals(4, counter.get());
+  }
+
+  /**
+   * Tests that all actions bound to composed events will still execute even if the composed signal
+   * changes during the loop poll.
+   */
+  @Test
+  void testMidLoopBooleanChangeWithComposedEvents() {
+    var loop = new EventLoop();
+    var bool1 = new AtomicBoolean(false);
+    var bool2 = new AtomicBoolean(false);
+    var bool3 = new AtomicBoolean(false);
+    var bool4 = new AtomicBoolean(false);
+    var counter = new AtomicInteger(0);
+
+    var event1 = new BooleanEvent(loop, bool1::get);
+    var event2 = new BooleanEvent(loop, bool2::get);
+    var event3 = new BooleanEvent(loop, bool3::get);
+    var event4 = new BooleanEvent(loop, bool4::get);
+    event1.ifHigh(
+        () -> {
+          bool2.set(false);
+          bool3.set(false);
+          counter.incrementAndGet();
+        });
+    event3
+        .or(event4)
+        .ifHigh(
+            () -> {
+              bool1.set(false);
+              counter.incrementAndGet();
+            });
+    event1
+        .and(event2)
+        .ifHigh(
+            () -> {
+              bool4.set(false);
+              counter.incrementAndGet();
+            });
+
+    assertEquals(0, counter.get());
+
+    bool1.set(true);
+    bool2.set(true);
+    bool3.set(true);
+    bool4.set(true);
+    loop.poll(); // All three actions execute, incrementing the counter three times and setting all
+    // booleans to false
+
+    assertEquals(3, counter.get());
+
+    loop.poll(); // Nothing should happen since everything was set to false
+
+    assertEquals(3, counter.get());
+
+    bool1.set(true);
+    bool2.set(true);
+    loop.poll(); // Bool 1 and 2 are true, increments counter twice, Bool 2 gets set to false
+
+    assertEquals(5, counter.get());
+
+    bool1.set(false);
+    loop.poll(); // Nothing should happen
+
+    assertEquals(5, counter.get());
+
+    bool1.set(true);
+    bool3.set(true);
+    loop.poll(); // Bool 1 and 3 are true, increments counter twice, Bool 3 gets set to false
+
+    assertEquals(7, counter.get());
+
+    bool1.set(false);
+    bool4.set(true);
+    loop.poll(); // Bool 4 is true, increments counter once
+
+    assertEquals(8, counter.get());
+  }
+
+  @Test
+  void testNegation() {
+    var loop = new EventLoop();
+    var bool = new AtomicBoolean(false);
+    var counter = new AtomicInteger(0);
+
+    new BooleanEvent(loop, bool::get).negate().ifHigh(counter::incrementAndGet);
+
+    assertEquals(0, counter.get());
+
+    loop.poll();
+
+    assertEquals(1, counter.get());
+
+    bool.set(true);
+    loop.poll();
+
+    assertEquals(1, counter.get());
+
+    bool.set(false);
+    loop.poll();
+
+    assertEquals(2, counter.get());
+
+    bool.set(true);
+    loop.poll();
+
+    assertEquals(2, counter.get());
+  }
 }