diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
index 207628cb2b..d37399bc94 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -426,7 +426,7 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const {
 
   // copy into HAL structures
   data->desc.isGamepad = m_isGamepad ? 1 : 0;
-  data->desc.gamepadType = m_isGamepad ? 21 : 20;
+  data->desc.gamepadType = 1;  // Standard
   std::strncpy(data->desc.name, m_name, sizeof(data->desc.name) - 1);
   data->desc.name[sizeof(data->desc.name) - 1] = '\0';
   int axesCount = (std::min)(m_axisCount, HAL_kMaxJoystickAxes);
@@ -555,7 +555,7 @@ KeyboardJoystick::KeyboardJoystick(wpi::glass::Storage& storage, int index)
 
   // init desc structure
   m_data.desc.isGamepad = 0;
-  m_data.desc.gamepadType = 20;
+  m_data.desc.gamepadType = 1;  // Standard
   std::strncpy(m_data.desc.name, m_name, 256);
 }
 
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp b/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
index bd8116fd9c..6752a821f0 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
@@ -363,7 +363,8 @@ class GenericHID {
   /**
    * Set the rumble output for the HID.
    *
-   * The DS currently supports 2 rumble values, left rumble and right rumble.
+   * The DS currently supports 4 rumble values: left rumble, right rumble, left
+   * trigger rumble, and right trigger rumble.
    *
    * @param type  Which rumble value to set
    * @param value The normalized value (0 to 1) to set the rumble to
diff --git a/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java b/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
index 99fe2fcf1f..2f63a1026e 100644
--- a/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
+++ b/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
@@ -469,8 +469,8 @@ public class GenericHID {
   }
 
   /**
-   * Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and
-   * right rumble.
+   * Set the rumble output for the HID. The DS currently supports 4 rumble values: left rumble,
+   * right rumble, left trigger rumble, and right trigger rumble.
    *
    * @param type Which rumble value to set
    * @param value The normalized value (0 to 1) to set the rumble to
@@ -479,20 +479,13 @@ public class GenericHID {
     value = Math.clamp(value, 0, 1);
     int rumbleValue = (int) (value * 65535);
     switch (type) {
-      case kLeftRumble:
-        this.m_leftRumble = rumbleValue;
-        break;
-      case kRightRumble:
-        this.m_rightRumble = rumbleValue;
-        break;
-      case kLeftTriggerRumble:
-        this.m_leftTriggerRumble = rumbleValue;
-        break;
-      case kRightTriggerRumble:
-        this.m_rightTriggerRumble = rumbleValue;
-        break;
-      default:
-        break;
+      case kLeftRumble -> this.m_leftRumble = rumbleValue;
+      case kRightRumble -> this.m_rightRumble = rumbleValue;
+      case kLeftTriggerRumble -> this.m_leftTriggerRumble = rumbleValue;
+      case kRightTriggerRumble -> this.m_rightTriggerRumble = rumbleValue;
+      default -> {
+        // no-op
+      }
     }
 
     DriverStationJNI.setJoystickRumble(
diff --git a/wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java b/wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java
index dfd8337a04..cf39f8c9d6 100644
--- a/wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java
+++ b/wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java
@@ -171,23 +171,13 @@ public class GenericHIDSim {
    * @return the rumble value
    */
   public double getRumble(GenericHID.RumbleType type) {
-    int intType = 0;
-    switch (type) {
-      case kLeftRumble:
-        intType = 0;
-        break;
-      case kRightRumble:
-        intType = 1;
-        break;
-      case kLeftTriggerRumble:
-        intType = 2;
-        break;
-      case kRightTriggerRumble:
-        intType = 3;
-        break;
-      default:
-        return 0.0;
-    }
+    int intType =
+        switch (type) {
+          case kLeftRumble -> 0;
+          case kRightRumble -> 1;
+          case kLeftTriggerRumble -> 2;
+          case kRightTriggerRumble -> 3;
+        };
     int value = DriverStationSim.getJoystickRumble(m_port, intType);
     return value / 65535.0;
   }