[wpilib] Prefix all NI DS specific controller classes (#8596)

Easier then the last one that put everything in a sub namespace. By
prefixing the name less things break, and intellisense will be less
confusing to new users during the transition.

wpilibcExamples/example_projects.bzl

@@ -2,7 +2,7 @@ EXAMPLE_FOLDERS = [
     "AddressableLED",
     "AprilTagsVision",
     "ArcadeDrive",
-    "ArcadeDriveXboxController",
+    "ArcadeDriveGamepad",
     "ArmSimulation",
     "CANPDP",
     "DifferentialDriveBot",
@@ -49,7 +49,7 @@ EXAMPLE_FOLDERS = [
     "SwerveDrivePoseEstimator",
     "SysIdRoutine",
     "TankDrive",
-    "TankDriveXboxController",
+    "TankDriveGamepad",
     "UnitTest",
     "XRPReference",
 ]

wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp

@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
- * Runs the motors with split arcade steering and an Xbox controller.
+ * Runs the motors with split arcade steering and a Gamepad.
  */
 class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_leftMotor{0};
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  wpi::XboxController m_driverController{0};
+  wpi::Gamepad m_driverController{0};
 
  public:
   Robot() {

wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -15,14 +15,14 @@ class Robot : public wpi::TimedRobot {
   }
 
   void TeleopPeriodic() override {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;
@@ -31,7 +31,7 @@ class Robot : public wpi::TimedRobot {
   }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.

wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,14 +17,14 @@ class Robot : public wpi::TimedRobot {
   void RobotPeriodic() override { m_drive.Periodic(); }
 
   void TeleopPeriodic() override {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;
@@ -35,7 +35,7 @@ class Robot : public wpi::TimedRobot {
   void SimulationPeriodic() override { m_drive.SimulationPeriodic(); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp

@@ -25,18 +25,18 @@ void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
   // While holding the shoulder button, drive at half speed
-  m_driverController.RightBumper()
+  m_driverController.RightShoulder()
       .OnTrue(m_driveHalfSpeed.get())
       .OnFalse(m_driveFullSpeed.get());
 
-  // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of
-  // 10 seconds
-  m_driverController.A().OnTrue(
+  // Drive forward by 3 meters when the 'South Face' button is pressed, with a
+  // timeout of 10 seconds
+  m_driverController.SouthFace().OnTrue(
       m_drive.ProfiledDriveDistance(3_m).WithTimeout(10_s));
 
-  // Do the same thing as above when the 'B' button is pressed, but without
-  // resetting the encoders
-  m_driverController.B().OnTrue(
+  // Do the same thing as above when the 'East Face' button is pressed, but
+  // without resetting the encoders
+  m_driverController.EastFace().OnTrue(
       m_drive.DynamicProfiledDriveDistance(3_m).WithTimeout(10_s));
 }
 

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp

@@ -9,7 +9,7 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/commands2/Commands.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
@@ -26,7 +26,7 @@ class RobotContainer {
 
  private:
   // The driver's controller
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...

wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/system/Timer.hpp"
@@ -55,7 +55,7 @@ class Robot : public wpi::TimedRobot {
       [&](double output) { m_left.Set(output); },
       [&](double output) { m_right.Set(output); }};
 
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   wpi::Timer m_timer;
 };
 

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp

@@ -35,12 +35,12 @@ RobotContainer::RobotContainer() {
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
-  // Grab the hatch when the 'Circle' button is pressed.
-  m_driverController.Circle().OnTrue(m_hatch.GrabHatchCommand());
-  // Release the hatch when the 'Square' button is pressed.
-  m_driverController.Square().OnTrue(m_hatch.ReleaseHatchCommand());
-  // While holding R1, drive at half speed
-  m_driverController.R1()
+  // Grab the hatch when the 'East Face' button is pressed.
+  m_driverController.EastFace().OnTrue(m_hatch.GrabHatchCommand());
+  // Release the hatch when the 'West Face' button is pressed.
+  m_driverController.WestFace().OnTrue(m_hatch.ReleaseHatchCommand());
+  // While holding Right Bumper, drive at half speed
+  m_driverController.RightShoulder()
       .OnTrue(wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
       .OnFalse(
           wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }, {}));

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp

@@ -10,7 +10,7 @@
 #include "subsystems/HatchSubsystem.hpp"
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/Commands.hpp"
-#include "wpi/commands2/button/CommandPS4Controller.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 #include "wpi/smartdashboard/SendableChooser.hpp"
 
 namespace ac = AutoConstants;
@@ -30,7 +30,7 @@ class RobotContainer {
 
  private:
   // The driver's controller
-  wpi::cmd::CommandPS4Controller m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp

@@ -39,15 +39,16 @@ void RobotContainer::ConfigureButtonBindings() {
   // NOTE: since we're binding a CommandPtr, command ownership here is moved to
   // the scheduler thus, no memory leaks!
 
-  // Grab the hatch when the 'A' button is pressed.
-  wpi::cmd::JoystickButton(&m_driverController, wpi::XboxController::Button::kA)
+  // Grab the hatch when the 'South Face' button is pressed.
+  wpi::cmd::JoystickButton(&m_driverController,
+                           wpi::Gamepad::Button::kSouthFace)
       .OnTrue(GrabHatch(&m_hatch).ToPtr());
-  // Release the hatch when the 'B' button is pressed.
-  wpi::cmd::JoystickButton(&m_driverController, wpi::XboxController::Button::kB)
+  // Release the hatch when the 'East Face' button is pressed.
+  wpi::cmd::JoystickButton(&m_driverController, wpi::Gamepad::Button::kEastFace)
       .OnTrue(ReleaseHatch(&m_hatch).ToPtr());
   // While holding the shoulder button, drive at half speed
   wpi::cmd::JoystickButton(&m_driverController,
-                           wpi::XboxController::Button::kRightBumper)
+                           wpi::Gamepad::Button::kRightShoulder)
       .WhileTrue(HalveDriveSpeed(&m_drive).ToPtr());
 }
 

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp

@@ -11,7 +11,7 @@
 #include "subsystems/DriveSubsystem.hpp"
 #include "subsystems/HatchSubsystem.hpp"
 #include "wpi/commands2/Command.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/smartdashboard/SendableChooser.hpp"
 
 /**
@@ -43,7 +43,7 @@ class RobotContainer {
   wpi::SendableChooser<wpi::cmd::Command*> m_chooser;
 
   // The driver's controller
-  wpi::XboxController m_driverController{OIConstants::kDriverControllerPort};
+  wpi::Gamepad m_driverController{OIConstants::kDriverControllerPort};
 
   void ConfigureButtonBindings();
 };

wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp

@@ -2,7 +2,7 @@
 // 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 "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 
 /**

wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_mecanum;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -27,20 +27,20 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;

wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_mecanum;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -27,20 +27,20 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp

@@ -24,13 +24,13 @@ void RapidReactCommandBot::ConfigureBindings() {
       [this] { return -m_driverController.GetLeftY(); },
       [this] { return -m_driverController.GetRightX(); }));
 
-  // Deploy the intake with the X button
-  m_driverController.X().OnTrue(m_intake.IntakeCommand());
-  // Retract the intake with the Y button
-  m_driverController.Y().OnTrue(m_intake.RetractCommand());
+  // Deploy the intake with the West Face button
+  m_driverController.WestFace().OnTrue(m_intake.IntakeCommand());
+  // Retract the intake with the North Face button
+  m_driverController.NorthFace().OnTrue(m_intake.RetractCommand());
 
-  // Fire the shooter with the A button
-  m_driverController.A().OnTrue(
+  // Fire the shooter with the South Face button
+  m_driverController.SouthFace().OnTrue(
       wpi::cmd::cmd::Parallel(
           m_shooter.ShootCommand(ShooterConstants::kShooterTarget),
           m_storage.RunCommand())

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp

@@ -11,7 +11,7 @@
 #include "subsystems/Shooter.hpp"
 #include "subsystems/Storage.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -48,6 +48,6 @@ class RapidReactCommandBot {
   Pneumatics m_pneumatics;
 
   // The driver's controller
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OIConstants::kDriverControllerPort};
 };

wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/controller/LTVUnicycleController.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
@@ -52,7 +52,7 @@ class Robot : public wpi::TimedRobot {
   void SimulationPeriodic() override { m_drive.SimulationPeriodic(); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.

wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -85,7 +85,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
   wpi::math::TrapezoidProfile<wpi::units::radians> m_profile{
       {45_deg_per_s, 90_deg_per_s / 1_s}};
@@ -112,7 +112,7 @@ class Robot : public wpi::TimedRobot {
     // Sets the target position of our arm. This is similar to setting the
     // setpoint of a PID controller.
     wpi::math::TrapezoidProfile<wpi::units::radians>::State goal;
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_rad_per_s};
     } else {

wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -84,7 +84,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
   wpi::math::TrapezoidProfile<wpi::units::meters> m_profile{{3_fps, 6_fps_sq}};
 
@@ -112,7 +112,7 @@ class Robot : public wpi::TimedRobot {
     // Sets the target height of our elevator. This is similar to setting the
     // setpoint of a PID controller.
     wpi::math::TrapezoidProfile<wpi::units::meters>::State goal;
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_fps};
     } else {

wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -76,7 +76,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
  public:
   Robot() {
@@ -91,7 +91,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override {
     // Sets the target speed of our flywheel. This is similar to setting the
     // setpoint of a PID controller.
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {

wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp

@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -73,7 +73,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
  public:
   Robot() {
@@ -88,7 +88,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override {
     // Sets the target speed of our flywheel. This is similar to setting the
     // setpoint of a PID controller.
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {

wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 #include "wpi/math/util/MathUtil.hpp"
@@ -18,7 +18,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_swerve;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -28,14 +28,14 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(wpi::math::ApplyDeadband(
                             m_controller.GetLeftY(), 0.02)) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(wpi::math::ApplyDeadband(
                             m_controller.GetLeftX(), 0.02)) *
@@ -43,7 +43,7 @@ class Robot : public wpi::TimedRobot {
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(wpi::math::ApplyDeadband(
                          m_controller.GetRightX(), 0.02)) *

wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp

@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_swerve;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -27,20 +27,20 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;

wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp

@@ -17,29 +17,29 @@ void SysIdRoutineBot::ConfigureBindings() {
 
   // Using bumpers as a modifier and combining it with the buttons so that we
   // can have both sets of bindings at once
-  (m_driverController.A() && m_driverController.RightBumper())
+  (m_driverController.SouthFace() && m_driverController.RightShoulder())
       .WhileTrue(
           m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.B() && m_driverController.RightBumper())
+  (m_driverController.EastFace() && m_driverController.RightShoulder())
       .WhileTrue(
           m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
-  (m_driverController.X() && m_driverController.RightBumper())
+  (m_driverController.WestFace() && m_driverController.RightShoulder())
       .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.Y() && m_driverController.RightBumper())
+  (m_driverController.NorthFace() && m_driverController.RightShoulder())
       .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 
   m_shooter.SetDefaultCommand(m_shooter.RunShooterCommand(
       [this] { return m_driverController.GetLeftTriggerAxis(); }));
 
-  (m_driverController.A() && m_driverController.LeftBumper())
+  (m_driverController.SouthFace() && m_driverController.LeftShoulder())
       .WhileTrue(
           m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.B() && m_driverController.LeftBumper())
+  (m_driverController.EastFace() && m_driverController.LeftShoulder())
       .WhileTrue(
           m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
-  (m_driverController.X() && m_driverController.LeftBumper())
+  (m_driverController.WestFace() && m_driverController.LeftShoulder())
       .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.Y() && m_driverController.LeftBumper())
+  (m_driverController.NorthFace() && m_driverController.LeftShoulder())
       .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 }
 

wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp

@@ -8,7 +8,7 @@
 #include "subsystems/Drive.hpp"
 #include "subsystems/Shooter.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 class SysIdRoutineBot {
  public:
@@ -18,7 +18,7 @@ class SysIdRoutineBot {
 
  private:
   void ConfigureBindings();
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       constants::oi::kDriverControllerPort};
   Drive m_drive;
   Shooter m_shooter;

wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp

@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
- * Runs the motors with tank steering and an Xbox controller.
+ * Runs the motors with tank steering and a gamepad.
  */
 class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_leftMotor{0};
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  wpi::XboxController m_driverController{0};
+  wpi::Gamepad m_driverController{0};
 
  public:
   Robot() {

wpilibcExamples/src/main/cpp/examples/examples.json

@@ -146,7 +146,7 @@
     "description": "Make human interface devices (HID) rumble.",
     "tags": [
       "Hardware",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "HidRumble",
     "gradlebase": "cpp",
@@ -305,7 +305,7 @@
       "Sendable",
       "DataLog",
       "Pneumatics",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "HatchbotTraditional",
     "gradlebase": "cpp",
@@ -322,7 +322,7 @@
       "Sendable",
       "DataLog",
       "Pneumatics",
-      "PS4Controller"
+      "Gamepad"
     ],
     "foldername": "HatchbotInlined",
     "gradlebase": "cpp",
@@ -343,7 +343,7 @@
       "PID",
       "Gyro",
       "Profiled PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "RapidReactCommandBot",
     "gradlebase": "cpp",
@@ -365,7 +365,7 @@
     "tags": [
       "Swerve Drive",
       "Odometry",
-      "XboxController",
+      "Gamepad",
       "Gyro",
       "Encoder"
     ],
@@ -381,7 +381,7 @@
       "Odometry",
       "Encoder",
       "Gyro",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "MecanumBot",
     "gradlebase": "cpp",
@@ -395,7 +395,7 @@
       "Odometry",
       "Encoder",
       "Gyro",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "DifferentialDriveBot",
     "gradlebase": "cpp",
@@ -407,21 +407,21 @@
     "tags": [
       "Basic Robot",
       "Differential Drive",
-      "XboxController"
+      "Gamepad"
     ],
-    "foldername": "ArcadeDriveXboxController",
+    "foldername": "ArcadeDriveGamepad",
     "gradlebase": "cpp",
     "commandversion": 2
   },
   {
-    "name": "Tank Drive Xbox Controller",
-    "description": "Control a differential drive with Xbox tank drive in teleop.",
+    "name": "Tank Drive Gamepad",
+    "description": "Control a differential drive with gamepad tank drive in teleop.",
     "tags": [
       "Basic Robot",
       "Differential Drive",
-      "XboxController"
+      "Gamepad"
     ],
-    "foldername": "TankDriveXboxController",
+    "foldername": "TankDriveGamepad",
     "gradlebase": "cpp",
     "commandversion": 2
   },
@@ -470,7 +470,7 @@
       "Differential Drive",
       "Trapezoid Profile",
       "Smart Motor Controller",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "DriveDistanceOffboard",
     "gradlebase": "cpp",
@@ -611,7 +611,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "DifferentialDrivePoseEstimator",
     "gradlebase": "cpp",
@@ -626,7 +626,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "MecanumDrivePoseEstimator",
     "gradlebase": "cpp",
@@ -670,7 +670,7 @@
       "Path Following",
       "Trajectory",
       "Encoder",
-      "XboxController",
+      "Gamepad",
       "Simulation"
     ],
     "foldername": "SimpleDifferentialDriveSimulation",
@@ -686,7 +686,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "SwerveDrivePoseEstimator",
     "gradlebase": "cpp",

wpilibcExamples/src/main/cpp/templates/commandv2/cpp/RobotContainer.cpp

@@ -23,9 +23,9 @@ void RobotContainer::ConfigureBindings() {
     return m_subsystem.ExampleCondition();
   }).OnTrue(ExampleCommand(&m_subsystem).ToPtr());
 
-  // Schedule `ExampleMethodCommand` when the Xbox controller's B button is
+  // Schedule `ExampleMethodCommand` when the Gamepad's East Face button is
   // pressed, cancelling on release.
-  m_driverController.B().WhileTrue(m_subsystem.ExampleMethodCommand());
+  m_driverController.EastFace().WhileTrue(m_subsystem.ExampleMethodCommand());
 }
 
 wpi::cmd::CommandPtr RobotContainer::GetAutonomousCommand() {

wpilibcExamples/src/main/cpp/templates/commandv2/include/RobotContainer.hpp

@@ -7,7 +7,7 @@
 #include "Constants.hpp"
 #include "subsystems/ExampleSubsystem.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
@@ -24,7 +24,7 @@ class RobotContainer {
 
  private:
   // Replace with CommandPS4Controller or CommandJoystick if needed
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OperatorConstants::kDriverControllerPort};
 
   // The robot's subsystems are defined here...