[wpilib,commands] Use Jinja to generate HID classes (#6274)

.gitattributes

@@ -3,11 +3,10 @@
 *.h text eol=lf
 *.inc text eol=lf
 *.java text eol=lf
+*.jinja text eol=lf
 *.json text eol=lf
 *.md text eol=lf
 *.xml text eol=lf
 
 # Generated files
-hal/src/generated/** linguist-generated
-ntcore/src/generated/** linguist-generated
-wpimath/src/generated/** linguist-generated
+*/src/generated/** linguist-generated

.github/workflows/pregenerate.yml

@@ -32,6 +32,8 @@ jobs:
         run: ./ntcore/generate_topics.py
       - name: Run wpimath
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Run HIDs
+        run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.styleguide

@@ -20,6 +20,7 @@ generatedFileExclude {
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
   fieldImages/src/main/native/resources/
   apriltag/src/test/resources/
+  wpilibc/src/generated/
 }
 
 repoRootNameOverride {

styleguide/checkstyle-suppressions.xml

@@ -12,4 +12,6 @@ suppressions PUBLIC "-//Puppy Crawl//DTD Suppressions 1.1//EN"
     checks="(EmptyLineSeparator|LineLength|MissingJavadocMethod|ParameterName)" />
   <suppress files=".*math[/\\]proto.*"
     checks="(CustomImportOrder|EmptyLineSeparator|LineLength|JavadocParagraph|MissingJavadocMethod|OverloadMethodsDeclarationOrder|SummaryJavadoc|UnnecessaryParentheses|OperatorWrap|JavadocMethod|JavadocTagContinuationIndentation)" />
+  <suppress files="wpilibj[/\\]src[/\\]generated.*"
+    checks="MethodName" />
 </suppressions>

wpilibNewCommands/.styleguide

@@ -12,6 +12,10 @@ repoRootNameOverride {
   wpilib
 }
 
+generatedFileExclude {
+  wpilibNewCommands/src/generated/
+}
+
 includeOtherLibs {
   ^cameraserver/
   ^cscore

wpilibNewCommands/CMakeLists.txt

@@ -8,7 +8,7 @@ if(WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
 
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
     add_jar(
         wpilibNewCommands_jar
         ${JAVA_SOURCES}
@@ -39,7 +39,8 @@ if(WITH_JAVA_SOURCE)
     file(GLOB WPILIBNEWCOMMANDS_SOURCES src/main/java/edu/wpi/first/wpilibj2/command/*.java)
     file(
         GLOB WPILIBNEWCOMMANDS_BUTTON_SOURCES
-        src/main/java/edu/wpi/first/wpilibj2/command/button*.java
+        src/main/java/edu/wpi/first/wpilibj2/command/button/*.java
+        src/generated/main/java/edu/wpi/first/wpilibj2/command/button/*.java
     )
     add_jar(
         wpilibNewCommands_src_jar
@@ -55,7 +56,11 @@ if(WITH_JAVA_SOURCE)
     set_property(TARGET wpilibNewCommands_src_jar PROPERTY FOLDER "java")
 endif()
 
-file(GLOB_RECURSE wpilibNewCommands_native_src src/main/native/cpp/*.cpp)
+file(
+    GLOB_RECURSE wpilibNewCommands_native_src
+    src/main/native/cpp/*.cpp
+    src/generated/main/native/cpp/*.cpp
+)
 add_library(wpilibNewCommands ${wpilibNewCommands_native_src})
 set_target_properties(wpilibNewCommands PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET wpilibNewCommands PROPERTY FOLDER "libraries")
@@ -68,6 +73,7 @@ target_include_directories(
     wpilibNewCommands
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/include>
         $<INSTALL_INTERFACE:${include_dest}/wpilibNewCommands>
 )
 

wpilibNewCommands/build.gradle

@@ -24,6 +24,8 @@ dependencies {
     testImplementation 'org.mockito:mockito-core:4.1.0'
 }
 
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
+
 nativeUtils.exportsConfigs {
     wpilibNewCommands {
         x64ExcludeSymbols = [
@@ -43,7 +45,24 @@ nativeUtils.exportsConfigs {
 }
 
 model {
-    components {}
+    components {
+        "${nativeName}Base" {
+            it.sources.cpp {
+                source {
+                    srcDirs 'src/generated/main/native/cpp'
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/generated/main/native/include'
+                }
+            }
+        }
+        "${nativeName}" {
+            it.sources.cpp.exportedHeaders {
+                srcDirs 'src/generated/main/native/include'
+            }
+        }
+    }
     binaries {
         all {
             if (!it.buildable || !(it instanceof NativeBinarySpec)) {

wpilibNewCommands/generate_hids.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+
+# 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.
+import json
+import os
+
+from jinja2 import Environment, FileSystemLoader
+
+
+def write_controller_file(outPath, controllerName, contents):
+    if not os.path.exists(outPath):
+        os.makedirs(outPath)
+
+    outpathname = f"{outPath}/{controllerName}"
+
+    if os.path.exists(outpathname):
+        with open(outpathname, "r") as f:
+            if f.read() == contents:
+                return
+
+    # File either doesn't exist or has different contents
+    with open(outpathname, "w", newline="\n") as f:
+        f.write(contents)
+
+
+def main():
+    dirname, _ = os.path.split(os.path.abspath(__file__))
+
+    with open("wpilibj/src/generate/hids.json") as f:
+        controllers = json.load(f)
+
+    # Java files
+    env = Environment(
+        loader=FileSystemLoader(
+            f"{dirname}/src/generate/main/java/edu/wpi/first/wpilibj2/command/button"
+        ),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    rootPath = (
+        f"{dirname}/src/generated/main/java/edu/wpi/first/wpilibj2/command/button"
+    )
+    template = env.get_template("commandhid.java.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(
+            f"Command{controller['ConsoleName']}Controller.java"
+        )
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+    # C++ headers
+    env = Environment(
+        loader=FileSystemLoader(
+            f"{dirname}/src/generate/main/native/include/frc2/command/button"
+        ),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/include/frc2/command/button"
+    template = env.get_template("commandhid.h.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(
+            f"Command{controller['ConsoleName']}Controller.h"
+        )
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+    # C++ files
+    env = Environment(
+        loader=FileSystemLoader(
+            f"{dirname}/src/generate/main/native/cpp/frc2/command/button"
+        ),
+        autoescape=False,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/cpp/frc2/command/button"
+    template = env.get_template("commandhid.cpp.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(
+            f"Command{controller['ConsoleName']}Controller.cpp"
+        )
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+
+if __name__ == "__main__":
+    main()

wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja

@@ -0,0 +1,129 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.{{ ConsoleName }}Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A version of {@link {{ ConsoleName }}Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see {{ ConsoleName }}Controller
+ */
+@SuppressWarnings("MethodName")
+public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
+  private final {{ ConsoleName }}Controller m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public Command{{ ConsoleName }}Controller(int port) {
+    super(port);
+    m_hid = new {{ ConsoleName }}Controller(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public {{ ConsoleName }}Controller getHID() {
+    return m_hid;
+  }
+{% for button in buttons %}
+  /**
+   * Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's digital signal.
+   *
+   * @return a Trigger instance representing the {{ button.DocName|default(button.name) }} button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #{{ button.name }}(EventLoop)
+   */
+  public Trigger {{ button.name }}() {
+    return {{ button.name }}(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the {{ button.DocName|default(button.name) }} button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger {{ button.name }}(EventLoop loop) {
+    return m_hid.{{ button.name }}(loop).castTo(Trigger::new);
+  }
+{% endfor -%}
+{% for trigger in triggers -%}
+{% if trigger.UseThresholdMethods %}
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
+   *     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);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @return a Trigger instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger {{ trigger.name }}(double threshold) {
+    return {{ trigger.name }}(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned trigger
+   * will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the {{ trigger.DocName }}'s axis exceeds 0.5, attached to
+   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger {{ trigger.name }}() {
+    return {{ trigger.name }}(0.5);
+  }
+{% endif -%}
+{% endfor -%}
+{% for stick in sticks %}
+  /**
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double get{{ stick.NameParts|map("capitalize")|join }}() {
+    return m_hid.get{{ stick.NameParts|map("capitalize")|join }}();
+  }
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Get the {{ trigger.DocName }} axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double get{{ capitalize_first(trigger.name) }}Axis() {
+    return m_hid.get{{ capitalize_first(trigger.name) }}Axis();
+  }
+{% endfor -%}
+}

wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja

@@ -0,0 +1,41 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#include "frc2/command/button/Command{{ ConsoleName }}Controller.h"
+
+using namespace frc2;
+
+Command{{ ConsoleName }}Controller::Command{{ ConsoleName }}Controller(int port)
+    : CommandGenericHID(port), m_hid{frc::{{ ConsoleName }}Controller(port)} {}
+
+frc::{{ ConsoleName }}Controller& Command{{ ConsoleName }}Controller::GetHID() {
+  return m_hid;
+}
+{% 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>();
+}
+{% 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>();
+}
+{% endif -%}
+{% endfor -%}
+{% for stick in sticks %}
+double Command{{ ConsoleName }}Controller::Get{{ stick.NameParts|map("capitalize")|join }}() const {
+  return m_hid.Get{{ stick.NameParts|map("capitalize")|join }}();
+}
+{% endfor -%}
+{% for trigger in triggers %}
+double Command{{ ConsoleName }}Controller::Get{{ capitalize_first(trigger.name) }}Axis() const {
+  return m_hid.Get{{ capitalize_first(trigger.name) }}Axis();
+}
+{% endfor -%}

wpilibNewCommands/src/generate/main/native/include/frc2/command/button/commandhid.h.jinja

@@ -0,0 +1,92 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#pragma once
+#include <frc/{{ ConsoleName }}Controller.h>
+
+#include "frc2/command/button/Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
+
+namespace frc2 {
+/**
+ * A version of {@link frc::{{ ConsoleName }}Controller} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see frc::{{ ConsoleName }}Controller
+ */
+class Command{{ ConsoleName }}Controller : public CommandGenericHID {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit Command{{ ConsoleName }}Controller(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::{{ ConsoleName }}Controller& GetHID();
+{% for button in buttons %}
+  /**
+   * Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the {{ button.DocName|default(button.name) }} button's
+   * digital signal attached to the given loop.
+   */
+  Trigger {{ capitalize_first(button.name) }}(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+{% endfor -%}
+{% for trigger in triggers -%}
+{% if trigger.UseThresholdMethods %}
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}.
+   * The returned Trigger will be true when the axis value is greater than
+   * {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned Trigger to be
+   * true. This value should be in the range [0, 1] where 0 is the unpressed
+   * state of the axis. Defaults to 0.5.
+   * @param loop the event loop instance to attach the Trigger to. Defaults to
+   * the CommandScheduler's default loop.
+   * @return a Trigger instance that is true when the {{ trigger.DocName }}'s axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger {{ capitalize_first(trigger.name) }}(double threshold = 0.5,
+                      frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
+{% endif -%}
+{% endfor -%}
+{% for stick in sticks %}
+  /**
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   *
+   * @return The axis value.
+   */
+  double Get{{ stick.NameParts|map("capitalize")|join }}() const;
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Get the {{ trigger.DocName }} axis value of the controller. Note that this axis is bound
+   * to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double Get{{ capitalize_first(trigger.name) }}Axis() const;
+{% endfor %}
+ private:
+  frc::{{ ConsoleName }}Controller m_hid;
+};
+}  // namespace frc2

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java

@@ -0,0 +1,405 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.PS4Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A version of {@link PS4Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see PS4Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandPS4Controller extends CommandGenericHID {
+  private final PS4Controller m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandPS4Controller(int port) {
+    super(port);
+    m_hid = new PS4Controller(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public PS4Controller getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Constructs a Trigger instance around the square button's digital signal.
+   *
+   * @return a Trigger instance representing the square button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #square(EventLoop)
+   */
+  public Trigger square() {
+    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the square button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger square(EventLoop loop) {
+    return m_hid.square(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the cross button's digital signal.
+   *
+   * @return a Trigger instance representing the cross button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #cross(EventLoop)
+   */
+  public Trigger cross() {
+    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the cross button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger cross(EventLoop loop) {
+    return m_hid.cross(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the circle button's digital signal.
+   *
+   * @return a Trigger instance representing the circle button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #circle(EventLoop)
+   */
+  public Trigger circle() {
+    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the circle button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger circle(EventLoop loop) {
+    return m_hid.circle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the triangle button's digital signal.
+   *
+   * @return a Trigger instance representing the triangle button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #triangle(EventLoop)
+   */
+  public Trigger triangle() {
+    return triangle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the triangle button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger triangle(EventLoop loop) {
+    return m_hid.triangle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L1(EventLoop)
+   */
+  public Trigger L1() {
+    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return m_hid.L1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R1(EventLoop)
+   */
+  public Trigger R1() {
+    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return m_hid.R1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 2 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L2(EventLoop)
+   */
+  public Trigger L2() {
+    return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L2(EventLoop loop) {
+    return m_hid.L2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 2 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R2(EventLoop)
+   */
+  public Trigger R2() {
+    return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R2(EventLoop loop) {
+    return m_hid.R2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the share button's digital signal.
+   *
+   * @return a Trigger instance representing the share button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #share(EventLoop)
+   */
+  public Trigger share() {
+    return share(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the share button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the share button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger share(EventLoop loop) {
+    return m_hid.share(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the options button's digital signal.
+   *
+   * @return a Trigger instance representing the options button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #options(EventLoop)
+   */
+  public Trigger options() {
+    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the options button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger options(EventLoop loop) {
+    return m_hid.options(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the L3 (left stick) button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L3(EventLoop)
+   */
+  public Trigger L3() {
+    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L3 (left stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return m_hid.L3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the R3 (right stick) button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R3(EventLoop)
+   */
+  public Trigger R3() {
+    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R3 (right stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return m_hid.R3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @return a Trigger instance representing the PlayStation button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #PS(EventLoop)
+   */
+  public Trigger PS() {
+    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PlayStation button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return m_hid.PS(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the touchpad button's digital signal.
+   *
+   * @return a Trigger instance representing the touchpad button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #touchpad(EventLoop)
+   */
+  public Trigger touchpad() {
+    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the touchpad button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger touchpad(EventLoop loop) {
+    return m_hid.touchpad(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+
+  /**
+   * Get the left trigger 2 axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double getL2Axis() {
+    return m_hid.getL2Axis();
+  }
+
+  /**
+   * Get the right trigger 2 axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double getR2Axis() {
+    return m_hid.getR2Axis();
+  }
+}

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java

@@ -0,0 +1,405 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.PS5Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A version of {@link PS5Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see PS5Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandPS5Controller extends CommandGenericHID {
+  private final PS5Controller m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandPS5Controller(int port) {
+    super(port);
+    m_hid = new PS5Controller(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public PS5Controller getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Constructs a Trigger instance around the square button's digital signal.
+   *
+   * @return a Trigger instance representing the square button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #square(EventLoop)
+   */
+  public Trigger square() {
+    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the square button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger square(EventLoop loop) {
+    return m_hid.square(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the cross button's digital signal.
+   *
+   * @return a Trigger instance representing the cross button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #cross(EventLoop)
+   */
+  public Trigger cross() {
+    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the cross button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger cross(EventLoop loop) {
+    return m_hid.cross(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the circle button's digital signal.
+   *
+   * @return a Trigger instance representing the circle button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #circle(EventLoop)
+   */
+  public Trigger circle() {
+    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the circle button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger circle(EventLoop loop) {
+    return m_hid.circle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the triangle button's digital signal.
+   *
+   * @return a Trigger instance representing the triangle button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #triangle(EventLoop)
+   */
+  public Trigger triangle() {
+    return triangle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the triangle button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger triangle(EventLoop loop) {
+    return m_hid.triangle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L1(EventLoop)
+   */
+  public Trigger L1() {
+    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return m_hid.L1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R1(EventLoop)
+   */
+  public Trigger R1() {
+    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return m_hid.R1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 2 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L2(EventLoop)
+   */
+  public Trigger L2() {
+    return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L2(EventLoop loop) {
+    return m_hid.L2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 2 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R2(EventLoop)
+   */
+  public Trigger R2() {
+    return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R2(EventLoop loop) {
+    return m_hid.R2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the create button's digital signal.
+   *
+   * @return a Trigger instance representing the create button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #create(EventLoop)
+   */
+  public Trigger create() {
+    return create(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the create button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the create button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger create(EventLoop loop) {
+    return m_hid.create(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the options button's digital signal.
+   *
+   * @return a Trigger instance representing the options button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #options(EventLoop)
+   */
+  public Trigger options() {
+    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the options button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger options(EventLoop loop) {
+    return m_hid.options(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the L3 (left stick) button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L3(EventLoop)
+   */
+  public Trigger L3() {
+    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L3 (left stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return m_hid.L3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the R3 (right stick) button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R3(EventLoop)
+   */
+  public Trigger R3() {
+    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R3 (right stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return m_hid.R3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @return a Trigger instance representing the PlayStation button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #PS(EventLoop)
+   */
+  public Trigger PS() {
+    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PlayStation button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return m_hid.PS(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the touchpad button's digital signal.
+   *
+   * @return a Trigger instance representing the touchpad button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #touchpad(EventLoop)
+   */
+  public Trigger touchpad() {
+    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the touchpad button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger touchpad(EventLoop loop) {
+    return m_hid.touchpad(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+
+  /**
+   * Get the left trigger 2 axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double getL2Axis() {
+    return m_hid.getL2Axis();
+  }
+
+  /**
+   * Get the right trigger 2 axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double getR2Axis() {
+    return m_hid.getR2Axis();
+  }
+}

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj2.command.button;
 
 import edu.wpi.first.wpilibj.StadiaController;
@@ -38,142 +40,10 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the left bumper's digital signal.
+   * Constructs a Trigger instance around the A button's digital signal.
    *
-   * @return an event instance representing the left bumper's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #leftBumper(EventLoop)
-   */
-  public Trigger leftBumper() {
-    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the left bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right bumper's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger leftBumper(EventLoop loop) {
-    return m_hid.leftBumper(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
-   * @return an event instance representing the right bumper's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #rightBumper(EventLoop)
-   */
-  public Trigger rightBumper() {
-    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left bumper's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger rightBumper(EventLoop loop) {
-    return m_hid.rightBumper(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the left stick button's digital signal.
-   *
-   * @return an event instance representing the left stick button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #leftStick(EventLoop)
-   */
-  public Trigger leftStick() {
-    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the left stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left stick button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger leftStick(EventLoop loop) {
-    return m_hid.leftStick(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the right stick button's digital signal.
-   *
-   * @return an event instance representing the right stick button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #rightStick(EventLoop)
-   */
-  public Trigger rightStick() {
-    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the right stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right stick button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger rightStick(EventLoop loop) {
-    return m_hid.rightStick(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the right trigger button's digital signal.
-   *
-   * @return an event instance representing the right trigger button's digital signal attached to
-   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #rightTrigger(EventLoop)
-   */
-  public Trigger rightTrigger() {
-    return rightTrigger(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the right trigger button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right trigger button's digital signal attached to
-   *     the given loop.
-   */
-  public Trigger rightTrigger(EventLoop loop) {
-    return m_hid.rightTrigger(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the left trigger button's digital signal.
-   *
-   * @return an event instance representing the left trigger button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #leftTrigger(EventLoop)
-   */
-  public Trigger leftTrigger() {
-    return leftTrigger(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the left trigger button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left trigger button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger leftTrigger(EventLoop loop) {
-    return m_hid.leftTrigger(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the A button's digital signal.
-   *
-   * @return an event instance representing the A button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the A button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #a(EventLoop)
    */
   public Trigger a() {
@@ -181,21 +51,21 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the A button's digital signal.
+   * Constructs a Trigger instance around the A button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the A button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the A button's digital signal attached
+   *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
     return m_hid.a(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the B button's digital signal.
+   * Constructs a Trigger instance around the B button's digital signal.
    *
-   * @return an event instance representing the B button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the B button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #b(EventLoop)
    */
   public Trigger b() {
@@ -203,21 +73,21 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the B button's digital signal.
+   * Constructs a Trigger instance around the B button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the B button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the B button's digital signal attached
+   *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
     return m_hid.b(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the X button's digital signal.
+   * Constructs a Trigger instance around the X button's digital signal.
    *
-   * @return an event instance representing the X button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the X button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #x(EventLoop)
    */
   public Trigger x() {
@@ -225,21 +95,21 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the X button's digital signal.
+   * Constructs a Trigger instance around the X button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the X button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the X button's digital signal attached
+   *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
     return m_hid.x(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the Y button's digital signal.
+   * Constructs a Trigger instance around the Y button's digital signal.
    *
-   * @return an event instance representing the Y button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the Y button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #y(EventLoop)
    */
   public Trigger y() {
@@ -247,21 +117,109 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the Y button's digital signal.
+   * Constructs a Trigger instance around the Y button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the Y button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the Y button's digital signal attached
+   *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
     return m_hid.y(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the ellipses button's digital signal.
+   * Constructs a Trigger instance around the left bumper button's digital signal.
    *
-   * @return an event instance representing the ellipses button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the left bumper button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftBumper(EventLoop)
+   */
+  public Trigger leftBumper() {
+    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left bumper button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftBumper(EventLoop loop) {
+    return m_hid.leftBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right bumper button's digital signal.
+   *
+   * @return a Trigger instance representing the right bumper button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right bumper button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightBumper(EventLoop loop) {
+    return m_hid.rightBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left stick button's digital signal.
+   *
+   * @return a Trigger instance representing the left stick button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left stick button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftStick(EventLoop loop) {
+    return m_hid.leftStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right stick button's digital signal.
+   *
+   * @return a Trigger instance representing the right stick button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right stick button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightStick(EventLoop loop) {
+    return m_hid.rightStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the ellipses button's digital signal.
+   *
+   * @return a Trigger instance representing the ellipses button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #ellipses(EventLoop)
    */
   public Trigger ellipses() {
@@ -269,87 +227,21 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the ellipses button's digital signal.
+   * Constructs a Trigger instance around the ellipses button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the ellipses button's digital signal attached to the
-   *     given loop.
+   * @return a Trigger instance representing the ellipses button's digital signal attached
+   *     to the given loop.
    */
   public Trigger ellipses(EventLoop loop) {
     return m_hid.ellipses(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the stadia button's digital signal.
+   * Constructs a Trigger instance around the hamburger button's digital signal.
    *
-   * @return an event instance representing the stadia button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #stadia(EventLoop)
-   */
-  public Trigger stadia() {
-    return stadia(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the stadia button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the stadia button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger stadia(EventLoop loop) {
-    return m_hid.stadia(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the google button's digital signal.
-   *
-   * @return an event instance representing the google button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #google(EventLoop)
-   */
-  public Trigger google() {
-    return google(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the google button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the google button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger google(EventLoop loop) {
-    return m_hid.google(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the frame button's digital signal.
-   *
-   * @return an event instance representing the frame button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #frame(EventLoop)
-   */
-  public Trigger frame() {
-    return frame(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the frame button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the frame button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger frame(EventLoop loop) {
-    return m_hid.frame(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the hamburger button's digital signal.
-   *
-   * @return an event instance representing the hamburger button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the hamburger button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #hamburger(EventLoop)
    */
   public Trigger hamburger() {
@@ -357,16 +249,126 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the hamburger button's digital signal.
+   * Constructs a Trigger instance around the hamburger button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the hamburger button's digital signal attached to the
-   *     given loop.
+   * @return a Trigger instance representing the hamburger button's digital signal attached
+   *     to the given loop.
    */
   public Trigger hamburger(EventLoop loop) {
     return m_hid.hamburger(loop).castTo(Trigger::new);
   }
 
+  /**
+   * Constructs a Trigger instance around the stadia button's digital signal.
+   *
+   * @return a Trigger instance representing the stadia button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #stadia(EventLoop)
+   */
+  public Trigger stadia() {
+    return stadia(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the stadia button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the stadia button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger stadia(EventLoop loop) {
+    return m_hid.stadia(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightTrigger(EventLoop)
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightTrigger(EventLoop loop) {
+    return m_hid.rightTrigger(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftTrigger(EventLoop)
+   */
+  public Trigger leftTrigger() {
+    return leftTrigger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftTrigger(EventLoop loop) {
+    return m_hid.leftTrigger(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the google button's digital signal.
+   *
+   * @return a Trigger instance representing the google button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #google(EventLoop)
+   */
+  public Trigger google() {
+    return google(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the google button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the google button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger google(EventLoop loop) {
+    return m_hid.google(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the frame button's digital signal.
+   *
+   * @return a Trigger instance representing the frame button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #frame(EventLoop)
+   */
+  public Trigger frame() {
+    return frame(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the frame button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the frame button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger frame(EventLoop loop) {
+    return m_hid.frame(loop).castTo(Trigger::new);
+  }
+
   /**
    * Get the X axis value of left side of the controller.
    *

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj2.command.button;
 
 import edu.wpi.first.wpilibj.XboxController;
@@ -38,98 +40,10 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the left bumper's digital signal.
+   * Constructs a Trigger instance around the A button's digital signal.
    *
-   * @return an event instance representing the left bumper's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #leftBumper(EventLoop)
-   */
-  public Trigger leftBumper() {
-    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the left bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right bumper's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger leftBumper(EventLoop loop) {
-    return m_hid.leftBumper(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
-   * @return an event instance representing the right bumper's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #rightBumper(EventLoop)
-   */
-  public Trigger rightBumper() {
-    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left bumper's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger rightBumper(EventLoop loop) {
-    return m_hid.rightBumper(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the left stick button's digital signal.
-   *
-   * @return an event instance representing the left stick button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #leftStick(EventLoop)
-   */
-  public Trigger leftStick() {
-    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the left stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left stick button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger leftStick(EventLoop loop) {
-    return m_hid.leftStick(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the right stick button's digital signal.
-   *
-   * @return an event instance representing the right stick button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #rightStick(EventLoop)
-   */
-  public Trigger rightStick() {
-    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the right stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right stick button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger rightStick(EventLoop loop) {
-    return m_hid.rightStick(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the A button's digital signal.
-   *
-   * @return an event instance representing the A button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the A button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #a(EventLoop)
    */
   public Trigger a() {
@@ -137,21 +51,21 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the A button's digital signal.
+   * Constructs a Trigger instance around the A button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the A button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the A button's digital signal attached
+   *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
     return m_hid.a(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the B button's digital signal.
+   * Constructs a Trigger instance around the B button's digital signal.
    *
-   * @return an event instance representing the B button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the B button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #b(EventLoop)
    */
   public Trigger b() {
@@ -159,21 +73,21 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the B button's digital signal.
+   * Constructs a Trigger instance around the B button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the B button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the B button's digital signal attached
+   *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
     return m_hid.b(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the X button's digital signal.
+   * Constructs a Trigger instance around the X button's digital signal.
    *
-   * @return an event instance representing the X button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the X button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #x(EventLoop)
    */
   public Trigger x() {
@@ -181,21 +95,21 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the X button's digital signal.
+   * Constructs a Trigger instance around the X button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the X button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the X button's digital signal attached
+   *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
     return m_hid.x(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the Y button's digital signal.
+   * Constructs a Trigger instance around the Y button's digital signal.
    *
-   * @return an event instance representing the Y button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the Y button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #y(EventLoop)
    */
   public Trigger y() {
@@ -203,43 +117,65 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the Y button's digital signal.
+   * Constructs a Trigger instance around the Y button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the Y button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the Y button's digital signal attached
+   *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
     return m_hid.y(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the start button's digital signal.
+   * Constructs a Trigger instance around the left bumper button's digital signal.
    *
-   * @return an event instance representing the start button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #start(EventLoop)
+   * @return a Trigger instance representing the left bumper button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftBumper(EventLoop)
    */
-  public Trigger start() {
-    return start(CommandScheduler.getInstance().getDefaultButtonLoop());
+  public Trigger leftBumper() {
+    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
-   * Constructs an event instance around the start button's digital signal.
+   * Constructs a Trigger instance around the left bumper button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the start button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the left bumper button's digital signal attached
+   *     to the given loop.
    */
-  public Trigger start(EventLoop loop) {
-    return m_hid.start(loop).castTo(Trigger::new);
+  public Trigger leftBumper(EventLoop loop) {
+    return m_hid.leftBumper(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs an event instance around the back button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
-   * @return an event instance representing the back button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @return a Trigger instance representing the right bumper button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right bumper button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightBumper(EventLoop loop) {
+    return m_hid.rightBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the back button's digital signal.
+   *
+   * @return a Trigger instance representing the back button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
    * @see #back(EventLoop)
    */
   public Trigger back() {
@@ -247,19 +183,85 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs an event instance around the back button's digital signal.
+   * Constructs a Trigger instance around the back button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the back button's digital signal attached to the given
-   *     loop.
+   * @return a Trigger instance representing the back button's digital signal attached
+   *     to the given loop.
    */
   public Trigger back(EventLoop loop) {
     return m_hid.back(loop).castTo(Trigger::new);
   }
 
   /**
-   * Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
-   * will be true when the axis value is greater than {@code threshold}.
+   * Constructs a Trigger instance around the start button's digital signal.
+   *
+   * @return a Trigger instance representing the start button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #start(EventLoop)
+   */
+  public Trigger start() {
+    return start(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the start button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger start(EventLoop loop) {
+    return m_hid.start(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left stick button's digital signal.
+   *
+   * @return a Trigger instance representing the left stick button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left stick button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftStick(EventLoop loop) {
+    return m_hid.leftStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right stick button's digital signal.
+   *
+   * @return a Trigger instance representing the right stick button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right stick button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightStick(EventLoop loop) {
+    return m_hid.rightStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the left trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
    *
    * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
    *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
@@ -272,8 +274,8 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs a Trigger instance around the axis value of the left trigger. The returned trigger
-   * will be true when the axis value is greater than {@code threshold}.
+   * Constructs a Trigger instance around the axis value of the left trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
    *
    * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
    *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
@@ -297,8 +299,8 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
-   * will be true when the axis value is greater than {@code threshold}.
+   * Constructs a Trigger instance around the axis value of the right trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
    *
    * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
    *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
@@ -311,8 +313,8 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Constructs a Trigger instance around the axis value of the right trigger. The returned trigger
-   * will be true when the axis value is greater than {@code threshold}.
+   * Constructs a Trigger instance around the axis value of the right trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
    *
    * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
    *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
@@ -372,7 +374,7 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Get the left trigger (LT) axis value of the controller. Note that this axis is bound to the
+   * Get the left trigger axis value of the controller. Note that this axis is bound to the
    * range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
@@ -382,7 +384,7 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Get the right trigger (RT) axis value of the controller. Note that this axis is bound to the
+   * Get the right trigger axis value of the controller. Note that this axis is bound to the
    * range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.

wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
 #include "frc2/command/button/CommandPS4Controller.h"
 
 using namespace frc2;
@@ -45,6 +47,10 @@ Trigger CommandPS4Controller::R2(frc::EventLoop* loop) const {
   return m_hid.R2(loop).CastTo<Trigger>();
 }
 
+Trigger CommandPS4Controller::Share(frc::EventLoop* loop) const {
+  return m_hid.Share(loop).CastTo<Trigger>();
+}
+
 Trigger CommandPS4Controller::Options(frc::EventLoop* loop) const {
   return m_hid.Options(loop).CastTo<Trigger>();
 }
@@ -65,26 +71,26 @@ Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
   return m_hid.Touchpad(loop).CastTo<Trigger>();
 }
 
-double CommandPS4Controller::GetR2Axis() {
-  return m_hid.GetR2Axis();
+double CommandPS4Controller::GetLeftX() const {
+  return m_hid.GetLeftX();
 }
 
-double CommandPS4Controller::GetL2Axis() {
-  return m_hid.GetL2Axis();
-}
-
-double CommandPS4Controller::GetRightY() {
-  return m_hid.GetRightY();
-}
-
-double CommandPS4Controller::GetLeftY() {
+double CommandPS4Controller::GetLeftY() const {
   return m_hid.GetLeftY();
 }
 
-double CommandPS4Controller::GetRightX() {
+double CommandPS4Controller::GetRightX() const {
   return m_hid.GetRightX();
 }
 
-double CommandPS4Controller::GetLeftX() {
-  return m_hid.GetLeftX();
+double CommandPS4Controller::GetRightY() const {
+  return m_hid.GetRightY();
+}
+
+double CommandPS4Controller::GetL2Axis() const {
+  return m_hid.GetL2Axis();
+}
+
+double CommandPS4Controller::GetR2Axis() const {
+  return m_hid.GetR2Axis();
 }

wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
 #include "frc2/command/button/CommandPS5Controller.h"
 
 using namespace frc2;
@@ -45,6 +47,10 @@ Trigger CommandPS5Controller::R2(frc::EventLoop* loop) const {
   return m_hid.R2(loop).CastTo<Trigger>();
 }
 
+Trigger CommandPS5Controller::Create(frc::EventLoop* loop) const {
+  return m_hid.Create(loop).CastTo<Trigger>();
+}
+
 Trigger CommandPS5Controller::Options(frc::EventLoop* loop) const {
   return m_hid.Options(loop).CastTo<Trigger>();
 }
@@ -65,26 +71,26 @@ Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
   return m_hid.Touchpad(loop).CastTo<Trigger>();
 }
 
-double CommandPS5Controller::GetR2Axis() {
-  return m_hid.GetR2Axis();
+double CommandPS5Controller::GetLeftX() const {
+  return m_hid.GetLeftX();
 }
 
-double CommandPS5Controller::GetL2Axis() {
-  return m_hid.GetL2Axis();
-}
-
-double CommandPS5Controller::GetRightY() {
-  return m_hid.GetRightY();
-}
-
-double CommandPS5Controller::GetLeftY() {
+double CommandPS5Controller::GetLeftY() const {
   return m_hid.GetLeftY();
 }
 
-double CommandPS5Controller::GetRightX() {
+double CommandPS5Controller::GetRightX() const {
   return m_hid.GetRightX();
 }
 
-double CommandPS5Controller::GetLeftX() {
-  return m_hid.GetLeftX();
+double CommandPS5Controller::GetRightY() const {
+  return m_hid.GetRightY();
+}
+
+double CommandPS5Controller::GetL2Axis() const {
+  return m_hid.GetL2Axis();
+}
+
+double CommandPS5Controller::GetR2Axis() const {
+  return m_hid.GetR2Axis();
 }

wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
 #include "frc2/command/button/CommandStadiaController.h"
 
 using namespace frc2;
@@ -13,22 +15,6 @@ frc::StadiaController& CommandStadiaController::GetHID() {
   return m_hid;
 }
 
-Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
-  return m_hid.LeftBumper(loop).CastTo<Trigger>();
-}
-
-Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
-  return m_hid.RightBumper(loop).CastTo<Trigger>();
-}
-
-Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
-  return m_hid.LeftStick(loop).CastTo<Trigger>();
-}
-
-Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
-  return m_hid.RightStick(loop).CastTo<Trigger>();
-}
-
 Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
   return m_hid.A(loop).CastTo<Trigger>();
 }
@@ -45,6 +31,22 @@ Trigger CommandStadiaController::Y(frc::EventLoop* loop) const {
   return m_hid.Y(loop).CastTo<Trigger>();
 }
 
+Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
+  return m_hid.LeftBumper(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
+  return m_hid.RightBumper(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
+  return m_hid.LeftStick(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
+  return m_hid.RightStick(loop).CastTo<Trigger>();
+}
+
 Trigger CommandStadiaController::Ellipses(frc::EventLoop* loop) const {
   return m_hid.Ellipses(loop).CastTo<Trigger>();
 }
@@ -57,20 +59,20 @@ Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
   return m_hid.Stadia(loop).CastTo<Trigger>();
 }
 
-Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
-  return m_hid.Google(loop).CastTo<Trigger>();
-}
-
-Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
-  return m_hid.Frame(loop).CastTo<Trigger>();
+Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
+  return m_hid.RightTrigger(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::LeftTrigger(frc::EventLoop* loop) const {
   return m_hid.LeftTrigger(loop).CastTo<Trigger>();
 }
 
-Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
-  return m_hid.RightTrigger(loop).CastTo<Trigger>();
+Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
+  return m_hid.Google(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
+  return m_hid.Frame(loop).CastTo<Trigger>();
 }
 
 double CommandStadiaController::GetLeftX() const {

wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
 #include "frc2/command/button/CommandXboxController.h"
 
 using namespace frc2;
@@ -13,22 +15,6 @@ frc::XboxController& CommandXboxController::GetHID() {
   return m_hid;
 }
 
-Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
-  return m_hid.LeftBumper(loop).CastTo<Trigger>();
-}
-
-Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
-  return m_hid.RightBumper(loop).CastTo<Trigger>();
-}
-
-Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
-  return m_hid.LeftStick(loop).CastTo<Trigger>();
-}
-
-Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
-  return m_hid.RightStick(loop).CastTo<Trigger>();
-}
-
 Trigger CommandXboxController::A(frc::EventLoop* loop) const {
   return m_hid.A(loop).CastTo<Trigger>();
 }
@@ -45,6 +31,14 @@ Trigger CommandXboxController::Y(frc::EventLoop* loop) const {
   return m_hid.Y(loop).CastTo<Trigger>();
 }
 
+Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
+  return m_hid.LeftBumper(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
+  return m_hid.RightBumper(loop).CastTo<Trigger>();
+}
+
 Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
   return m_hid.Back(loop).CastTo<Trigger>();
 }
@@ -53,36 +47,44 @@ Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
   return m_hid.Start(loop).CastTo<Trigger>();
 }
 
+Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
+  return m_hid.LeftStick(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
+  return m_hid.RightStick(loop).CastTo<Trigger>();
+}
+
 Trigger CommandXboxController::LeftTrigger(double threshold,
                                            frc::EventLoop* loop) const {
   return m_hid.LeftTrigger(threshold, loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::RightTrigger(double threshold,
-                                            frc::EventLoop* loop) const {
+                                           frc::EventLoop* loop) const {
   return m_hid.RightTrigger(threshold, loop).CastTo<Trigger>();
 }
 
-double CommandXboxController::GetRightTriggerAxis() {
-  return m_hid.GetRightTriggerAxis();
+double CommandXboxController::GetLeftX() const {
+  return m_hid.GetLeftX();
 }
 
-double CommandXboxController::GetLeftTriggerAxis() {
-  return m_hid.GetLeftTriggerAxis();
-}
-
-double CommandXboxController::GetRightY() {
-  return m_hid.GetRightY();
-}
-
-double CommandXboxController::GetLeftY() {
-  return m_hid.GetLeftY();
-}
-
-double CommandXboxController::GetRightX() {
+double CommandXboxController::GetRightX() const {
   return m_hid.GetRightX();
 }
 
-double CommandXboxController::GetLeftX() {
-  return m_hid.GetLeftX();
+double CommandXboxController::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandXboxController::GetRightY() const {
+  return m_hid.GetRightY();
+}
+
+double CommandXboxController::GetLeftTriggerAxis() const {
+  return m_hid.GetLeftTriggerAxis();
+}
+
+double CommandXboxController::GetRightTriggerAxis() const {
+  return m_hid.GetRightTriggerAxis();
 }

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandPS4Controller.h

@@ -0,0 +1,253 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
+#pragma once
+#include <frc/PS4Controller.h>
+
+#include "frc2/command/button/Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
+
+namespace frc2 {
+/**
+ * A version of {@link frc::PS4Controller} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see frc::PS4Controller
+ */
+class CommandPS4Controller : public CommandGenericHID {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandPS4Controller(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::PS4Controller& GetHID();
+
+  /**
+   * Constructs a Trigger instance around the square button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the square button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the cross button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the cross button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the circle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the circle button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the triangle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the triangle button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left trigger 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right trigger 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left trigger 2 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right trigger 2 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the share button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the share button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Share(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the options button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the options button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the L3 (left stick) button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the R3 (right stick) button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the PlayStation button's
+   * digital signal attached to the given loop.
+   */
+  Trigger PS(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the touchpad button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the left trigger 2 axis value of the controller. Note that this axis is bound
+   * to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetL2Axis() const;
+
+  /**
+   * Get the right trigger 2 axis value of the controller. Note that this axis is bound
+   * to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetR2Axis() const;
+
+ private:
+  frc::PS4Controller m_hid;
+};
+}  // namespace frc2

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandPS5Controller.h

@@ -0,0 +1,253 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
+#pragma once
+#include <frc/PS5Controller.h>
+
+#include "frc2/command/button/Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
+
+namespace frc2 {
+/**
+ * A version of {@link frc::PS5Controller} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see frc::PS5Controller
+ */
+class CommandPS5Controller : public CommandGenericHID {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandPS5Controller(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::PS5Controller& GetHID();
+
+  /**
+   * Constructs a Trigger instance around the square button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the square button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the cross button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the cross button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the circle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the circle button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the triangle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the triangle button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left trigger 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right trigger 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left trigger 2 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right trigger 2 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the create button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the create button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Create(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the options button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the options button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the L3 (left stick) button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the R3 (right stick) button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the PlayStation button's
+   * digital signal attached to the given loop.
+   */
+  Trigger PS(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the touchpad button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the left trigger 2 axis value of the controller. Note that this axis is bound
+   * to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetL2Axis() const;
+
+  /**
+   * Get the right trigger 2 axis value of the controller. Note that this axis is bound
+   * to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetR2Axis() const;
+
+ private:
+  frc::PS5Controller m_hid;
+};
+}  // namespace frc2

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandStadiaController.h

@@ -0,0 +1,249 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
+#pragma once
+#include <frc/StadiaController.h>
+
+#include "frc2/command/button/Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
+
+namespace frc2 {
+/**
+ * A version of {@link frc::StadiaController} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see frc::StadiaController
+ */
+class CommandStadiaController : public CommandGenericHID {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandStadiaController(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::StadiaController& GetHID();
+
+  /**
+   * Constructs a Trigger instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  Trigger A(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  Trigger B(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  Trigger X(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Y(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left bumper button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right bumper button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left stick button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right stick button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the ellipses button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the ellipses button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Ellipses(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the hamburger button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the hamburger button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Hamburger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the stadia button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the stadia button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Stadia(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right trigger button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right trigger button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightTrigger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left trigger button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left trigger button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftTrigger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the google button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the google button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Google(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the frame button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the frame button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Frame(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightY() const;
+
+ private:
+  frc::StadiaController m_hid;
+};
+}  // namespace frc2

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandXboxController.h

@@ -2,10 +2,12 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 #include <frc/XboxController.h>
 
-#include "Trigger.h"
+#include "frc2/command/button/Trigger.h"
 #include "frc2/command/CommandScheduler.h"
 #include "frc2/command/button/CommandGenericHID.h"
 
@@ -34,114 +36,124 @@ class CommandXboxController : public CommandGenericHID {
   frc::XboxController& GetHID();
 
   /**
-   * Constructs an event instance around the left bumper's digital signal.
+   * Constructs a Trigger instance around the A button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to. Defaults to the
    * CommandScheduler's default loop.
-   * @return an event instance representing the left bumper's digital signal
-   * attached to the given loop.
+   * @return a Trigger instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  Trigger A(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  Trigger B(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  Trigger X(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Y(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left bumper button's
+   * digital signal attached to the given loop.
    */
   Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
-   * Constructs an event instance around the right bumper's digital signal.
+   * Constructs a Trigger instance around the right bumper button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to. Defaults to the
    * CommandScheduler's default loop.
-   * @return an event instance representing the right bumper's digital signal
-   * attached to the given loop.
+   * @return a Trigger instance representing the right bumper button's
+   * digital signal attached to the given loop.
    */
   Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                                 .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the left stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the left stick's digital signal
-   * attached to the given loop.
-   */
-  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                               .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the right stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the right stick's digital signal
-   * attached to the given loop.
-   */
-  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
-   * Constructs an event instance around the A button's digital signal.
+   * Constructs a Trigger instance around the back button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to. Defaults to the
    * CommandScheduler's default loop.
-   * @return an event instance representing the A button's digital signal
-   * attached to the given loop.
-   */
-  Trigger A(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the B button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the B button's digital signal
-   * attached to the given loop.
-   */
-  Trigger B(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the X button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the X button's digital signal
-   * attached to the given loop.
-   */
-  Trigger X(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the Y button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the Y button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Y(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the back button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the back button's digital signal
-   * attached to the given loop.
+   * @return a Trigger instance representing the back button's
+   * digital signal attached to the given loop.
    */
   Trigger Back(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                          .GetDefaultButtonLoop()) const;
+                                                .GetDefaultButtonLoop()) const;
 
   /**
-   * Constructs an event instance around the start button's digital signal.
+   * Constructs a Trigger instance around the start button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to. Defaults to the
    * CommandScheduler's default loop.
-   * @return an event instance representing the start button's digital signal
-   * attached to the given loop.
+   * @return a Trigger instance representing the start button's
+   * digital signal attached to the given loop.
    */
   Trigger Start(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                           .GetDefaultButtonLoop()) const;
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the left stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the left stick button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the right stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the right stick button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
 
   /**
    * Constructs a Trigger instance around the axis value of the left trigger.
@@ -173,54 +185,53 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance that is true when the right trigger's axis
    * exceeds the provided threshold, attached to the given loop
    */
-  Trigger RightTrigger(
-      double threshold = 0.5,
-      frc::EventLoop* loop =
-          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Get the right trigger (RT) axis value of the controller. Note that this
-   * axis is bound to the range of [0, 1] as opposed to the usual [-1, 1].
-   *
-   * @return The axis value.
-   */
-  double GetRightTriggerAxis();
-
-  /**
-   * Get the left trigger (LT) axis value of the controller. Note that this axis
-   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
-   *
-   * @return The axis value.
-   */
-  double GetLeftTriggerAxis();
-
-  /**
-   * Get the Y axis value of right side of the controller.
-   *
-   * @return The axis value.
-   */
-  double GetRightY();
-
-  /**
-   * Get the Y axis value of left side of the controller.
-   *
-   * @return The axis value.
-   */
-  double GetLeftY();
-
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return The axis value.
-   */
-  double GetRightX();
+  Trigger RightTrigger(double threshold = 0.5,
+                      frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
 
   /**
    * Get the X axis value of left side of the controller.
    *
    * @return The axis value.
    */
-  double GetLeftX();
+  double GetLeftX() const;
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the left trigger axis value of the controller. Note that this axis is bound
+   * to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetLeftTriggerAxis() const;
+
+  /**
+   * Get the right trigger axis value of the controller. Note that this axis is bound
+   * to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetRightTriggerAxis() const;
 
  private:
   frc::XboxController m_hid;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java

@@ -1,389 +0,0 @@
-// 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.
-
-package edu.wpi.first.wpilibj2.command.button;
-
-import edu.wpi.first.wpilibj.PS4Controller;
-import edu.wpi.first.wpilibj.event.EventLoop;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
-/**
- * A version of {@link PS4Controller} with {@link Trigger} factories for command-based.
- *
- * @see PS4Controller
- */
-@SuppressWarnings("MethodName")
-public class CommandPS4Controller extends CommandGenericHID {
-  private final PS4Controller m_hid;
-
-  /**
-   * Construct an instance of a device.
-   *
-   * @param port The port index on the Driver Station that the device is plugged into.
-   */
-  public CommandPS4Controller(int port) {
-    super(port);
-    m_hid = new PS4Controller(port);
-  }
-
-  /**
-   * Get the underlying GenericHID object.
-   *
-   * @return the wrapped GenericHID object
-   */
-  @Override
-  public PS4Controller getHID() {
-    return m_hid;
-  }
-
-  /**
-   * Constructs an event instance around the L2 button's digital signal.
-   *
-   * @return an event instance representing the L2 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger L2() {
-    return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the L2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L2 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger L2(EventLoop loop) {
-    return m_hid.L2(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the R2 button's digital signal.
-   *
-   * @return an event instance representing the R2 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger R2() {
-    return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the R2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R2 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger R2(EventLoop loop) {
-    return m_hid.R2(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the L1 button's digital signal.
-   *
-   * @return an event instance representing the L1 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger L1() {
-    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the L1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L1 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger L1(EventLoop loop) {
-    return m_hid.L1(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the R1 button's digital signal.
-   *
-   * @return an event instance representing the R1 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger R1() {
-    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the R1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R1 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger R1(EventLoop loop) {
-    return m_hid.R1(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the L3 button's digital signal.
-   *
-   * @return an event instance representing the L3 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger L3() {
-    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the L3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L3 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger L3(EventLoop loop) {
-    return m_hid.L3(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the R3 button's digital signal.
-   *
-   * @return an event instance representing the R3 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger R3() {
-    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the R3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R3 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger R3(EventLoop loop) {
-    return m_hid.R3(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the square button's digital signal.
-   *
-   * @return an event instance representing the square button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger square() {
-    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the square button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the square button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger square(EventLoop loop) {
-    return m_hid.square(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the cross button's digital signal.
-   *
-   * @return an event instance representing the cross button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger cross() {
-    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the cross button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the cross button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger cross(EventLoop loop) {
-    return m_hid.cross(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the triangle button's digital signal.
-   *
-   * @return an event instance representing the triangle button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger triangle() {
-    return triangle(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the triangle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the triangle button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger triangle(EventLoop loop) {
-    return m_hid.triangle(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the circle button's digital signal.
-   *
-   * @return an event instance representing the circle button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger circle() {
-    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the circle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the circle button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger circle(EventLoop loop) {
-    return m_hid.circle(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the share button's digital signal.
-   *
-   * @return an event instance representing the share button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger share() {
-    return share(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the share button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the share button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger share(EventLoop loop) {
-    return m_hid.share(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the PS button's digital signal.
-   *
-   * @return an event instance representing the PS button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger PS() {
-    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the PS button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the PS button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger PS(EventLoop loop) {
-    return m_hid.PS(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the options button's digital signal.
-   *
-   * @return an event instance representing the options button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger options() {
-    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the options button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the options button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger options(EventLoop loop) {
-    return m_hid.options(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @return an event instance representing the touchpad's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger touchpad() {
-    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the touchpad's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger touchpad(EventLoop loop) {
-    return m_hid.touchpad(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Get the X axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getLeftX() {
-    return m_hid.getLeftX();
-  }
-
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getRightX() {
-    return m_hid.getRightX();
-  }
-
-  /**
-   * Get the Y axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getLeftY() {
-    return m_hid.getLeftY();
-  }
-
-  /**
-   * Get the Y axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getRightY() {
-    return m_hid.getRightY();
-  }
-
-  /**
-   * Get the L2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
-   * opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  public double getL2Axis() {
-    return m_hid.getL2Axis();
-  }
-
-  /**
-   * Get the R2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
-   * opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  public double getR2Axis() {
-    return m_hid.getR2Axis();
-  }
-}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java

@@ -1,389 +0,0 @@
-// 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.
-
-package edu.wpi.first.wpilibj2.command.button;
-
-import edu.wpi.first.wpilibj.PS5Controller;
-import edu.wpi.first.wpilibj.event.EventLoop;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
-/**
- * A version of {@link PS5Controller} with {@link Trigger} factories for command-based.
- *
- * @see PS5Controller
- */
-@SuppressWarnings("MethodName")
-public class CommandPS5Controller extends CommandGenericHID {
-  private final PS5Controller m_hid;
-
-  /**
-   * Construct an instance of a device.
-   *
-   * @param port The port index on the Driver Station that the device is plugged into.
-   */
-  public CommandPS5Controller(int port) {
-    super(port);
-    m_hid = new PS5Controller(port);
-  }
-
-  /**
-   * Get the underlying GenericHID object.
-   *
-   * @return the wrapped GenericHID object
-   */
-  @Override
-  public PS5Controller getHID() {
-    return m_hid;
-  }
-
-  /**
-   * Constructs an event instance around the L2 button's digital signal.
-   *
-   * @return an event instance representing the L2 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger L2() {
-    return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the L2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L2 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger L2(EventLoop loop) {
-    return m_hid.L2(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the R2 button's digital signal.
-   *
-   * @return an event instance representing the R2 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger R2() {
-    return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the R2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R2 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger R2(EventLoop loop) {
-    return m_hid.R2(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the L1 button's digital signal.
-   *
-   * @return an event instance representing the L1 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger L1() {
-    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the L1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L1 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger L1(EventLoop loop) {
-    return m_hid.L1(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the R1 button's digital signal.
-   *
-   * @return an event instance representing the R1 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger R1() {
-    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the R1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R1 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger R1(EventLoop loop) {
-    return m_hid.R1(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the L3 button's digital signal.
-   *
-   * @return an event instance representing the L3 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger L3() {
-    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the L3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L3 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger L3(EventLoop loop) {
-    return m_hid.L3(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the R3 button's digital signal.
-   *
-   * @return an event instance representing the R3 button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger R3() {
-    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the R3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R3 button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger R3(EventLoop loop) {
-    return m_hid.R3(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the square button's digital signal.
-   *
-   * @return an event instance representing the square button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger square() {
-    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the square button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the square button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger square(EventLoop loop) {
-    return m_hid.square(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the cross button's digital signal.
-   *
-   * @return an event instance representing the cross button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger cross() {
-    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the cross button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the cross button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger cross(EventLoop loop) {
-    return m_hid.cross(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the triangle button's digital signal.
-   *
-   * @return an event instance representing the triangle button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger triangle() {
-    return triangle(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the triangle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the triangle button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger triangle(EventLoop loop) {
-    return m_hid.triangle(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the circle button's digital signal.
-   *
-   * @return an event instance representing the circle button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger circle() {
-    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the circle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the circle button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger circle(EventLoop loop) {
-    return m_hid.circle(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the create button's digital signal.
-   *
-   * @return an event instance representing the create button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger create() {
-    return create(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the create button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the create button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger create(EventLoop loop) {
-    return m_hid.create(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the PS button's digital signal.
-   *
-   * @return an event instance representing the PS button's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger PS() {
-    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the PS button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the PS button's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger PS(EventLoop loop) {
-    return m_hid.PS(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the options button's digital signal.
-   *
-   * @return an event instance representing the options button's digital signal attached to the
-   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger options() {
-    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the options button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the options button's digital signal attached to the
-   *     given loop.
-   */
-  public Trigger options(EventLoop loop) {
-    return m_hid.options(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @return an event instance representing the touchpad's digital signal attached to the {@link
-   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   */
-  public Trigger touchpad() {
-    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
-  }
-
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the touchpad's digital signal attached to the given
-   *     loop.
-   */
-  public Trigger touchpad(EventLoop loop) {
-    return m_hid.touchpad(loop).castTo(Trigger::new);
-  }
-
-  /**
-   * Get the X axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getLeftX() {
-    return m_hid.getLeftX();
-  }
-
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getRightX() {
-    return m_hid.getRightX();
-  }
-
-  /**
-   * Get the Y axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getLeftY() {
-    return m_hid.getLeftY();
-  }
-
-  /**
-   * Get the Y axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  public double getRightY() {
-    return m_hid.getRightY();
-  }
-
-  /**
-   * Get the L2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
-   * opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  public double getL2Axis() {
-    return m_hid.getL2Axis();
-  }
-
-  /**
-   * Get the R2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
-   * opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  public double getR2Axis() {
-    return m_hid.getR2Axis();
-  }
-}

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h

@@ -1,239 +0,0 @@
-// 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.
-
-#pragma once
-#include <frc/PS4Controller.h>
-
-#include "Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
-
-namespace frc2 {
-/**
- * A version of {@link frc::PS4Controller} with {@link Trigger} factories for
- * command-based.
- *
- * @see frc::PS4Controller
- */
-class CommandPS4Controller : public frc2::CommandGenericHID {
- public:
-  /**
-   * Construct an instance of a device.
-   *
-   * @param port The port index on the Driver Station that the device is plugged
-   * into.
-   */
-  explicit CommandPS4Controller(int port);
-
-  /**
-   * Get the underlying GenericHID object.
-   *
-   * @return the wrapped GenericHID object
-   */
-  frc::PS4Controller& GetHID();
-
-  /**
-   * Constructs an event instance around this button's digital signal.
-   *
-   * @param button the button index
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the button's digital signal attached
-   * to the given loop.
-   */
-  Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the square button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the square button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the cross button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the cross button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                           .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the circle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the circle button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the triangle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the triangle button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                              .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the L1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the L1 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger L1(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the R1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the R1 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger R1(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the L2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the L2 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger L2(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the R2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the R2 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger R2(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the options button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the options button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                             .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the L3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the L3 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger L3(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the R3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the R3 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger R3(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the PS button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the PS button's digital signal
-   * attached to the given loop.
-   */
-  Trigger PS(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the touchpad's digital signal
-   * attached to the given loop.
-   */
-  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                              .GetDefaultButtonLoop()) const;
-
-  /**
-   * Get the R2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  double GetR2Axis();
-
-  /**
-   * Get the L2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  double GetL2Axis();
-
-  /**
-   * Get the Y axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetRightY();
-
-  /**
-   * Get the Y axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetLeftY();
-
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetRightX();
-
-  /**
-   * Get the X axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetLeftX();
-
- private:
-  frc::PS4Controller m_hid;
-};
-}  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS5Controller.h

@@ -1,226 +0,0 @@
-// 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.
-
-#pragma once
-#include <frc/PS5Controller.h>
-
-#include "Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
-
-namespace frc2 {
-/**
- * A version of {@link frc::PS5Controller} with {@link Trigger} factories for
- * command-based.
- *
- * @see frc::PS5Controller
- */
-class CommandPS5Controller : public CommandGenericHID {
- public:
-  /**
-   * Construct an instance of a device.
-   *
-   * @param port The port index on the Driver Station that the device is plugged
-   * into.
-   */
-  explicit CommandPS5Controller(int port);
-
-  /**
-   * Get the underlying GenericHID object.
-   *
-   * @return the wrapped GenericHID object
-   */
-  frc::PS5Controller& GetHID();
-
-  /**
-   * Constructs an event instance around the square button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the square button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the cross button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the cross button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                           .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the circle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the circle button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the triangle button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the triangle button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                              .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the L1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the L1 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger L1(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the R1 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the R1 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger R1(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the L2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the L2 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger L2(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the R2 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the R2 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger R2(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the options button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the options button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                             .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the L3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the L3 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger L3(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the R3 button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the R3 button's digital signal
-   * attached to the given loop.
-   */
-  Trigger R3(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the PS button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the PS button's digital signal
-   * attached to the given loop.
-   */
-  Trigger PS(frc::EventLoop* loop =
-                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the touchpad's digital signal
-   * attached to the given loop.
-   */
-  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                              .GetDefaultButtonLoop()) const;
-
-  /**
-   * Get the R2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  double GetR2Axis();
-
-  /**
-   * Get the L2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
-   *
-   * @return the axis value.
-   */
-  double GetL2Axis();
-
-  /**
-   * Get the Y axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetRightY();
-
-  /**
-   * Get the Y axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetLeftY();
-
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetRightX();
-
-  /**
-   * Get the X axis value of left side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetLeftX();
-
- private:
-  frc::PS5Controller m_hid;
-};
-}  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandStadiaController.h

@@ -1,233 +0,0 @@
-// 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.
-
-#pragma once
-#include <frc/StadiaController.h>
-
-#include "Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
-
-namespace frc2 {
-/**
- * A version of {@link frc::StadiaController} with {@link Trigger} factories for
- * command-based.
- *
- * @see frc::StadiaController
- */
-class CommandStadiaController : public CommandGenericHID {
- public:
-  /**
-   * Construct an instance of a controller.
-   *
-   * @param port The port index on the Driver Station that the controller is
-   * plugged into.
-   */
-  explicit CommandStadiaController(int port);
-
-  /**
-   * Get the underlying GenericHID object.
-   *
-   * @return the wrapped GenericHID object
-   */
-  frc::StadiaController& GetHID();
-
-  /**
-   * Constructs an event instance around the left bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the left bumper's digital signal
-   * attached to the given loop.
-   */
-  Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                                .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the right bumper's digital signal
-   * attached to the given loop.
-   */
-  Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                                 .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the left stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the left stick's digital signal
-   * attached to the given loop.
-   */
-  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                               .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the right stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the right stick's digital signal
-   * attached to the given loop.
-   */
-  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                                .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the A button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the A button's digital signal
-   * attached to the given loop.
-   */
-  Trigger A(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the B button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the B button's digital signal
-   * attached to the given loop.
-   */
-  Trigger B(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the X button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the X button's digital signal
-   * attached to the given loop.
-   */
-  Trigger X(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the Y button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the Y button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Y(frc::EventLoop* loop =
-                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the ellipses button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the ellipses button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Ellipses(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                              .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the hamburger button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the hamburger button's digital
-   * signal attached to the given loop.
-   */
-  Trigger Hamburger(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                               .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the stadia button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the stadia button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Stadia(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the google button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the google button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Google(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the frame button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the frame button's digital signal
-   * attached to the given loop.
-   */
-  Trigger Frame(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                           .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the left trigger's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the left trigger's digital signal
-   * attached to the given loop.
-   */
-  Trigger LeftTrigger(frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                                 .GetDefaultButtonLoop()) const;
-
-  /**
-   * Constructs an event instance around the right trigger's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the right trigger's digital signal
-   * attached to the given loop.
-   */
-  Trigger RightTrigger(
-      frc::EventLoop* loop =
-          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
-
-  /**
-   * Get the X axis value of left side of the controller.
-   *
-   * @return the axis value
-   */
-  double GetLeftX() const;
-
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return the axis value
-   */
-  double GetRightX() const;
-
-  /**
-   * Get the Y axis value of left side of the controller.
-   *
-   * @return the axis value
-   */
-  double GetLeftY() const;
-
-  /**
-   * Get the Y axis value of right side of the controller.
-   *
-   * @return the axis value
-   */
-  double GetRightY() const;
-
- private:
-  frc::StadiaController m_hid;
-};
-}  // namespace frc2

wpilibc/CMakeLists.txt

@@ -5,7 +5,12 @@ include(AddTest)
 
 configure_file(src/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
 
-file(GLOB_RECURSE wpilibc_native_src src/main/native/cpp/*.cpp src/main/native/cppcs/*.cpp)
+file(
+    GLOB_RECURSE wpilibc_native_src
+    src/main/native/cpp/*.cpp
+    src/main/native/cppcs/*.cpp
+    src/generated/main/native/cpp/*.cpp
+)
 
 add_library(wpilibc ${wpilibc_native_src} ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
 set_target_properties(wpilibc PROPERTIES DEBUG_POSTFIX "d")
@@ -14,6 +19,7 @@ target_include_directories(
     wpilibc
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/include>
         $<INSTALL_INTERFACE:${include_dest}/wpilibc>
 )
 wpilib_target_warnings(wpilibc)

wpilibc/build.gradle

@@ -85,12 +85,16 @@ model {
                 cpp {
                     source {
                         srcDirs = [
-                            'src/main/native/cpp'
+                            'src/main/native/cpp',
+                            'src/generated/main/native/cpp'
                         ]
                         include '**/*.cpp'
                     }
                     exportedHeaders {
-                        srcDirs 'src/main/native/include'
+                        srcDirs = [
+                            'src/main/native/include',
+                            'src/generated/main/native/include'
+                        ]
                     }
                 }
             }
@@ -131,7 +135,7 @@ model {
                         include '**/*.cpp'
                     }
                     exportedHeaders {
-                        srcDirs 'src/main/native/include', '../cameraserver/src/main/native/include'
+                        srcDirs 'src/main/native/include', 'src/generated/main/native/include', '../cameraserver/src/main/native/include'
                     }
                 }
             }

wpilibc/generate_hids.py

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+
+# 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.
+import json
+import os
+
+from jinja2 import Environment, FileSystemLoader
+
+
+def write_controller_file(outPath, controllerName, contents):
+    if not os.path.exists(outPath):
+        os.makedirs(outPath)
+
+    outpathname = f"{outPath}/{controllerName}"
+
+    if os.path.exists(outpathname):
+        with open(outpathname, "r") as f:
+            if f.read() == contents:
+                return
+
+    # File either doesn't exist or has different contents
+    with open(outpathname, "w", newline="\n") as f:
+        f.write(contents)
+
+
+def main():
+    dirname, _ = os.path.split(os.path.abspath(__file__))
+
+    with open("wpilibj/src/generate/hids.json") as f:
+        controllers = json.load(f)
+
+    # C++ headers
+    env = Environment(
+        loader=FileSystemLoader(f"{dirname}/src/generate/main/native/include/frc"),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/include/frc"
+    template = env.get_template("hid.h.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(f"{controller['ConsoleName']}Controller.h")
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+    # C++ files
+    env = Environment(
+        loader=FileSystemLoader(f"{dirname}/src/generate/main/native/cpp"),
+        autoescape=False,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/cpp"
+    template = env.get_template("hid.cpp.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(f"{controller['ConsoleName']}Controller.cpp")
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+    # C++ simulation headers
+    env = Environment(
+        loader=FileSystemLoader(
+            f"{dirname}/src/generate/main/native/include/frc/simulation"
+        ),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/include/frc/simulation"
+    template = env.get_template("hidsim.h.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(f"{controller['ConsoleName']}ControllerSim.h")
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+    # C++ simulation files
+    env = Environment(
+        loader=FileSystemLoader(f"{dirname}/src/generate/main/native/cpp/simulation"),
+        autoescape=False,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/cpp/simulation"
+    template = env.get_template("hidsim.cpp.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(
+            f"{controller['ConsoleName']}ControllerSim.cpp"
+        )
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+
+if __name__ == "__main__":
+    main()

wpilibc/publish.gradle

@@ -35,7 +35,8 @@ task cppHeadersZip(type: Zip) {
     }
 
     ext.includeDirs = [
-        project.file('src/main/native/include')
+        project.file('src/main/native/include'),
+        project.file('src/generated/main/native/include')
     ]
 
     ext.includeDirs.each {

wpilibc/src/generate/main/native/cpp/hid.cpp.jinja

@@ -0,0 +1,92 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#include "frc/{{ ConsoleName }}Controller.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/event/BooleanEvent.h"
+
+using namespace frc;
+
+{{ ConsoleName }}Controller::{{ ConsoleName }}Controller(int port) : GenericHID(port) {
+  {{ "// " if SkipReporting }}HAL_Report(HALUsageReporting::kResourceType_{{ ConsoleName }}Controller, port + 1);
+}
+{% for stick in sticks %}
+double {{ ConsoleName }}Controller::Get{{ stick.NameParts|map("capitalize")|join }}() const {
+  return GetRawAxis(Axis::k{{ stick.NameParts|map("capitalize")|join }});
+}
+{% endfor -%}
+{% for trigger in triggers %}
+double {{ ConsoleName }}Controller::Get{{ capitalize_first(trigger.name) }}Axis() const {
+  return GetRawAxis(Axis::k{{ capitalize_first(trigger.name) }});
+}
+{% if trigger.UseThresholdMethods %}
+BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold, EventLoop* loop) const {
+  return BooleanEvent(loop, [this, threshold] { return this->Get{{ capitalize_first(trigger.name) }}Axis() > threshold; });
+}
+
+BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(EventLoop* loop) const {
+  return this->{{ capitalize_first(trigger.name) }}(0.5, loop);
+}
+{% endif -%}
+{% endfor -%}
+{% for button in buttons %}
+bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}Button() const {
+  return GetRawButton(Button::k{{ capitalize_first(button.name) }});
+}
+
+bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}ButtonPressed() {
+  return GetRawButtonPressed(Button::k{{ capitalize_first(button.name) }});
+}
+
+bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}ButtonReleased() {
+  return GetRawButtonReleased(Button::k{{ capitalize_first(button.name) }});
+}
+
+BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->Get{{ capitalize_first(button.name) }}Button(); });
+}
+{% endfor -%}
+{% if ConsoleName == "Xbox" or ConsoleName == "Stadia"%}
+bool {{ ConsoleName }}Controller::GetLeftBumper() const {
+  return GetRawButton(Button::kLeftBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetRightBumper() const {
+  return GetRawButton(Button::kRightBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetLeftBumperPressed() {
+  return GetRawButtonPressed(Button::kLeftBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetRightBumperPressed() {
+  return GetRawButtonPressed(Button::kRightBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetLeftBumperReleased() {
+  return GetRawButtonReleased(Button::kLeftBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetRightBumperReleased() {
+  return GetRawButtonReleased(Button::kRightBumper);
+}
+{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+bool {{ ConsoleName }}Controller::GetTouchpad() const {
+  return GetRawButton(Button::kTouchpad);
+}
+
+bool {{ ConsoleName }}Controller::GetTouchpadPressed() {
+  return GetRawButtonPressed(Button::kTouchpad);
+}
+
+bool {{ ConsoleName }}Controller::GetTouchpadReleased() {
+  return GetRawButtonReleased(Button::kTouchpad);
+}
+{% endif %}

wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja

@@ -0,0 +1,42 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#include "frc/simulation/{{ ConsoleName }}ControllerSim.h"
+
+#include "frc/{{ ConsoleName }}Controller.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+{{ ConsoleName }}ControllerSim::{{ ConsoleName }}ControllerSim(const {{ ConsoleName }}Controller& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxisCount({{ sticks|length + triggers|length }});
+  SetButtonCount({{ buttons|length }});
+  SetPOVCount(1);
+}
+
+{{ ConsoleName }}ControllerSim::{{ ConsoleName }}ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxisCount({{ sticks|length + triggers|length }});
+  SetButtonCount({{ buttons|length }});
+  SetPOVCount(1);
+}
+{% for stick in sticks %}
+void {{ ConsoleName }}ControllerSim::Set{{ stick.NameParts|map("capitalize")|join }}(double value) {
+  SetRawAxis({{ ConsoleName }}Controller::Axis::k{{ stick.NameParts|map("capitalize")|join }}, value);
+}
+{% endfor -%}
+{% for trigger in triggers %}
+void {{ ConsoleName }}ControllerSim::Set{{ capitalize_first(trigger.name) }}Axis(double value) {
+  SetRawAxis({{ ConsoleName }}Controller::Axis::k{{ capitalize_first(trigger.name) }}, value);
+}
+{% endfor -%}
+{% for button in buttons %}
+void {{ ConsoleName }}ControllerSim::Set{{ capitalize_first(button.name) }}Button(bool value) {
+  SetRawButton({{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, value);
+}
+{% endfor %}

wpilibc/src/generate/main/native/include/frc/hid.h.jinja

@@ -0,0 +1,208 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#pragma once
+
+#include "frc/GenericHID.h"
+
+namespace frc {
+
+/**
+ * Handle input from {{ ConsoleName }} controllers connected to the Driver Station.
+ *
+ * This class handles {{ ConsoleName }} input that comes from the Driver Station. Each
+ * time a value is requested the most recent value is returned. There is a
+ * single class instance for each controller and the mapping of ports to
+ * hardware buttons depends on the code in the Driver Station.
+ *
+ * Only first party controllers from {{ Manufacturer }} are guaranteed to have the
+ * correct mapping, and only through the official NI DS. Sim is not guaranteed
+ * to have the same mapping, as well as any 3rd party controllers.
+ */
+class {{ ConsoleName }}Controller : public GenericHID {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into (0-5).
+   */
+  explicit {{ ConsoleName }}Controller(int port);
+
+  ~{{ ConsoleName }}Controller() override = default;
+
+  {{ ConsoleName }}Controller({{ ConsoleName }}Controller&&) = default;
+  {{ ConsoleName }}Controller& operator=({{ ConsoleName }}Controller&&) = default;
+{% for stick in sticks %}
+  /**
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   *
+   * @return the axis value.
+   */
+  double Get{{ stick.NameParts|map("capitalize")|join }}() const;
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Get the {{ trigger.DocName }} axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  double Get{{ capitalize_first(trigger.name) }}Axis() const;
+{% if trigger.UseThresholdMethods %}
+  /**
+   * Constructs an event instance around the axis value of the {{ trigger.DocName }}.
+   * The returned trigger will be true when the axis value is greater than
+   * {@code threshold}.
+   * @param threshold the minimum axis value for the returned event to be true.
+   * This value should be in the range [0, 1] where 0 is the unpressed state of
+   * the axis.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the {{ trigger.DocName }}'s axis
+   * exceeds the provided threshold, attached to the given event loop
+   */
+  BooleanEvent {{ capitalize_first(trigger.name) }}(double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance around the axis value of the {{ trigger.DocName }}.
+   * The returned trigger will be true when the axis value is greater than 0.5.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the {{ trigger.DocName }}'s axis
+   * exceeds 0.5, attached to the given event loop
+   */
+  BooleanEvent {{ capitalize_first(trigger.name) }}(EventLoop* loop) const;
+{% endif -%}
+{% endfor -%}
+{% for button in buttons %}
+  /**
+   * Read the value of the {{ button.DocName|default(button.name) }} button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool Get{{ capitalize_first(button.name) }}Button() const;
+
+  /**
+   * Whether the {{ button.DocName|default(button.name) }} button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool Get{{ capitalize_first(button.name) }}ButtonPressed();
+
+  /**
+   * Whether the {{ button.DocName|default(button.name) }} button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool Get{{ capitalize_first(button.name) }}ButtonReleased();
+
+  /**
+   * Constructs an event instance around the {{ button.DocName|default(button.name) }} button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the {{ button.DocName|default(button.name) }} button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent {{ capitalize_first(button.name) }}(EventLoop* loop) const;
+{% endfor -%}
+{% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
+  /**
+   * Read the value of the left bumper (LB) button on the controller.
+   *
+   * @return the state of the button
+   */
+  [[deprecated("Use GetLeftBumperButton instead")]]
+  bool GetLeftBumper() const;
+
+  /**
+   * Read the value of the right bumper (RB) button on the controller.
+   *
+   * @return the state of the button
+   */
+  [[deprecated("Use GetRightBumperButton instead")]]
+  bool GetRightBumper() const;
+
+  /**
+   * Whether the left bumper (LB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetLeftBumperButtonPressed instead")]]
+  bool GetLeftBumperPressed();
+
+  /**
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetRightBumperButtonPressed instead")]]
+  bool GetRightBumperPressed();
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  [[deprecated("Use GetLeftBumperButtonReleased instead")]]
+  bool GetLeftBumperReleased();
+
+  /**
+   * Whether the right bumper (RB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  [[deprecated("Use GetRightBumperButtonReleased instead")]]
+  bool GetRightBumperReleased();
+{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+  /**
+   * Read the value of the touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  [[deprecated("Use GetTouchpadButton instead")]]
+  bool GetTouchpad() const;
+  /**
+   * Whether the touchpad was pressed since the last check.
+   *
+   * @return Whether the touchpad was pressed since the last check.
+   */
+  [[deprecated("Use GetTouchpadButtonPressed instead")]]
+  bool GetTouchpadPressed();
+
+  /**
+   * Whether the touchpad was released since the last check.
+   *
+   * @return Whether the touchpad was released since the last check.
+   */
+  [[deprecated("Use GetTouchpadButtonReleased instead")]]
+  bool GetTouchpadReleased();
+{% endif %}
+  /** Represents a digital button on an {{ ConsoleName }}Controller. */
+  struct Button {
+{%- for button in buttons %}
+    /// {{ capitalize_first(button.DocName|default(button.name)) }} button.
+    static constexpr int k{{ capitalize_first(button.name) }} = {{ button.value }};
+{%- endfor %}
+  };
+
+  /** Represents an axis on an {{ ConsoleName }}Controller. */
+  struct Axis {
+{%- for stick in sticks %}
+    /// {{ stick.NameParts|map("capitalize")|join(" ") }} axis.
+    static constexpr int k{{ stick.NameParts|map("capitalize")|join }} = {{ stick.value }};
+{%- endfor %}
+{%- for trigger in triggers %}
+    /// {{ trigger.DocName|capitalize }}.
+    static constexpr int k{{ capitalize_first(trigger.name) }} = {{ trigger.value }};
+{%- endfor %}
+  };
+};
+
+}  // namespace frc

wpilibc/src/generate/main/native/include/frc/simulation/hidsim.h.jinja

@@ -0,0 +1,89 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#pragma once
+
+#include "frc/simulation/GenericHIDSim.h"
+
+namespace frc {
+
+class {{ ConsoleName }}Controller;
+
+namespace sim {
+
+/**
+ * Class to control a simulated {{ ConsoleName }} controller.
+ */
+class {{ ConsoleName }}ControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a {{ ConsoleName }}Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit {{ ConsoleName }}ControllerSim(const {{ ConsoleName }}Controller& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit {{ ConsoleName }}ControllerSim(int port);
+{% for stick in sticks %}
+  /**
+   * Change the {{ stick.NameParts|join(" ") }} value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void Set{{ stick.NameParts|map("capitalize")|join }}(double value);
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Change the value of the {{ trigger.DocName }} axis on the controller.
+   *
+   * @param value the new value
+   */
+  void Set{{ capitalize_first(trigger.name) }}Axis(double value);
+{% endfor -%}
+{% for button in buttons %}
+  /**
+   * Change the value of the {{ button.DocName|default(button.name) }} button on the controller.
+   *
+   * @param value the new value
+   */
+  void Set{{ capitalize_first(button.name) }}Button(bool value);
+{% endfor -%}
+{% if ConsoleName == "Xbox" %}
+  /**
+   * Change the left bumper value of the joystick.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetLeftBumperButton instead")]]
+  void SetLeftBumper(bool value);
+
+  /**
+   * Change the right bumper value of the joystick.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetRightBumperButton instead")]]
+  void SetRightBumper(bool value);
+{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetTouchpadButton instead")]]
+  void SetTouchpad(bool value);
+{% endif %}
+};
+
+}  // namespace sim
+}  // namespace frc

wpilibc/src/generated/main/native/cpp/PS4Controller.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #include "frc/PS4Controller.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -18,14 +20,14 @@ double PS4Controller::GetLeftX() const {
   return GetRawAxis(Axis::kLeftX);
 }
 
-double PS4Controller::GetRightX() const {
-  return GetRawAxis(Axis::kRightX);
-}
-
 double PS4Controller::GetLeftY() const {
   return GetRawAxis(Axis::kLeftY);
 }
 
+double PS4Controller::GetRightX() const {
+  return GetRawAxis(Axis::kRightX);
+}
+
 double PS4Controller::GetRightY() const {
   return GetRawAxis(Axis::kRightY);
 }
@@ -246,6 +248,22 @@ BooleanEvent PS4Controller::PS(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetPSButton(); });
 }
 
+bool PS4Controller::GetTouchpadButton() const {
+  return GetRawButton(Button::kTouchpad);
+}
+
+bool PS4Controller::GetTouchpadButtonPressed() {
+  return GetRawButtonPressed(Button::kTouchpad);
+}
+
+bool PS4Controller::GetTouchpadButtonReleased() {
+  return GetRawButtonReleased(Button::kTouchpad);
+}
+
+BooleanEvent PS4Controller::Touchpad(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
+}
+
 bool PS4Controller::GetTouchpad() const {
   return GetRawButton(Button::kTouchpad);
 }
@@ -257,7 +275,3 @@ bool PS4Controller::GetTouchpadPressed() {
 bool PS4Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
-
-BooleanEvent PS4Controller::Touchpad(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetTouchpad(); });
-}

wpilibc/src/generated/main/native/cpp/PS5Controller.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #include "frc/PS5Controller.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -18,14 +20,14 @@ double PS5Controller::GetLeftX() const {
   return GetRawAxis(Axis::kLeftX);
 }
 
-double PS5Controller::GetRightX() const {
-  return GetRawAxis(Axis::kRightX);
-}
-
 double PS5Controller::GetLeftY() const {
   return GetRawAxis(Axis::kLeftY);
 }
 
+double PS5Controller::GetRightX() const {
+  return GetRawAxis(Axis::kRightX);
+}
+
 double PS5Controller::GetRightY() const {
   return GetRawAxis(Axis::kRightY);
 }
@@ -246,6 +248,22 @@ BooleanEvent PS5Controller::PS(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetPSButton(); });
 }
 
+bool PS5Controller::GetTouchpadButton() const {
+  return GetRawButton(Button::kTouchpad);
+}
+
+bool PS5Controller::GetTouchpadButtonPressed() {
+  return GetRawButtonPressed(Button::kTouchpad);
+}
+
+bool PS5Controller::GetTouchpadButtonReleased() {
+  return GetRawButtonReleased(Button::kTouchpad);
+}
+
+BooleanEvent PS5Controller::Touchpad(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
+}
+
 bool PS5Controller::GetTouchpad() const {
   return GetRawButton(Button::kTouchpad);
 }
@@ -257,7 +275,3 @@ bool PS5Controller::GetTouchpadPressed() {
 bool PS5Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
-
-BooleanEvent PS5Controller::Touchpad(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetTouchpad(); });
-}

wpilibc/src/generated/main/native/cpp/StadiaController.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #include "frc/StadiaController.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -11,7 +13,6 @@
 using namespace frc;
 
 StadiaController::StadiaController(int port) : GenericHID(port) {
-  // re-enable when StadiaController is added to Usage Reporting
   // HAL_Report(HALUsageReporting::kResourceType_StadiaController, port + 1);
 }
 
@@ -31,70 +32,6 @@ double StadiaController::GetRightY() const {
   return GetRawAxis(Axis::kRightY);
 }
 
-bool StadiaController::GetLeftBumper() const {
-  return GetRawButton(Button::kLeftBumper);
-}
-
-bool StadiaController::GetRightBumper() const {
-  return GetRawButton(Button::kRightBumper);
-}
-
-bool StadiaController::GetLeftBumperPressed() {
-  return GetRawButtonPressed(Button::kLeftBumper);
-}
-
-bool StadiaController::GetRightBumperPressed() {
-  return GetRawButtonPressed(Button::kRightBumper);
-}
-
-bool StadiaController::GetLeftBumperReleased() {
-  return GetRawButtonReleased(Button::kLeftBumper);
-}
-
-bool StadiaController::GetRightBumperReleased() {
-  return GetRawButtonReleased(Button::kRightBumper);
-}
-
-BooleanEvent StadiaController::LeftBumper(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetLeftBumper(); });
-}
-
-BooleanEvent StadiaController::RightBumper(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetRightBumper(); });
-}
-
-bool StadiaController::GetLeftStickButton() const {
-  return GetRawButton(Button::kLeftStick);
-}
-
-bool StadiaController::GetRightStickButton() const {
-  return GetRawButton(Button::kRightStick);
-}
-
-bool StadiaController::GetLeftStickButtonPressed() {
-  return GetRawButtonPressed(Button::kLeftStick);
-}
-
-bool StadiaController::GetRightStickButtonPressed() {
-  return GetRawButtonPressed(Button::kRightStick);
-}
-
-bool StadiaController::GetLeftStickButtonReleased() {
-  return GetRawButtonReleased(Button::kLeftStick);
-}
-
-bool StadiaController::GetRightStickButtonReleased() {
-  return GetRawButtonReleased(Button::kRightStick);
-}
-
-BooleanEvent StadiaController::LeftStick(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
-}
-
-BooleanEvent StadiaController::RightStick(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
-}
-
 bool StadiaController::GetAButton() const {
   return GetRawButton(Button::kA);
 }
@@ -159,6 +96,70 @@ BooleanEvent StadiaController::Y(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetYButton(); });
 }
 
+bool StadiaController::GetLeftBumperButton() const {
+  return GetRawButton(Button::kLeftBumper);
+}
+
+bool StadiaController::GetLeftBumperButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftBumper);
+}
+
+bool StadiaController::GetLeftBumperButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftBumper);
+}
+
+BooleanEvent StadiaController::LeftBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftBumperButton(); });
+}
+
+bool StadiaController::GetRightBumperButton() const {
+  return GetRawButton(Button::kRightBumper);
+}
+
+bool StadiaController::GetRightBumperButtonPressed() {
+  return GetRawButtonPressed(Button::kRightBumper);
+}
+
+bool StadiaController::GetRightBumperButtonReleased() {
+  return GetRawButtonReleased(Button::kRightBumper);
+}
+
+BooleanEvent StadiaController::RightBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightBumperButton(); });
+}
+
+bool StadiaController::GetLeftStickButton() const {
+  return GetRawButton(Button::kLeftStick);
+}
+
+bool StadiaController::GetLeftStickButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftStick);
+}
+
+bool StadiaController::GetLeftStickButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftStick);
+}
+
+BooleanEvent StadiaController::LeftStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
+}
+
+bool StadiaController::GetRightStickButton() const {
+  return GetRawButton(Button::kRightStick);
+}
+
+bool StadiaController::GetRightStickButtonPressed() {
+  return GetRawButtonPressed(Button::kRightStick);
+}
+
+bool StadiaController::GetRightStickButtonReleased() {
+  return GetRawButtonReleased(Button::kRightStick);
+}
+
+BooleanEvent StadiaController::RightStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
+}
+
 bool StadiaController::GetEllipsesButton() const {
   return GetRawButton(Button::kEllipses);
 }
@@ -207,6 +208,38 @@ BooleanEvent StadiaController::Stadia(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetStadiaButton(); });
 }
 
+bool StadiaController::GetRightTriggerButton() const {
+  return GetRawButton(Button::kRightTrigger);
+}
+
+bool StadiaController::GetRightTriggerButtonPressed() {
+  return GetRawButtonPressed(Button::kRightTrigger);
+}
+
+bool StadiaController::GetRightTriggerButtonReleased() {
+  return GetRawButtonReleased(Button::kRightTrigger);
+}
+
+BooleanEvent StadiaController::RightTrigger(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightTriggerButton(); });
+}
+
+bool StadiaController::GetLeftTriggerButton() const {
+  return GetRawButton(Button::kLeftTrigger);
+}
+
+bool StadiaController::GetLeftTriggerButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftTrigger);
+}
+
+bool StadiaController::GetLeftTriggerButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftTrigger);
+}
+
+BooleanEvent StadiaController::LeftTrigger(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftTriggerButton(); });
+}
+
 bool StadiaController::GetGoogleButton() const {
   return GetRawButton(Button::kGoogle);
 }
@@ -239,34 +272,26 @@ BooleanEvent StadiaController::Frame(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetFrameButton(); });
 }
 
-bool StadiaController::GetLeftTriggerButton() const {
-  return GetRawButton(Button::kLeftTrigger);
+bool StadiaController::GetLeftBumper() const {
+  return GetRawButton(Button::kLeftBumper);
 }
 
-bool StadiaController::GetLeftTriggerButtonPressed() {
-  return GetRawButtonPressed(Button::kLeftTrigger);
+bool StadiaController::GetRightBumper() const {
+  return GetRawButton(Button::kRightBumper);
 }
 
-bool StadiaController::GetLeftTriggerButtonReleased() {
-  return GetRawButtonReleased(Button::kLeftTrigger);
+bool StadiaController::GetLeftBumperPressed() {
+  return GetRawButtonPressed(Button::kLeftBumper);
 }
 
-BooleanEvent StadiaController::LeftTrigger(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetLeftTriggerButton(); });
+bool StadiaController::GetRightBumperPressed() {
+  return GetRawButtonPressed(Button::kRightBumper);
 }
 
-bool StadiaController::GetRightTriggerButton() const {
-  return GetRawButton(Button::kRightTrigger);
+bool StadiaController::GetLeftBumperReleased() {
+  return GetRawButtonReleased(Button::kLeftBumper);
 }
 
-bool StadiaController::GetRightTriggerButtonPressed() {
-  return GetRawButtonPressed(Button::kRightTrigger);
-}
-
-bool StadiaController::GetRightTriggerButtonReleased() {
-  return GetRawButtonReleased(Button::kRightTrigger);
-}
-
-BooleanEvent StadiaController::RightTrigger(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetRightTriggerButton(); });
+bool StadiaController::GetRightBumperReleased() {
+  return GetRawButtonReleased(Button::kRightBumper);
 }

wpilibc/src/generated/main/native/cpp/XboxController.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #include "frc/XboxController.h"
 
 #include <hal/FRCUsageReporting.h>
@@ -34,72 +36,24 @@ double XboxController::GetLeftTriggerAxis() const {
   return GetRawAxis(Axis::kLeftTrigger);
 }
 
+BooleanEvent XboxController::LeftTrigger(double threshold, EventLoop* loop) const {
+  return BooleanEvent(loop, [this, threshold] { return this->GetLeftTriggerAxis() > threshold; });
+}
+
+BooleanEvent XboxController::LeftTrigger(EventLoop* loop) const {
+  return this->LeftTrigger(0.5, loop);
+}
+
 double XboxController::GetRightTriggerAxis() const {
   return GetRawAxis(Axis::kRightTrigger);
 }
 
-bool XboxController::GetLeftBumper() const {
-  return GetRawButton(Button::kLeftBumper);
+BooleanEvent XboxController::RightTrigger(double threshold, EventLoop* loop) const {
+  return BooleanEvent(loop, [this, threshold] { return this->GetRightTriggerAxis() > threshold; });
 }
 
-bool XboxController::GetRightBumper() const {
-  return GetRawButton(Button::kRightBumper);
-}
-
-bool XboxController::GetLeftBumperPressed() {
-  return GetRawButtonPressed(Button::kLeftBumper);
-}
-
-bool XboxController::GetRightBumperPressed() {
-  return GetRawButtonPressed(Button::kRightBumper);
-}
-
-bool XboxController::GetLeftBumperReleased() {
-  return GetRawButtonReleased(Button::kLeftBumper);
-}
-
-bool XboxController::GetRightBumperReleased() {
-  return GetRawButtonReleased(Button::kRightBumper);
-}
-
-BooleanEvent XboxController::LeftBumper(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetLeftBumper(); });
-}
-
-BooleanEvent XboxController::RightBumper(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetRightBumper(); });
-}
-
-bool XboxController::GetLeftStickButton() const {
-  return GetRawButton(Button::kLeftStick);
-}
-
-bool XboxController::GetRightStickButton() const {
-  return GetRawButton(Button::kRightStick);
-}
-
-bool XboxController::GetLeftStickButtonPressed() {
-  return GetRawButtonPressed(Button::kLeftStick);
-}
-
-bool XboxController::GetRightStickButtonPressed() {
-  return GetRawButtonPressed(Button::kRightStick);
-}
-
-bool XboxController::GetLeftStickButtonReleased() {
-  return GetRawButtonReleased(Button::kLeftStick);
-}
-
-bool XboxController::GetRightStickButtonReleased() {
-  return GetRawButtonReleased(Button::kRightStick);
-}
-
-BooleanEvent XboxController::LeftStick(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
-}
-
-BooleanEvent XboxController::RightStick(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
+BooleanEvent XboxController::RightTrigger(EventLoop* loop) const {
+  return this->RightTrigger(0.5, loop);
 }
 
 bool XboxController::GetAButton() const {
@@ -166,6 +120,38 @@ BooleanEvent XboxController::Y(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetYButton(); });
 }
 
+bool XboxController::GetLeftBumperButton() const {
+  return GetRawButton(Button::kLeftBumper);
+}
+
+bool XboxController::GetLeftBumperButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftBumper);
+}
+
+bool XboxController::GetLeftBumperButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftBumper);
+}
+
+BooleanEvent XboxController::LeftBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftBumperButton(); });
+}
+
+bool XboxController::GetRightBumperButton() const {
+  return GetRawButton(Button::kRightBumper);
+}
+
+bool XboxController::GetRightBumperButtonPressed() {
+  return GetRawButtonPressed(Button::kRightBumper);
+}
+
+bool XboxController::GetRightBumperButtonReleased() {
+  return GetRawButtonReleased(Button::kRightBumper);
+}
+
+BooleanEvent XboxController::RightBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightBumperButton(); });
+}
+
 bool XboxController::GetBackButton() const {
   return GetRawButton(Button::kBack);
 }
@@ -198,24 +184,58 @@ BooleanEvent XboxController::Start(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetStartButton(); });
 }
 
-BooleanEvent XboxController::LeftTrigger(double threshold,
-                                         EventLoop* loop) const {
-  return BooleanEvent(loop, [this, threshold]() {
-    return this->GetLeftTriggerAxis() > threshold;
-  });
+bool XboxController::GetLeftStickButton() const {
+  return GetRawButton(Button::kLeftStick);
 }
 
-BooleanEvent XboxController::LeftTrigger(EventLoop* loop) const {
-  return this->LeftTrigger(0.5, loop);
+bool XboxController::GetLeftStickButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftStick);
 }
 
-BooleanEvent XboxController::RightTrigger(double threshold,
-                                          EventLoop* loop) const {
-  return BooleanEvent(loop, [this, threshold]() {
-    return this->GetRightTriggerAxis() > threshold;
-  });
+bool XboxController::GetLeftStickButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftStick);
 }
 
-BooleanEvent XboxController::RightTrigger(EventLoop* loop) const {
-  return this->RightTrigger(0.5, loop);
+BooleanEvent XboxController::LeftStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
+}
+
+bool XboxController::GetRightStickButton() const {
+  return GetRawButton(Button::kRightStick);
+}
+
+bool XboxController::GetRightStickButtonPressed() {
+  return GetRawButtonPressed(Button::kRightStick);
+}
+
+bool XboxController::GetRightStickButtonReleased() {
+  return GetRawButtonReleased(Button::kRightStick);
+}
+
+BooleanEvent XboxController::RightStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
+}
+
+bool XboxController::GetLeftBumper() const {
+  return GetRawButton(Button::kLeftBumper);
+}
+
+bool XboxController::GetRightBumper() const {
+  return GetRawButton(Button::kRightBumper);
+}
+
+bool XboxController::GetLeftBumperPressed() {
+  return GetRawButtonPressed(Button::kLeftBumper);
+}
+
+bool XboxController::GetRightBumperPressed() {
+  return GetRawButtonPressed(Button::kRightBumper);
+}
+
+bool XboxController::GetLeftBumperReleased() {
+  return GetRawButtonReleased(Button::kLeftBumper);
+}
+
+bool XboxController::GetRightBumperReleased() {
+  return GetRawButtonReleased(Button::kRightBumper);
 }

wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #include "frc/simulation/PS4ControllerSim.h"
 
 #include "frc/PS4Controller.h"
@@ -26,14 +28,14 @@ void PS4ControllerSim::SetLeftX(double value) {
   SetRawAxis(PS4Controller::Axis::kLeftX, value);
 }
 
-void PS4ControllerSim::SetRightX(double value) {
-  SetRawAxis(PS4Controller::Axis::kRightX, value);
-}
-
 void PS4ControllerSim::SetLeftY(double value) {
   SetRawAxis(PS4Controller::Axis::kLeftY, value);
 }
 
+void PS4ControllerSim::SetRightX(double value) {
+  SetRawAxis(PS4Controller::Axis::kRightX, value);
+}
+
 void PS4ControllerSim::SetRightY(double value) {
   SetRawAxis(PS4Controller::Axis::kRightY, value);
 }
@@ -98,6 +100,6 @@ void PS4ControllerSim::SetPSButton(bool value) {
   SetRawButton(PS4Controller::Button::kPS, value);
 }
 
-void PS4ControllerSim::SetTouchpad(bool value) {
+void PS4ControllerSim::SetTouchpadButton(bool value) {
   SetRawButton(PS4Controller::Button::kTouchpad, value);
 }

wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #include "frc/simulation/PS5ControllerSim.h"
 
 #include "frc/PS5Controller.h"
@@ -26,14 +28,14 @@ void PS5ControllerSim::SetLeftX(double value) {
   SetRawAxis(PS5Controller::Axis::kLeftX, value);
 }
 
-void PS5ControllerSim::SetRightX(double value) {
-  SetRawAxis(PS5Controller::Axis::kRightX, value);
-}
-
 void PS5ControllerSim::SetLeftY(double value) {
   SetRawAxis(PS5Controller::Axis::kLeftY, value);
 }
 
+void PS5ControllerSim::SetRightX(double value) {
+  SetRawAxis(PS5Controller::Axis::kRightX, value);
+}
+
 void PS5ControllerSim::SetRightY(double value) {
   SetRawAxis(PS5Controller::Axis::kRightY, value);
 }
@@ -98,6 +100,6 @@ void PS5ControllerSim::SetPSButton(bool value) {
   SetRawButton(PS5Controller::Button::kPS, value);
 }
 
-void PS5ControllerSim::SetTouchpad(bool value) {
+void PS5ControllerSim::SetTouchpadButton(bool value) {
   SetRawButton(PS5Controller::Button::kTouchpad, value);
 }

wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp

@@ -0,0 +1,101 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
+#include "frc/simulation/StadiaControllerSim.h"
+
+#include "frc/StadiaController.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+StadiaControllerSim::StadiaControllerSim(const StadiaController& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxisCount(4);
+  SetButtonCount(15);
+  SetPOVCount(1);
+}
+
+StadiaControllerSim::StadiaControllerSim(int port) : GenericHIDSim{port} {
+  SetAxisCount(4);
+  SetButtonCount(15);
+  SetPOVCount(1);
+}
+
+void StadiaControllerSim::SetLeftX(double value) {
+  SetRawAxis(StadiaController::Axis::kLeftX, value);
+}
+
+void StadiaControllerSim::SetRightX(double value) {
+  SetRawAxis(StadiaController::Axis::kRightX, value);
+}
+
+void StadiaControllerSim::SetLeftY(double value) {
+  SetRawAxis(StadiaController::Axis::kLeftY, value);
+}
+
+void StadiaControllerSim::SetRightY(double value) {
+  SetRawAxis(StadiaController::Axis::kRightY, value);
+}
+
+void StadiaControllerSim::SetAButton(bool value) {
+  SetRawButton(StadiaController::Button::kA, value);
+}
+
+void StadiaControllerSim::SetBButton(bool value) {
+  SetRawButton(StadiaController::Button::kB, value);
+}
+
+void StadiaControllerSim::SetXButton(bool value) {
+  SetRawButton(StadiaController::Button::kX, value);
+}
+
+void StadiaControllerSim::SetYButton(bool value) {
+  SetRawButton(StadiaController::Button::kY, value);
+}
+
+void StadiaControllerSim::SetLeftBumperButton(bool value) {
+  SetRawButton(StadiaController::Button::kLeftBumper, value);
+}
+
+void StadiaControllerSim::SetRightBumperButton(bool value) {
+  SetRawButton(StadiaController::Button::kRightBumper, value);
+}
+
+void StadiaControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(StadiaController::Button::kLeftStick, value);
+}
+
+void StadiaControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(StadiaController::Button::kRightStick, value);
+}
+
+void StadiaControllerSim::SetEllipsesButton(bool value) {
+  SetRawButton(StadiaController::Button::kEllipses, value);
+}
+
+void StadiaControllerSim::SetHamburgerButton(bool value) {
+  SetRawButton(StadiaController::Button::kHamburger, value);
+}
+
+void StadiaControllerSim::SetStadiaButton(bool value) {
+  SetRawButton(StadiaController::Button::kStadia, value);
+}
+
+void StadiaControllerSim::SetRightTriggerButton(bool value) {
+  SetRawButton(StadiaController::Button::kRightTrigger, value);
+}
+
+void StadiaControllerSim::SetLeftTriggerButton(bool value) {
+  SetRawButton(StadiaController::Button::kLeftTrigger, value);
+}
+
+void StadiaControllerSim::SetGoogleButton(bool value) {
+  SetRawButton(StadiaController::Button::kGoogle, value);
+}
+
+void StadiaControllerSim::SetFrameButton(bool value) {
+  SetRawButton(StadiaController::Button::kFrame, value);
+}

wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #include "frc/simulation/XboxControllerSim.h"
 
 #include "frc/XboxController.h"
@@ -46,42 +48,42 @@ void XboxControllerSim::SetRightTriggerAxis(double value) {
   SetRawAxis(XboxController::Axis::kRightTrigger, value);
 }
 
-void XboxControllerSim::SetLeftBumper(bool state) {
-  SetRawButton(XboxController::Button::kLeftBumper, state);
+void XboxControllerSim::SetAButton(bool value) {
+  SetRawButton(XboxController::Button::kA, value);
 }
 
-void XboxControllerSim::SetRightBumper(bool state) {
-  SetRawButton(XboxController::Button::kRightBumper, state);
+void XboxControllerSim::SetBButton(bool value) {
+  SetRawButton(XboxController::Button::kB, value);
 }
 
-void XboxControllerSim::SetLeftStickButton(bool state) {
-  SetRawButton(XboxController::Button::kLeftStick, state);
+void XboxControllerSim::SetXButton(bool value) {
+  SetRawButton(XboxController::Button::kX, value);
 }
 
-void XboxControllerSim::SetRightStickButton(bool state) {
-  SetRawButton(XboxController::Button::kRightStick, state);
+void XboxControllerSim::SetYButton(bool value) {
+  SetRawButton(XboxController::Button::kY, value);
 }
 
-void XboxControllerSim::SetAButton(bool state) {
-  SetRawButton(XboxController::Button::kA, state);
+void XboxControllerSim::SetLeftBumperButton(bool value) {
+  SetRawButton(XboxController::Button::kLeftBumper, value);
 }
 
-void XboxControllerSim::SetBButton(bool state) {
-  SetRawButton(XboxController::Button::kB, state);
+void XboxControllerSim::SetRightBumperButton(bool value) {
+  SetRawButton(XboxController::Button::kRightBumper, value);
 }
 
-void XboxControllerSim::SetXButton(bool state) {
-  SetRawButton(XboxController::Button::kX, state);
+void XboxControllerSim::SetBackButton(bool value) {
+  SetRawButton(XboxController::Button::kBack, value);
 }
 
-void XboxControllerSim::SetYButton(bool state) {
-  SetRawButton(XboxController::Button::kY, state);
+void XboxControllerSim::SetStartButton(bool value) {
+  SetRawButton(XboxController::Button::kStart, value);
 }
 
-void XboxControllerSim::SetBackButton(bool state) {
-  SetRawButton(XboxController::Button::kBack, state);
+void XboxControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(XboxController::Button::kLeftStick, value);
 }
 
-void XboxControllerSim::SetStartButton(bool state) {
-  SetRawButton(XboxController::Button::kStart, state);
+void XboxControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(XboxController::Button::kRightStick, value);
 }

wpilibc/src/generated/main/native/include/frc/PS4Controller.h

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/GenericHID.h"
@@ -11,19 +13,19 @@ namespace frc {
 /**
  * Handle input from PS4 controllers connected to the Driver Station.
  *
- * This class handles PS4 input that comes from the Driver Station. Each time
- * a value is requested the most recent value is returned. There is a single
- * class instance for each controller and the mapping of ports to hardware
- * buttons depends on the code in the Driver Station.
+ * This class handles PS4 input that comes from the Driver Station. Each
+ * time a value is requested the most recent value is returned. There is a
+ * single class instance for each controller and the mapping of ports to
+ * hardware buttons depends on the code in the Driver Station.
  *
- * Only first party controllers from Sony are guaranteed to have the correct
- * mapping, and only through the official NI DS. Sim is not guaranteed to have
- * the same mapping, as well as any 3rd party controllers.
+ * Only first party controllers from Sony are guaranteed to have the
+ * correct mapping, and only through the official NI DS. Sim is not guaranteed
+ * to have the same mapping, as well as any 3rd party controllers.
  */
 class PS4Controller : public GenericHID {
  public:
   /**
-   * Construct an instance of an PS4 controller.
+   * Construct an instance of a controller.
    *
    * The controller index is the USB port on the Driver Station.
    *
@@ -44,13 +46,6 @@ class PS4Controller : public GenericHID {
    */
   double GetLeftX() const;
 
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetRightX() const;
-
   /**
    * Get the Y axis value of left side of the controller.
    *
@@ -58,6 +53,13 @@ class PS4Controller : public GenericHID {
    */
   double GetLeftY() const;
 
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
   /**
    * Get the Y axis value of right side of the controller.
    *
@@ -66,324 +68,333 @@ class PS4Controller : public GenericHID {
   double GetRightY() const;
 
   /**
-   * Get the L2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
+   * Get the left trigger 2 axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return the axis value.
    */
   double GetL2Axis() const;
 
   /**
-   * Get the R2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
+   * Get the right trigger 2 axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return the axis value.
    */
   double GetR2Axis() const;
 
   /**
-   * Read the value of the Square button on the controller.
+   * Read the value of the square button on the controller.
    *
    * @return The state of the button.
    */
   bool GetSquareButton() const;
 
   /**
-   * Whether the Square button was pressed since the last check.
+   * Whether the square button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetSquareButtonPressed();
 
   /**
-   * Whether the Square button was released since the last check.
+   * Whether the square button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetSquareButtonReleased();
 
   /**
-   * Constructs an event instance around the square button's digital signal.
+   * Constructs an event instance around the square button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the square button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the square button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Square(EventLoop* loop) const;
 
   /**
-   * Read the value of the Cross button on the controller.
+   * Read the value of the cross button on the controller.
    *
    * @return The state of the button.
    */
   bool GetCrossButton() const;
 
   /**
-   * Whether the Cross button was pressed since the last check.
+   * Whether the cross button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetCrossButtonPressed();
 
   /**
-   * Whether the Cross button was released since the last check.
+   * Whether the cross button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetCrossButtonReleased();
 
   /**
-   * Constructs an event instance around the cross button's digital signal.
+   * Constructs an event instance around the cross button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the cross button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the cross button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Cross(EventLoop* loop) const;
 
   /**
-   * Read the value of the Circle button on the controller.
+   * Read the value of the circle button on the controller.
    *
    * @return The state of the button.
    */
   bool GetCircleButton() const;
 
   /**
-   * Whether the Circle button was pressed since the last check.
+   * Whether the circle button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetCircleButtonPressed();
 
   /**
-   * Whether the Circle button was released since the last check.
+   * Whether the circle button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetCircleButtonReleased();
 
   /**
-   * Constructs an event instance around the circle button's digital signal.
+   * Constructs an event instance around the circle button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the circle button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the circle button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Circle(EventLoop* loop) const;
 
   /**
-   * Read the value of the Triangle button on the controller.
+   * Read the value of the triangle button on the controller.
    *
    * @return The state of the button.
    */
   bool GetTriangleButton() const;
 
   /**
-   * Whether the Triangle button was pressed since the last check.
+   * Whether the triangle button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetTriangleButtonPressed();
 
   /**
-   * Whether the Triangle button was released since the last check.
+   * Whether the triangle button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetTriangleButtonReleased();
 
   /**
-   * Constructs an event instance around the triangle button's digital signal.
+   * Constructs an event instance around the triangle button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the triangle button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the triangle button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Triangle(EventLoop* loop) const;
 
   /**
-   * Read the value of the L1 button on the controller.
+   * Read the value of the left trigger 1 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetL1Button() const;
 
   /**
-   * Whether the L1 button was pressed since the last check.
+   * Whether the left trigger 1 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetL1ButtonPressed();
 
   /**
-   * Whether the L1 button was released since the last check.
+   * Whether the left trigger 1 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetL1ButtonReleased();
 
   /**
-   * Constructs an event instance around the L1 button's digital signal.
+   * Constructs an event instance around the left trigger 1 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L1 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the left trigger 1 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent L1(EventLoop* loop) const;
 
   /**
-   * Read the value of the R1 button on the controller.
+   * Read the value of the right trigger 1 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetR1Button() const;
 
   /**
-   * Whether the R1 button was pressed since the last check.
+   * Whether the right trigger 1 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetR1ButtonPressed();
 
   /**
-   * Whether the R1 button was released since the last check.
+   * Whether the right trigger 1 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetR1ButtonReleased();
 
   /**
-   * Constructs an event instance around the R1 button's digital signal.
+   * Constructs an event instance around the right trigger 1 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R1 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the right trigger 1 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent R1(EventLoop* loop) const;
 
   /**
-   * Read the value of the L2 button on the controller.
+   * Read the value of the left trigger 2 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetL2Button() const;
 
   /**
-   * Whether the L2 button was pressed since the last check.
+   * Whether the left trigger 2 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetL2ButtonPressed();
 
   /**
-   * Whether the L2 button was released since the last check.
+   * Whether the left trigger 2 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetL2ButtonReleased();
 
   /**
-   * Constructs an event instance around the L2 button's digital signal.
+   * Constructs an event instance around the left trigger 2 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L2 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the left trigger 2 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent L2(EventLoop* loop) const;
 
   /**
-   * Read the value of the R2 button on the controller.
+   * Read the value of the right trigger 2 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetR2Button() const;
 
   /**
-   * Whether the R2 button was pressed since the last check.
+   * Whether the right trigger 2 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetR2ButtonPressed();
 
   /**
-   * Whether the R2 button was released since the last check.
+   * Whether the right trigger 2 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetR2ButtonReleased();
 
   /**
-   * Constructs an event instance around the R2 button's digital signal.
+   * Constructs an event instance around the right trigger 2 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R2 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the right trigger 2 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent R2(EventLoop* loop) const;
 
   /**
-   * Read the value of the Share button on the controller.
+   * Read the value of the share button on the controller.
    *
    * @return The state of the button.
    */
   bool GetShareButton() const;
 
   /**
-   * Whether the Share button was pressed since the last check.
+   * Whether the share button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetShareButtonPressed();
 
   /**
-   * Whether the Share button was released since the last check.
+   * Whether the share button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetShareButtonReleased();
 
   /**
-   * Constructs an event instance around the share button's digital signal.
+   * Constructs an event instance around the share button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the share button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the share button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Share(EventLoop* loop) const;
 
   /**
-   * Read the value of the Options button on the controller.
+   * Read the value of the options button on the controller.
    *
    * @return The state of the button.
    */
   bool GetOptionsButton() const;
 
   /**
-   * Whether the Options button was pressed since the last check.
+   * Whether the options button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetOptionsButtonPressed();
 
   /**
-   * Whether the Options button was released since the last check.
+   * Whether the options button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetOptionsButtonReleased();
 
   /**
-   * Constructs an event instance around the options button's digital signal.
+   * Constructs an event instance around the options button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the options button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the options button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Options(EventLoop* loop) const;
 
   /**
-   * Read the value of the L3 button (pressing the left analog stick) on the
-   * controller.
+   * Read the value of the L3 (left stick) button on the controller.
    *
    * @return The state of the button.
    */
@@ -404,17 +415,17 @@ class PS4Controller : public GenericHID {
   bool GetL3ButtonReleased();
 
   /**
-   * Constructs an event instance around the L3 button's digital signal.
+   * Constructs an event instance around the L3 (left stick) button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L3 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the L3 (left stick) button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent L3(EventLoop* loop) const;
 
   /**
-   * Read the value of the R3 button (pressing the right analog stick) on the
-   * controller.
+   * Read the value of the R3 (right stick) button on the controller.
    *
    * @return The state of the button.
    */
@@ -435,41 +446,43 @@ class PS4Controller : public GenericHID {
   bool GetR3ButtonReleased();
 
   /**
-   * Constructs an event instance around the R3 button's digital signal.
+   * Constructs an event instance around the R3 (right stick) button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R3 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the R3 (right stick) button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent R3(EventLoop* loop) const;
 
   /**
-   * Read the value of the PS button on the controller.
+   * Read the value of the PlayStation button on the controller.
    *
    * @return The state of the button.
    */
   bool GetPSButton() const;
 
   /**
-   * Whether the PS button was pressed since the last check.
+   * Whether the PlayStation button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetPSButtonPressed();
 
   /**
-   * Whether the PS button was released since the last check.
+   * Whether the PlayStation button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetPSButtonReleased();
 
   /**
-   * Constructs an event instance around the PS button's digital signal.
+   * Constructs an event instance around the PlayStation button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the PS button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the PlayStation button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent PS(EventLoop* loop) const;
 
@@ -478,13 +491,45 @@ class PS4Controller : public GenericHID {
    *
    * @return The state of the button.
    */
-  bool GetTouchpad() const;
+  bool GetTouchpadButton() const;
 
+  /**
+   * Whether the touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetTouchpadButtonPressed();
+
+  /**
+   * Whether the touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetTouchpadButtonReleased();
+
+  /**
+   * Constructs an event instance around the touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the touchpad button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Touchpad(EventLoop* loop) const;
+
+  /**
+   * Read the value of the touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  [[deprecated("Use GetTouchpadButton instead")]]
+  bool GetTouchpad() const;
   /**
    * Whether the touchpad was pressed since the last check.
    *
    * @return Whether the touchpad was pressed since the last check.
    */
+  [[deprecated("Use GetTouchpadButtonPressed instead")]]
   bool GetTouchpadPressed();
 
   /**
@@ -492,54 +537,42 @@ class PS4Controller : public GenericHID {
    *
    * @return Whether the touchpad was released since the last check.
    */
+  [[deprecated("Use GetTouchpadButtonReleased instead")]]
   bool GetTouchpadReleased();
 
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the touchpad's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent Touchpad(EventLoop* loop) const;
-
-  /**
-   * Represents a digital button on a PS4Controller.
-   */
+  /** Represents a digital button on an PS4Controller. */
   struct Button {
     /// Square button.
     static constexpr int kSquare = 1;
-    /// X button.
+    /// Cross button.
     static constexpr int kCross = 2;
     /// Circle button.
     static constexpr int kCircle = 3;
     /// Triangle button.
     static constexpr int kTriangle = 4;
-    /// Left Trigger 1 button.
+    /// Left trigger 1 button.
     static constexpr int kL1 = 5;
-    /// Right Trigger 1 button.
+    /// Right trigger 1 button.
     static constexpr int kR1 = 6;
-    /// Left Trigger 2 button.
+    /// Left trigger 2 button.
     static constexpr int kL2 = 7;
-    /// Right Trigger 2 button.
+    /// Right trigger 2 button.
     static constexpr int kR2 = 8;
     /// Share button.
     static constexpr int kShare = 9;
-    /// Option button.
+    /// Options button.
     static constexpr int kOptions = 10;
-    /// Left stick button.
+    /// L3 (left stick) button.
     static constexpr int kL3 = 11;
-    /// Right stick button.
+    /// R3 (right stick) button.
     static constexpr int kR3 = 12;
     /// PlayStation button.
     static constexpr int kPS = 13;
-    /// Touchpad click button.
+    /// Touchpad button.
     static constexpr int kTouchpad = 14;
   };
 
-  /**
-   * Represents an axis on a PS4Controller.
-   */
+  /** Represents an axis on an PS4Controller. */
   struct Axis {
     /// Left X axis.
     static constexpr int kLeftX = 0;
@@ -549,9 +582,9 @@ class PS4Controller : public GenericHID {
     static constexpr int kRightX = 2;
     /// Right Y axis.
     static constexpr int kRightY = 5;
-    /// Left Trigger 2.
+    /// Left trigger 2.
     static constexpr int kL2 = 3;
-    /// Right Trigger 2.
+    /// Right trigger 2.
     static constexpr int kR2 = 4;
   };
 };

wpilibc/src/generated/main/native/include/frc/PS5Controller.h

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/GenericHID.h"
@@ -11,19 +13,19 @@ namespace frc {
 /**
  * Handle input from PS5 controllers connected to the Driver Station.
  *
- * This class handles PS5 input that comes from the Driver Station. Each time
- * a value is requested the most recent value is returned. There is a single
- * class instance for each controller and the mapping of ports to hardware
- * buttons depends on the code in the Driver Station.
+ * This class handles PS5 input that comes from the Driver Station. Each
+ * time a value is requested the most recent value is returned. There is a
+ * single class instance for each controller and the mapping of ports to
+ * hardware buttons depends on the code in the Driver Station.
  *
- * Only first party controllers from Sony are guaranteed to have the correct
- * mapping, and only through the official NI DS. Sim is not guaranteed to have
- * the same mapping, as well as any 3rd party controllers.
+ * Only first party controllers from Sony are guaranteed to have the
+ * correct mapping, and only through the official NI DS. Sim is not guaranteed
+ * to have the same mapping, as well as any 3rd party controllers.
  */
 class PS5Controller : public GenericHID {
  public:
   /**
-   * Construct an instance of an PS5 controller.
+   * Construct an instance of a controller.
    *
    * The controller index is the USB port on the Driver Station.
    *
@@ -44,13 +46,6 @@ class PS5Controller : public GenericHID {
    */
   double GetLeftX() const;
 
-  /**
-   * Get the X axis value of right side of the controller.
-   *
-   * @return the axis value.
-   */
-  double GetRightX() const;
-
   /**
    * Get the Y axis value of left side of the controller.
    *
@@ -58,6 +53,13 @@ class PS5Controller : public GenericHID {
    */
   double GetLeftY() const;
 
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
   /**
    * Get the Y axis value of right side of the controller.
    *
@@ -66,324 +68,333 @@ class PS5Controller : public GenericHID {
   double GetRightY() const;
 
   /**
-   * Get the L2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
+   * Get the left trigger 2 axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return the axis value.
    */
   double GetL2Axis() const;
 
   /**
-   * Get the R2 axis value of the controller. Note that this axis is bound to
-   * the range of [0, 1] as opposed to the usual [-1, 1].
+   * Get the right trigger 2 axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return the axis value.
    */
   double GetR2Axis() const;
 
   /**
-   * Read the value of the Square button on the controller.
+   * Read the value of the square button on the controller.
    *
    * @return The state of the button.
    */
   bool GetSquareButton() const;
 
   /**
-   * Whether the Square button was pressed since the last check.
+   * Whether the square button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetSquareButtonPressed();
 
   /**
-   * Whether the Square button was released since the last check.
+   * Whether the square button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetSquareButtonReleased();
 
   /**
-   * Constructs an event instance around the square button's digital signal.
+   * Constructs an event instance around the square button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the square button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the square button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Square(EventLoop* loop) const;
 
   /**
-   * Read the value of the Cross button on the controller.
+   * Read the value of the cross button on the controller.
    *
    * @return The state of the button.
    */
   bool GetCrossButton() const;
 
   /**
-   * Whether the Cross button was pressed since the last check.
+   * Whether the cross button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetCrossButtonPressed();
 
   /**
-   * Whether the Cross button was released since the last check.
+   * Whether the cross button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetCrossButtonReleased();
 
   /**
-   * Constructs an event instance around the cross button's digital signal.
+   * Constructs an event instance around the cross button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the cross button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the cross button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Cross(EventLoop* loop) const;
 
   /**
-   * Read the value of the Circle button on the controller.
+   * Read the value of the circle button on the controller.
    *
    * @return The state of the button.
    */
   bool GetCircleButton() const;
 
   /**
-   * Whether the Circle button was pressed since the last check.
+   * Whether the circle button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetCircleButtonPressed();
 
   /**
-   * Whether the Circle button was released since the last check.
+   * Whether the circle button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetCircleButtonReleased();
 
   /**
-   * Constructs an event instance around the circle button's digital signal.
+   * Constructs an event instance around the circle button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the circle button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the circle button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Circle(EventLoop* loop) const;
 
   /**
-   * Read the value of the Triangle button on the controller.
+   * Read the value of the triangle button on the controller.
    *
    * @return The state of the button.
    */
   bool GetTriangleButton() const;
 
   /**
-   * Whether the Triangle button was pressed since the last check.
+   * Whether the triangle button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetTriangleButtonPressed();
 
   /**
-   * Whether the Triangle button was released since the last check.
+   * Whether the triangle button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetTriangleButtonReleased();
 
   /**
-   * Constructs an event instance around the triangle button's digital signal.
+   * Constructs an event instance around the triangle button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the triangle button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the triangle button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Triangle(EventLoop* loop) const;
 
   /**
-   * Read the value of the L1 button on the controller.
+   * Read the value of the left trigger 1 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetL1Button() const;
 
   /**
-   * Whether the L1 button was pressed since the last check.
+   * Whether the left trigger 1 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetL1ButtonPressed();
 
   /**
-   * Whether the L1 button was released since the last check.
+   * Whether the left trigger 1 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetL1ButtonReleased();
 
   /**
-   * Constructs an event instance around the L1 button's digital signal.
+   * Constructs an event instance around the left trigger 1 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L1 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the left trigger 1 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent L1(EventLoop* loop) const;
 
   /**
-   * Read the value of the R1 button on the controller.
+   * Read the value of the right trigger 1 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetR1Button() const;
 
   /**
-   * Whether the R1 button was pressed since the last check.
+   * Whether the right trigger 1 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetR1ButtonPressed();
 
   /**
-   * Whether the R1 button was released since the last check.
+   * Whether the right trigger 1 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetR1ButtonReleased();
 
   /**
-   * Constructs an event instance around the R1 button's digital signal.
+   * Constructs an event instance around the right trigger 1 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R1 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the right trigger 1 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent R1(EventLoop* loop) const;
 
   /**
-   * Read the value of the L2 button on the controller.
+   * Read the value of the left trigger 2 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetL2Button() const;
 
   /**
-   * Whether the L2 button was pressed since the last check.
+   * Whether the left trigger 2 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetL2ButtonPressed();
 
   /**
-   * Whether the L2 button was released since the last check.
+   * Whether the left trigger 2 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetL2ButtonReleased();
 
   /**
-   * Constructs an event instance around the L2 button's digital signal.
+   * Constructs an event instance around the left trigger 2 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L2 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the left trigger 2 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent L2(EventLoop* loop) const;
 
   /**
-   * Read the value of the R2 button on the controller.
+   * Read the value of the right trigger 2 button on the controller.
    *
    * @return The state of the button.
    */
   bool GetR2Button() const;
 
   /**
-   * Whether the R2 button was pressed since the last check.
+   * Whether the right trigger 2 button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetR2ButtonPressed();
 
   /**
-   * Whether the R2 button was released since the last check.
+   * Whether the right trigger 2 button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetR2ButtonReleased();
 
   /**
-   * Constructs an event instance around the R2 button's digital signal.
+   * Constructs an event instance around the right trigger 2 button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R2 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the right trigger 2 button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent R2(EventLoop* loop) const;
 
   /**
-   * Read the value of the Create button on the controller.
+   * Read the value of the create button on the controller.
    *
    * @return The state of the button.
    */
   bool GetCreateButton() const;
 
   /**
-   * Whether the Create button was pressed since the last check.
+   * Whether the create button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetCreateButtonPressed();
 
   /**
-   * Whether the Create button was released since the last check.
+   * Whether the create button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetCreateButtonReleased();
 
   /**
-   * Constructs an event instance around the Create button's digital signal.
+   * Constructs an event instance around the create button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the Create button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the create button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Create(EventLoop* loop) const;
 
   /**
-   * Read the value of the Options button on the controller.
+   * Read the value of the options button on the controller.
    *
    * @return The state of the button.
    */
   bool GetOptionsButton() const;
 
   /**
-   * Whether the Options button was pressed since the last check.
+   * Whether the options button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetOptionsButtonPressed();
 
   /**
-   * Whether the Options button was released since the last check.
+   * Whether the options button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetOptionsButtonReleased();
 
   /**
-   * Constructs an event instance around the options button's digital signal.
+   * Constructs an event instance around the options button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the options button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the options button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Options(EventLoop* loop) const;
 
   /**
-   * Read the value of the L3 button (pressing the left analog stick) on the
-   * controller.
+   * Read the value of the L3 (left stick) button on the controller.
    *
    * @return The state of the button.
    */
@@ -404,17 +415,17 @@ class PS5Controller : public GenericHID {
   bool GetL3ButtonReleased();
 
   /**
-   * Constructs an event instance around the L3 button's digital signal.
+   * Constructs an event instance around the L3 (left stick) button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the L3 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the L3 (left stick) button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent L3(EventLoop* loop) const;
 
   /**
-   * Read the value of the R3 button (pressing the right analog stick) on the
-   * controller.
+   * Read the value of the R3 (right stick) button on the controller.
    *
    * @return The state of the button.
    */
@@ -435,41 +446,43 @@ class PS5Controller : public GenericHID {
   bool GetR3ButtonReleased();
 
   /**
-   * Constructs an event instance around the R3 button's digital signal.
+   * Constructs an event instance around the R3 (right stick) button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the R3 button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the R3 (right stick) button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent R3(EventLoop* loop) const;
 
   /**
-   * Read the value of the PS button on the controller.
+   * Read the value of the PlayStation button on the controller.
    *
    * @return The state of the button.
    */
   bool GetPSButton() const;
 
   /**
-   * Whether the PS button was pressed since the last check.
+   * Whether the PlayStation button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
   bool GetPSButtonPressed();
 
   /**
-   * Whether the PS button was released since the last check.
+   * Whether the PlayStation button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
   bool GetPSButtonReleased();
 
   /**
-   * Constructs an event instance around the PS button's digital signal.
+   * Constructs an event instance around the PlayStation button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the PS button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the PlayStation button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent PS(EventLoop* loop) const;
 
@@ -478,13 +491,45 @@ class PS5Controller : public GenericHID {
    *
    * @return The state of the button.
    */
-  bool GetTouchpad() const;
+  bool GetTouchpadButton() const;
 
+  /**
+   * Whether the touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetTouchpadButtonPressed();
+
+  /**
+   * Whether the touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetTouchpadButtonReleased();
+
+  /**
+   * Constructs an event instance around the touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the touchpad button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Touchpad(EventLoop* loop) const;
+
+  /**
+   * Read the value of the touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  [[deprecated("Use GetTouchpadButton instead")]]
+  bool GetTouchpad() const;
   /**
    * Whether the touchpad was pressed since the last check.
    *
    * @return Whether the touchpad was pressed since the last check.
    */
+  [[deprecated("Use GetTouchpadButtonPressed instead")]]
   bool GetTouchpadPressed();
 
   /**
@@ -492,24 +537,14 @@ class PS5Controller : public GenericHID {
    *
    * @return Whether the touchpad was released since the last check.
    */
+  [[deprecated("Use GetTouchpadButtonReleased instead")]]
   bool GetTouchpadReleased();
 
-  /**
-   * Constructs an event instance around the touchpad's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the touchpad's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent Touchpad(EventLoop* loop) const;
-
-  /**
-   * Represents a digital button on a PS5Controller.
-   */
+  /** Represents a digital button on an PS5Controller. */
   struct Button {
     /// Square button.
     static constexpr int kSquare = 1;
-    /// X button.
+    /// Cross button.
     static constexpr int kCross = 2;
     /// Circle button.
     static constexpr int kCircle = 3;
@@ -527,19 +562,17 @@ class PS5Controller : public GenericHID {
     static constexpr int kCreate = 9;
     /// Options button.
     static constexpr int kOptions = 10;
-    /// Left stick button.
+    /// L3 (left stick) button.
     static constexpr int kL3 = 11;
-    /// Right stick button.
+    /// R3 (right stick) button.
     static constexpr int kR3 = 12;
     /// PlayStation button.
     static constexpr int kPS = 13;
-    /// Touchpad click button.
+    /// Touchpad button.
     static constexpr int kTouchpad = 14;
   };
 
-  /**
-   * Represents an axis on a PS5Controller.
-   */
+  /** Represents an axis on an PS5Controller. */
   struct Axis {
     /// Left X axis.
     static constexpr int kLeftX = 0;
@@ -549,9 +582,9 @@ class PS5Controller : public GenericHID {
     static constexpr int kRightX = 2;
     /// Right Y axis.
     static constexpr int kRightY = 5;
-    /// Left Trigger 2.
+    /// Left trigger 2.
     static constexpr int kL2 = 3;
-    /// Right Trigger 2.
+    /// Right trigger 2.
     static constexpr int kR2 = 4;
   };
 };

wpilibc/src/generated/main/native/include/frc/StadiaController.h

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/GenericHID.h"
@@ -9,18 +11,21 @@
 namespace frc {
 
 /**
- * Handle input from Stadia controllers connected to the Driver
- * Station.
+ * Handle input from Stadia controllers connected to the Driver Station.
  *
- * This class handles Stadia input that comes from the Driver Station. Each time
- * a value is requested the most recent value is returned. There is a single
- * class instance for each controller and the mapping of ports to hardware
- * buttons depends on the code in the Driver Station.
+ * This class handles Stadia input that comes from the Driver Station. Each
+ * time a value is requested the most recent value is returned. There is a
+ * single class instance for each controller and the mapping of ports to
+ * hardware buttons depends on the code in the Driver Station.
+ *
+ * Only first party controllers from Google are guaranteed to have the
+ * correct mapping, and only through the official NI DS. Sim is not guaranteed
+ * to have the same mapping, as well as any 3rd party controllers.
  */
 class StadiaController : public GenericHID {
  public:
   /**
-   * Construct an instance of a Stadia controller.
+   * Construct an instance of a controller.
    *
    * The controller index is the USB port on the Driver Station.
    *
@@ -37,151 +42,31 @@ class StadiaController : public GenericHID {
   /**
    * Get the X axis value of left side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
    * Get the X axis value of right side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetRightX() const;
 
   /**
    * Get the Y axis value of left side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
    * Get the Y axis value of right side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetRightY() const;
 
-  /**
-   * Read the value of the left bumper (LB) button on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetLeftBumper() const;
-
-  /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetRightBumper() const;
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   */
-  bool GetLeftBumperPressed();
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   */
-  bool GetRightBumperPressed();
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetLeftBumperReleased();
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetRightBumperReleased();
-
-  /**
-   * Constructs an event instance around the left bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left bumper's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent LeftBumper(EventLoop* loop) const;
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right bumper's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent RightBumper(EventLoop* loop) const;
-
-  /**
-   * Read the value of the left stick button (LSB) on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetLeftStickButton() const;
-
-  /**
-   * Read the value of the right stick button (RSB) on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetRightStickButton() const;
-
-  /**
-   * Whether the left stick button (LSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  bool GetLeftStickButtonPressed();
-
-  /**
-   * Whether the right stick button (RSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   */
-  bool GetRightStickButtonPressed();
-
-  /**
-   * Whether the left stick button (LSB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetLeftStickButtonReleased();
-
-  /**
-   * Whether the right stick button (RSB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetRightStickButtonReleased();
-
-  /**
-   * Constructs an event instance around the left stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left stick's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent LeftStick(EventLoop* loop) const;
-
-  /**
-   * Constructs an event instance around the right stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right stick's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent RightStick(EventLoop* loop) const;
-
   /**
    * Read the value of the A button on the controller.
    *
@@ -204,11 +89,12 @@ class StadiaController : public GenericHID {
   bool GetAButtonReleased();
 
   /**
-   * Constructs an event instance around the A button's digital signal.
+   * Constructs an event instance around the A button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the A button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent A(EventLoop* loop) const;
 
@@ -234,11 +120,12 @@ class StadiaController : public GenericHID {
   bool GetBButtonReleased();
 
   /**
-   * Constructs an event instance around the B button's digital signal.
+   * Constructs an event instance around the B button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the B button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent B(EventLoop* loop) const;
 
@@ -264,11 +151,12 @@ class StadiaController : public GenericHID {
   bool GetXButtonReleased();
 
   /**
-   * Constructs an event instance around the X button's digital signal.
+   * Constructs an event instance around the X button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the X button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent X(EventLoop* loop) const;
 
@@ -294,14 +182,139 @@ class StadiaController : public GenericHID {
   bool GetYButtonReleased();
 
   /**
-   * Constructs an event instance around the Y button's digital signal.
+   * Constructs an event instance around the Y button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the Y button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Y(EventLoop* loop) const;
 
+  /**
+   * Read the value of the left bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftBumperButton() const;
+
+  /**
+   * Whether the left bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftBumperButtonPressed();
+
+  /**
+   * Whether the left bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the left bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftBumper(EventLoop* loop) const;
+
+  /**
+   * Read the value of the right bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightBumperButton() const;
+
+  /**
+   * Whether the right bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightBumperButtonPressed();
+
+  /**
+   * Whether the right bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the right bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightBumper(EventLoop* loop) const;
+
+  /**
+   * Read the value of the left stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftStickButton() const;
+
+  /**
+   * Whether the left stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftStickButtonPressed();
+
+  /**
+   * Whether the left stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the left stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the right stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightStickButton() const;
+
+  /**
+   * Whether the right stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightStickButtonPressed();
+
+  /**
+   * Whether the right stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the right stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightStick(EventLoop* loop) const;
+
   /**
    * Read the value of the ellipses button on the controller.
    *
@@ -324,11 +337,12 @@ class StadiaController : public GenericHID {
   bool GetEllipsesButtonReleased();
 
   /**
-   * Constructs an event instance around the ellipses button's digital signal.
+   * Constructs an event instance around the ellipses button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the ellipses button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the ellipses button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Ellipses(EventLoop* loop) const;
 
@@ -354,11 +368,12 @@ class StadiaController : public GenericHID {
   bool GetHamburgerButtonReleased();
 
   /**
-   * Constructs an event instance around the hamburger button's digital signal.
+   * Constructs an event instance around the hamburger button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the hamburger button's digital
-   * signal attached to the given loop.
+   * @return an event instance representing the hamburger button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Hamburger(EventLoop* loop) const;
 
@@ -384,14 +399,77 @@ class StadiaController : public GenericHID {
   bool GetStadiaButtonReleased();
 
   /**
-   * Constructs an event instance around the stadia button's digital signal.
+   * Constructs an event instance around the stadia button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the stadia button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the stadia button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Stadia(EventLoop* loop) const;
 
+  /**
+   * Read the value of the right trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightTriggerButton() const;
+
+  /**
+   * Whether the right trigger button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightTriggerButtonPressed();
+
+  /**
+   * Whether the right trigger button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightTriggerButtonReleased();
+
+  /**
+   * Constructs an event instance around the right trigger button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right trigger button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightTrigger(EventLoop* loop) const;
+
+  /**
+   * Read the value of the left trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftTriggerButton() const;
+
+  /**
+   * Whether the left trigger button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftTriggerButtonPressed();
+
+  /**
+   * Whether the left trigger button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftTriggerButtonReleased();
+
+  /**
+   * Constructs an event instance around the left trigger button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left trigger button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftTrigger(EventLoop* loop) const;
+
   /**
    * Read the value of the google button on the controller.
    *
@@ -414,11 +492,12 @@ class StadiaController : public GenericHID {
   bool GetGoogleButtonReleased();
 
   /**
-   * Constructs an event instance around the google button's digital signal.
+   * Constructs an event instance around the google button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the google button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the google button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Google(EventLoop* loop) const;
 
@@ -444,79 +523,64 @@ class StadiaController : public GenericHID {
   bool GetFrameButtonReleased();
 
   /**
-   * Constructs an event instance around the frame button's digital signal.
+   * Constructs an event instance around the frame button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the frame button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the frame button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Frame(EventLoop* loop) const;
 
   /**
-   * Read the value of the left trigger button on the controller.
+   * Read the value of the left bumper (LB) button on the controller.
    *
-   * @return The state of the button.
+   * @return the state of the button
    */
-  bool GetLeftTriggerButton() const;
+  [[deprecated("Use GetLeftBumperButton instead")]]
+  bool GetLeftBumper() const;
 
   /**
-   * Whether the left trigger button was pressed since the last check.
+   * Read the value of the right bumper (RB) button on the controller.
    *
-   * @return Whether the button was pressed since the last check.
+   * @return the state of the button
    */
-  bool GetLeftTriggerButtonPressed();
+  [[deprecated("Use GetRightBumperButton instead")]]
+  bool GetRightBumper() const;
 
   /**
-   * Whether the left trigger button was released since the last check.
+   * Whether the left bumper (LB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetLeftBumperButtonPressed instead")]]
+  bool GetLeftBumperPressed();
+
+  /**
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetRightBumperButtonPressed instead")]]
+  bool GetRightBumperPressed();
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
-  bool GetLeftTriggerButtonReleased();
+  [[deprecated("Use GetLeftBumperButtonReleased instead")]]
+  bool GetLeftBumperReleased();
 
   /**
-   * Constructs an event instance around the left trigger button's digital
-   * signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left trigger button's digital
-   * signal attached to the given loop.
-   */
-  BooleanEvent LeftTrigger(EventLoop* loop) const;
-
-  /**
-   * Read the value of the right trigger button on the controller.
-   *
-   * @return The state of the button.
-   */
-  bool GetRightTriggerButton() const;
-
-  /**
-   * Whether the right trigger button was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  bool GetRightTriggerButtonPressed();
-
-  /**
-   * Whether the right trigger button was released since the last check.
+   * Whether the right bumper (RB) was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
-  bool GetRightTriggerButtonReleased();
+  [[deprecated("Use GetRightBumperButtonReleased instead")]]
+  bool GetRightBumperReleased();
 
-  /**
-   * Constructs an event instance around the right trigger button's digital
-   * signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right trigger button's digital
-   * signal attached to the given loop.
-   */
-  BooleanEvent RightTrigger(EventLoop* loop) const;
-
-  /**
-   * Represents a digital button on a StadiaController.
-   */
+  /** Represents a digital button on an StadiaController. */
   struct Button {
     /// A button.
     static constexpr int kA = 1;
@@ -550,18 +614,16 @@ class StadiaController : public GenericHID {
     static constexpr int kFrame = 15;
   };
 
-  /**
-   * Represents an axis on a StadiaController.
-   */
+  /** Represents an axis on an StadiaController. */
   struct Axis {
     /// Left X axis.
     static constexpr int kLeftX = 0;
     /// Right X axis.
-    static constexpr int kRightX = 4;
+    static constexpr int kRightX = 3;
     /// Left Y axis.
     static constexpr int kLeftY = 1;
     /// Right Y axis.
-    static constexpr int kRightY = 5;
+    static constexpr int kRightY = 4;
   };
 };
 

wpilibc/src/generated/main/native/include/frc/XboxController.h

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/GenericHID.h"
@@ -9,13 +11,12 @@
 namespace frc {
 
 /**
- * Handle input from Xbox 360 or Xbox One controllers connected to the Driver
- * Station.
+ * Handle input from Xbox controllers connected to the Driver Station.
  *
- * This class handles Xbox input that comes from the Driver Station. Each time a
- * value is requested the most recent value is returned. There is a single class
- * instance for each controller and the mapping of ports to hardware buttons
- * depends on the code in the Driver Station.
+ * This class handles Xbox input that comes from the Driver Station. Each
+ * time a value is requested the most recent value is returned. There is a
+ * single class instance for each controller and the mapping of ports to
+ * hardware buttons depends on the code in the Driver Station.
  *
  * Only first party controllers from Microsoft are guaranteed to have the
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
@@ -24,7 +25,7 @@ namespace frc {
 class XboxController : public GenericHID {
  public:
   /**
-   * Construct an instance of an Xbox controller.
+   * Construct an instance of a controller.
    *
    * The controller index is the USB port on the Driver Station.
    *
@@ -41,166 +42,90 @@ class XboxController : public GenericHID {
   /**
    * Get the X axis value of left side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
    * Get the X axis value of right side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetRightX() const;
 
   /**
    * Get the Y axis value of left side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
    * Get the Y axis value of right side of the controller.
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetRightY() const;
 
   /**
-   * Get the left trigger (LT) axis value of the controller. Note that this axis
+   * Get the left trigger axis value of the controller. Note that this axis
    * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetLeftTriggerAxis() const;
 
   /**
-   * Get the right trigger (RT) axis value of the controller. Note that this
-   * axis is bound to the range of [0, 1] as opposed to the usual [-1, 1].
+   * Constructs an event instance around the axis value of the left trigger.
+   * The returned trigger will be true when the axis value is greater than
+   * {@code threshold}.
+   * @param threshold the minimum axis value for the returned event to be true.
+   * This value should be in the range [0, 1] where 0 is the unpressed state of
+   * the axis.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the left trigger's axis
+   * exceeds the provided threshold, attached to the given event loop
+   */
+  BooleanEvent LeftTrigger(double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance around the axis value of the left trigger.
+   * The returned trigger will be true when the axis value is greater than 0.5.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the left trigger's axis
+   * exceeds 0.5, attached to the given event loop
+   */
+  BooleanEvent LeftTrigger(EventLoop* loop) const;
+
+  /**
+   * Get the right trigger axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
    *
-   * @return the axis value
+   * @return the axis value.
    */
   double GetRightTriggerAxis() const;
 
   /**
-   * Read the value of the left bumper (LB) button on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetLeftBumper() const;
-
-  /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetRightBumper() const;
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   */
-  bool GetLeftBumperPressed();
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   */
-  bool GetRightBumperPressed();
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetLeftBumperReleased();
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetRightBumperReleased();
-
-  /**
-   * Constructs an event instance around the left bumper's digital signal.
-   *
+   * Constructs an event instance around the axis value of the right trigger.
+   * The returned trigger will be true when the axis value is greater than
+   * {@code threshold}.
+   * @param threshold the minimum axis value for the returned event to be true.
+   * This value should be in the range [0, 1] where 0 is the unpressed state of
+   * the axis.
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left bumper's digital signal
-   * attached to the given loop.
+   * @return an event instance that is true when the right trigger's axis
+   * exceeds the provided threshold, attached to the given event loop
    */
-  BooleanEvent LeftBumper(EventLoop* loop) const;
+  BooleanEvent RightTrigger(double threshold, EventLoop* loop) const;
 
   /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
+   * Constructs an event instance around the axis value of the right trigger.
+   * The returned trigger will be true when the axis value is greater than 0.5.
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right bumper's digital signal
-   * attached to the given loop.
+   * @return an event instance that is true when the right trigger's axis
+   * exceeds 0.5, attached to the given event loop
    */
-  BooleanEvent RightBumper(EventLoop* loop) const;
-
-  /**
-   * Read the value of the left stick button (LSB) on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetLeftStickButton() const;
-
-  /**
-   * Read the value of the right stick button (RSB) on the controller.
-   *
-   * @return the state of the button
-   */
-  bool GetRightStickButton() const;
-
-  /**
-   * Whether the left stick button (LSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  bool GetLeftStickButtonPressed();
-
-  /**
-   * Whether the right stick button (RSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   */
-  bool GetRightStickButtonPressed();
-
-  /**
-   * Whether the left stick button (LSB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetLeftStickButtonReleased();
-
-  /**
-   * Whether the right stick button (RSB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  bool GetRightStickButtonReleased();
-
-  /**
-   * Constructs an event instance around the left stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left stick's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent LeftStick(EventLoop* loop) const;
-
-  /**
-   * Constructs an event instance around the right stick's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right stick's digital signal
-   * attached to the given loop.
-   */
-  BooleanEvent RightStick(EventLoop* loop) const;
+  BooleanEvent RightTrigger(EventLoop* loop) const;
 
   /**
    * Read the value of the A button on the controller.
@@ -224,11 +149,12 @@ class XboxController : public GenericHID {
   bool GetAButtonReleased();
 
   /**
-   * Constructs an event instance around the A button's digital signal.
+   * Constructs an event instance around the A button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the A button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent A(EventLoop* loop) const;
 
@@ -254,11 +180,12 @@ class XboxController : public GenericHID {
   bool GetBButtonReleased();
 
   /**
-   * Constructs an event instance around the B button's digital signal.
+   * Constructs an event instance around the B button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the B button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent B(EventLoop* loop) const;
 
@@ -284,11 +211,12 @@ class XboxController : public GenericHID {
   bool GetXButtonReleased();
 
   /**
-   * Constructs an event instance around the X button's digital signal.
+   * Constructs an event instance around the X button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the X button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent X(EventLoop* loop) const;
 
@@ -314,14 +242,77 @@ class XboxController : public GenericHID {
   bool GetYButtonReleased();
 
   /**
-   * Constructs an event instance around the Y button's digital signal.
+   * Constructs an event instance around the Y button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the Y button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Y(EventLoop* loop) const;
 
+  /**
+   * Read the value of the left bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftBumperButton() const;
+
+  /**
+   * Whether the left bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftBumperButtonPressed();
+
+  /**
+   * Whether the left bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the left bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftBumper(EventLoop* loop) const;
+
+  /**
+   * Read the value of the right bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightBumperButton() const;
+
+  /**
+   * Whether the right bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightBumperButtonPressed();
+
+  /**
+   * Whether the right bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the right bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightBumper(EventLoop* loop) const;
+
   /**
    * Read the value of the back button on the controller.
    *
@@ -344,11 +335,12 @@ class XboxController : public GenericHID {
   bool GetBackButtonReleased();
 
   /**
-   * Constructs an event instance around the back button's digital signal.
+   * Constructs an event instance around the back button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the back button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the back button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Back(EventLoop* loop) const;
 
@@ -374,91 +366,158 @@ class XboxController : public GenericHID {
   bool GetStartButtonReleased();
 
   /**
-   * Constructs an event instance around the start button's digital signal.
+   * Constructs an event instance around the start button's
+   * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the start button's digital signal
-   * attached to the given loop.
+   * @return an event instance representing the start button's
+   * digital signal attached to the given loop.
    */
   BooleanEvent Start(EventLoop* loop) const;
 
   /**
-   * Constructs an event instance around the axis value of the left trigger. The
-   * returned trigger will be true when the axis value is greater than {@code
-   * threshold}.
-   * @param threshold the minimum axis value for the returned event to be true.
-   * This value should be in the range [0, 1] where 0 is the unpressed state of
-   * the axis.
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the left trigger's axis exceeds
-   * the provided threshold, attached to the given event loop
+   * Read the value of the left stick button on the controller.
+   *
+   * @return The state of the button.
    */
-  BooleanEvent LeftTrigger(double threshold, EventLoop* loop) const;
+  bool GetLeftStickButton() const;
 
   /**
-   * Constructs an event instance around the axis value of the left trigger.
-   * The returned trigger will be true when the axis value is greater than 0.5.
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the left trigger's axis
-   * exceeds 0.5, attached to the given event loop
+   * Whether the left stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
    */
-  BooleanEvent LeftTrigger(EventLoop* loop) const;
+  bool GetLeftStickButtonPressed();
 
   /**
-   * Constructs an event instance around the axis value of the right trigger.
-   * The returned trigger will be true when the axis value is greater than
-   * {@code threshold}.
-   * @param threshold the minimum axis value for the returned event to be true.
-   * This value should be in the range [0, 1] where 0 is the unpressed state of
-   * the axis.
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the right trigger's axis
-   * exceeds the provided threshold, attached to the given event loop
+   * Whether the left stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
    */
-  BooleanEvent RightTrigger(double threshold, EventLoop* loop) const;
+  bool GetLeftStickButtonReleased();
 
   /**
-   * Constructs an event instance around the axis value of the right trigger.
-   * The returned trigger will be true when the axis value is greater than 0.5.
+   * Constructs an event instance around the left stick button's
+   * digital signal.
+   *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the right trigger's axis
-   * exceeds 0.5, attached to the given event loop
+   * @return an event instance representing the left stick button's
+   * digital signal attached to the given loop.
    */
-  BooleanEvent RightTrigger(EventLoop* loop) const;
+  BooleanEvent LeftStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the right stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightStickButton() const;
+
+  /**
+   * Whether the right stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightStickButtonPressed();
+
+  /**
+   * Whether the right stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the right stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the left bumper (LB) button on the controller.
+   *
+   * @return the state of the button
+   */
+  [[deprecated("Use GetLeftBumperButton instead")]]
+  bool GetLeftBumper() const;
+
+  /**
+   * Read the value of the right bumper (RB) button on the controller.
+   *
+   * @return the state of the button
+   */
+  [[deprecated("Use GetRightBumperButton instead")]]
+  bool GetRightBumper() const;
+
+  /**
+   * Whether the left bumper (LB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetLeftBumperButtonPressed instead")]]
+  bool GetLeftBumperPressed();
+
+  /**
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetRightBumperButtonPressed instead")]]
+  bool GetRightBumperPressed();
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  [[deprecated("Use GetLeftBumperButtonReleased instead")]]
+  bool GetLeftBumperReleased();
+
+  /**
+   * Whether the right bumper (RB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  [[deprecated("Use GetRightBumperButtonReleased instead")]]
+  bool GetRightBumperReleased();
 
   /** Represents a digital button on an XboxController. */
   struct Button {
-    /// Left bumper.
-    static constexpr int kLeftBumper = 5;
-    /// Right bumper.
-    static constexpr int kRightBumper = 6;
-    /// Left stick.
-    static constexpr int kLeftStick = 9;
-    /// Right stick.
-    static constexpr int kRightStick = 10;
-    /// A.
+    /// A button.
     static constexpr int kA = 1;
-    /// B.
+    /// B button.
     static constexpr int kB = 2;
-    /// X.
+    /// X button.
     static constexpr int kX = 3;
-    /// Y.
+    /// Y button.
     static constexpr int kY = 4;
-    /// Back.
+    /// Left bumper button.
+    static constexpr int kLeftBumper = 5;
+    /// Right bumper button.
+    static constexpr int kRightBumper = 6;
+    /// Back button.
     static constexpr int kBack = 7;
-    /// Start.
+    /// Start button.
     static constexpr int kStart = 8;
+    /// Left stick button.
+    static constexpr int kLeftStick = 9;
+    /// Right stick button.
+    static constexpr int kRightStick = 10;
   };
 
   /** Represents an axis on an XboxController. */
   struct Axis {
-    /// Left X.
+    /// Left X axis.
     static constexpr int kLeftX = 0;
-    /// Right X.
+    /// Right X axis.
     static constexpr int kRightX = 4;
-    /// Left Y.
+    /// Left Y axis.
     static constexpr int kLeftY = 1;
-    /// Right Y.
+    /// Right Y axis.
     static constexpr int kRightY = 5;
     /// Left trigger.
     static constexpr int kLeftTrigger = 2;

wpilibc/src/generated/main/native/include/frc/simulation/PS4ControllerSim.h

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/simulation/GenericHIDSim.h"
@@ -32,112 +34,112 @@ class PS4ControllerSim : public GenericHIDSim {
   explicit PS4ControllerSim(int port);
 
   /**
-   * Change the X axis value of the controller's left stick.
+   * Change the left X value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetLeftX(double value);
 
   /**
-   * Change the X axis value of the controller's right stick.
-   *
-   * @param value the new value
-   */
-  void SetRightX(double value);
-
-  /**
-   * Change the Y axis value of the controller's left stick.
+   * Change the left Y value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetLeftY(double value);
 
   /**
-   * Change the Y axis value of the controller's right stick.
+   * Change the right X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the right Y value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetRightY(double value);
 
   /**
-   * Change the L2 axis axis value of the controller.
+   * Change the value of the left trigger 2 axis on the controller.
    *
    * @param value the new value
    */
   void SetL2Axis(double value);
 
   /**
-   * Change the R2 axis value of the controller.
+   * Change the value of the right trigger 2 axis on the controller.
    *
    * @param value the new value
    */
   void SetR2Axis(double value);
 
   /**
-   * Change the value of the Square button on the controller.
+   * Change the value of the square button on the controller.
    *
    * @param value the new value
    */
   void SetSquareButton(bool value);
 
   /**
-   * Change the value of the Cross button on the controller.
+   * Change the value of the cross button on the controller.
    *
    * @param value the new value
    */
   void SetCrossButton(bool value);
 
   /**
-   * Change the value of the Circle button on the controller.
+   * Change the value of the circle button on the controller.
    *
    * @param value the new value
    */
   void SetCircleButton(bool value);
 
   /**
-   * Change the value of the Triangle button on the controller.
+   * Change the value of the triangle button on the controller.
    *
    * @param value the new value
    */
   void SetTriangleButton(bool value);
 
   /**
-   * Change the value of the L1 button on the controller.
+   * Change the value of the left trigger 1 button on the controller.
    *
    * @param value the new value
    */
   void SetL1Button(bool value);
 
   /**
-   * Change the value of the R1 button on the controller.
+   * Change the value of the right trigger 1 button on the controller.
    *
    * @param value the new value
    */
   void SetR1Button(bool value);
 
   /**
-   * Change the value of the L2 button on the controller.
+   * Change the value of the left trigger 2 button on the controller.
    *
    * @param value the new value
    */
   void SetL2Button(bool value);
 
   /**
-   * Change the value of the R2 button on the controller.
+   * Change the value of the right trigger 2 button on the controller.
    *
    * @param value the new value
    */
   void SetR2Button(bool value);
 
   /**
-   * Change the value of the Share button on the controller.
+   * Change the value of the share button on the controller.
    *
    * @param value the new value
    */
   void SetShareButton(bool value);
 
   /**
-   * Change the value of the Options button on the controller.
+   * Change the value of the options button on the controller.
    *
    * @param value the new value
    */
@@ -158,7 +160,7 @@ class PS4ControllerSim : public GenericHIDSim {
   void SetR3Button(bool value);
 
   /**
-   * Change the value of the PS button on the controller.
+   * Change the value of the PlayStation button on the controller.
    *
    * @param value the new value
    */
@@ -169,7 +171,16 @@ class PS4ControllerSim : public GenericHIDSim {
    *
    * @param value the new value
    */
+  void SetTouchpadButton(bool value);
+
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetTouchpadButton instead")]]
   void SetTouchpad(bool value);
+
 };
 
 }  // namespace sim

wpilibc/src/generated/main/native/include/frc/simulation/PS5ControllerSim.h

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/simulation/GenericHIDSim.h"
@@ -32,112 +34,112 @@ class PS5ControllerSim : public GenericHIDSim {
   explicit PS5ControllerSim(int port);
 
   /**
-   * Change the X axis value of the controller's left stick.
+   * Change the left X value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetLeftX(double value);
 
   /**
-   * Change the X axis value of the controller's right stick.
-   *
-   * @param value the new value
-   */
-  void SetRightX(double value);
-
-  /**
-   * Change the Y axis value of the controller's left stick.
+   * Change the left Y value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetLeftY(double value);
 
   /**
-   * Change the Y axis value of the controller's right stick.
+   * Change the right X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the right Y value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetRightY(double value);
 
   /**
-   * Change the L2 axis axis value of the controller.
+   * Change the value of the left trigger 2 axis on the controller.
    *
    * @param value the new value
    */
   void SetL2Axis(double value);
 
   /**
-   * Change the R2 axis value of the controller.
+   * Change the value of the right trigger 2 axis on the controller.
    *
    * @param value the new value
    */
   void SetR2Axis(double value);
 
   /**
-   * Change the value of the Square button on the controller.
+   * Change the value of the square button on the controller.
    *
    * @param value the new value
    */
   void SetSquareButton(bool value);
 
   /**
-   * Change the value of the Cross button on the controller.
+   * Change the value of the cross button on the controller.
    *
    * @param value the new value
    */
   void SetCrossButton(bool value);
 
   /**
-   * Change the value of the Circle button on the controller.
+   * Change the value of the circle button on the controller.
    *
    * @param value the new value
    */
   void SetCircleButton(bool value);
 
   /**
-   * Change the value of the Triangle button on the controller.
+   * Change the value of the triangle button on the controller.
    *
    * @param value the new value
    */
   void SetTriangleButton(bool value);
 
   /**
-   * Change the value of the L1 button on the controller.
+   * Change the value of the left trigger 1 button on the controller.
    *
    * @param value the new value
    */
   void SetL1Button(bool value);
 
   /**
-   * Change the value of the R1 button on the controller.
+   * Change the value of the right trigger 1 button on the controller.
    *
    * @param value the new value
    */
   void SetR1Button(bool value);
 
   /**
-   * Change the value of the L2 button on the controller.
+   * Change the value of the left trigger 2 button on the controller.
    *
    * @param value the new value
    */
   void SetL2Button(bool value);
 
   /**
-   * Change the value of the R2 button on the controller.
+   * Change the value of the right trigger 2 button on the controller.
    *
    * @param value the new value
    */
   void SetR2Button(bool value);
 
   /**
-   * Change the value of the Create button on the controller.
+   * Change the value of the create button on the controller.
    *
    * @param value the new value
    */
   void SetCreateButton(bool value);
 
   /**
-   * Change the value of the Options button on the controller.
+   * Change the value of the options button on the controller.
    *
    * @param value the new value
    */
@@ -158,7 +160,7 @@ class PS5ControllerSim : public GenericHIDSim {
   void SetR3Button(bool value);
 
   /**
-   * Change the value of the PS button on the controller.
+   * Change the value of the PlayStation button on the controller.
    *
    * @param value the new value
    */
@@ -169,7 +171,16 @@ class PS5ControllerSim : public GenericHIDSim {
    *
    * @param value the new value
    */
+  void SetTouchpadButton(bool value);
+
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetTouchpadButton instead")]]
   void SetTouchpad(bool value);
+
 };
 
 }  // namespace sim

wpilibc/src/generated/main/native/include/frc/simulation/StadiaControllerSim.h

@@ -0,0 +1,172 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
+#pragma once
+
+#include "frc/simulation/GenericHIDSim.h"
+
+namespace frc {
+
+class StadiaController;
+
+namespace sim {
+
+/**
+ * Class to control a simulated Stadia controller.
+ */
+class StadiaControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a StadiaController object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit StadiaControllerSim(const StadiaController& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit StadiaControllerSim(int port);
+
+  /**
+   * Change the left X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the right X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the left Y value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the right Y value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the left bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftBumperButton(bool value);
+
+  /**
+   * Change the value of the right bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightBumperButton(bool value);
+
+  /**
+   * Change the value of the left stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftStickButton(bool value);
+
+  /**
+   * Change the value of the right stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightStickButton(bool value);
+
+  /**
+   * Change the value of the ellipses button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetEllipsesButton(bool value);
+
+  /**
+   * Change the value of the hamburger button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetHamburgerButton(bool value);
+
+  /**
+   * Change the value of the stadia button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetStadiaButton(bool value);
+
+  /**
+   * Change the value of the right trigger button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightTriggerButton(bool value);
+
+  /**
+   * Change the value of the left trigger button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftTriggerButton(bool value);
+
+  /**
+   * Change the value of the google button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetGoogleButton(bool value);
+
+  /**
+   * Change the value of the frame button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetFrameButton(bool value);
+
+};
+
+}  // namespace sim
+}  // namespace frc

wpilibc/src/generated/main/native/include/frc/simulation/XboxControllerSim.h

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+
 #pragma once
 
 #include "frc/simulation/GenericHIDSim.h"
@@ -13,7 +15,7 @@ class XboxController;
 namespace sim {
 
 /**
- * Class to control a simulated Xbox 360 or Xbox One controller.
+ * Class to control a simulated Xbox controller.
  */
 class XboxControllerSim : public GenericHIDSim {
  public:
@@ -32,52 +34,123 @@ class XboxControllerSim : public GenericHIDSim {
   explicit XboxControllerSim(int port);
 
   /**
-   * Change the X axis value of the controller's left stick.
+   * Change the left X value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetLeftX(double value);
 
   /**
-   * Change the X axis value of the controller's right stick.
+   * Change the right X value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetRightX(double value);
 
   /**
-   * Change the Y axis value of the controller's left stick.
+   * Change the left Y value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetLeftY(double value);
 
   /**
-   * Change the Y axis value of the controller's right stick.
+   * Change the right Y value of the controller's joystick.
    *
    * @param value the new value
    */
   void SetRightY(double value);
 
   /**
-   * Change the left trigger axis value of the joystick.
+   * Change the value of the left trigger axis on the controller.
    *
    * @param value the new value
    */
   void SetLeftTriggerAxis(double value);
 
   /**
-   * Change the right trigger axis value of the joystick.
+   * Change the value of the right trigger axis on the controller.
    *
    * @param value the new value
    */
   void SetRightTriggerAxis(double value);
 
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the left bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftBumperButton(bool value);
+
+  /**
+   * Change the value of the right bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightBumperButton(bool value);
+
+  /**
+   * Change the value of the back button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBackButton(bool value);
+
+  /**
+   * Change the value of the start button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetStartButton(bool value);
+
+  /**
+   * Change the value of the left stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftStickButton(bool value);
+
+  /**
+   * Change the value of the right stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightStickButton(bool value);
+
   /**
    * Change the left bumper value of the joystick.
    *
    * @param value the new value
    */
+  [[deprecated("Use SetLeftBumperButton instead")]]
   void SetLeftBumper(bool value);
 
   /**
@@ -85,63 +158,9 @@ class XboxControllerSim : public GenericHIDSim {
    *
    * @param value the new value
    */
+  [[deprecated("Use SetRightBumperButton instead")]]
   void SetRightBumper(bool value);
 
-  /**
-   * Change the left button value of the joystick.
-   *
-   * @param value the new value
-   */
-  void SetLeftStickButton(bool value);
-
-  /**
-   * Change the right button value of the joystick.
-   *
-   * @param value the new value
-   */
-  void SetRightStickButton(bool value);
-
-  /**
-   * Change the value of the A button.
-   *
-   * @param value the new value
-   */
-  void SetAButton(bool value);
-
-  /**
-   * Change the value of the B button.
-   *
-   * @param value the new value
-   */
-  void SetBButton(bool value);
-
-  /**
-   * Change the value of the X button.
-   *
-   * @param value the new value
-   */
-  void SetXButton(bool value);
-
-  /**
-   * Change the value of the Y button.
-   *
-   * @param value the new value
-   */
-  void SetYButton(bool value);
-
-  /**
-   * Change the value of the Back button.
-   *
-   * @param value the new value
-   */
-  void SetBackButton(bool value);
-
-  /**
-   * Change the value of the Start button.
-   *
-   * @param value the new value
-   */
-  void SetStartButton(bool value);
 };
 
 }  // namespace sim

wpilibc/src/test/native/cpp/PS4ControllerTest.cpp

@@ -28,7 +28,7 @@ BUTTON_TEST(PS4Controller, L3Button)
 BUTTON_TEST(PS4Controller, R3Button)
 
 BUTTON_TEST(PS4Controller, PSButton)
-BUTTON_TEST(PS4Controller, Touchpad)
+BUTTON_TEST(PS4Controller, TouchpadButton)
 
 AXIS_TEST(PS4Controller, LeftX)
 AXIS_TEST(PS4Controller, RightX)

wpilibc/src/test/native/cpp/PS5ControllerTest.cpp

@@ -28,7 +28,7 @@ BUTTON_TEST(PS5Controller, L3Button)
 BUTTON_TEST(PS5Controller, R3Button)
 
 BUTTON_TEST(PS5Controller, PSButton)
-BUTTON_TEST(PS5Controller, Touchpad)
+BUTTON_TEST(PS5Controller, TouchpadButton)
 
 AXIS_TEST(PS5Controller, LeftX)
 AXIS_TEST(PS5Controller, RightX)

wpilibc/src/test/native/cpp/XboxControllerTest.cpp

@@ -11,8 +11,8 @@
 
 using namespace frc;
 
-BUTTON_TEST(XboxController, LeftBumper)
-BUTTON_TEST(XboxController, RightBumper)
+BUTTON_TEST(XboxController, LeftBumperButton)
+BUTTON_TEST(XboxController, RightBumperButton)
 
 BUTTON_TEST(XboxController, LeftStickButton)
 BUTTON_TEST(XboxController, RightStickButton)

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

@@ -110,7 +110,7 @@ class Robot : public frc::TimedRobot {
     // Sets the target position of our arm. This is similar to setting the
     // setpoint of a PID controller.
     frc::TrapezoidProfile<units::radians>::State goal;
-    if (m_joystick.GetRightBumper()) {
+    if (m_joystick.GetRightBumperButton()) {
       // 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

@@ -110,7 +110,7 @@ class Robot : public frc::TimedRobot {
     // Sets the target height of our elevator. This is similar to setting the
     // setpoint of a PID controller.
     frc::TrapezoidProfile<units::meters>::State goal;
-    if (m_joystick.GetRightBumper()) {
+    if (m_joystick.GetRightBumperButton()) {
       // 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

@@ -92,7 +92,7 @@ class Robot : public frc::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.GetRightBumper()) {
+    if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(frc::Vectord<1>{kSpinup.value()});
     } else {

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

@@ -92,7 +92,7 @@ class Robot : public frc::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.GetRightBumper()) {
+    if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(frc::Vectord<1>{kSpinup.value()});
     } else {

wpilibj/CMakeLists.txt

@@ -17,7 +17,7 @@ if(WITH_JAVA)
 
     configure_file(src/generate/WPILibVersion.java.in WPILibVersion.java)
 
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
     file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
     file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
 
@@ -49,14 +49,22 @@ endif()
 if(WITH_JAVA_SOURCE)
     find_package(Java REQUIRED)
     include(UseJava)
-    file(GLOB WPILIBJ_SOURCES src/main/java/edu/wpi/first/wpilibj/*.java)
+    file(
+        GLOB WPILIBJ_SOURCES
+        src/main/java/edu/wpi/first/wpilibj/*.java
+        src/generated/main/java/edu/wpi/first/wpilibj/*.java
+    )
     file(GLOB WPILIBJ_COUNTER_SOURCES src/main/java/edu/wpi/first/wpilibj/counter/*.java)
     file(GLOB WPILIBJ_DRIVE_SOURCES src/main/java/edu/wpi/first/wpilibj/drive/*.java)
     file(GLOB WPILIBJ_EVENT_SOURCES src/main/java/edu/wpi/first/wpilibj/event/*.java)
     file(GLOB WPILIBJ_INTERFACES_SOURCES src/main/java/edu/wpi/first/wpilibj/interfaces/*.java)
     file(GLOB WPILIBJ_MOTORCONTROL_SOURCES src/main/java/edu/wpi/first/wpilibj/motorcontrol*.java)
     file(GLOB WPILIBJ_SHUFFLEBOARD_SOURCES src/main/java/edu/wpi/first/wpilibj/shuffleboard*.java)
-    file(GLOB WPILIBJ_SIMULATION_SOURCES src/main/java/edu/wpi/first/wpilibj/simulation*.java)
+    file(
+        GLOB WPILIBJ_SIMULATION_SOURCES
+        src/main/java/edu/wpi/first/wpilibj/simulation/*.java
+        src/generated/main/java/edu/wpi/first/wpilibj/simulation/*.java
+    )
     file(GLOB WPILIBJ_SMARTDASHBOARD_SOURCES src/main/java/edu/wpi/first/wpilibj/*.java)
     file(
         GLOB WPILIBJ_UTIL_SOURCES

wpilibj/build.gradle

@@ -50,6 +50,7 @@ gradle.taskGraph.addTaskExecutionGraphListener { graph ->
 }
 
 sourceSets.main.java.srcDir "${buildDir}/generated/java/"
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
 
 compileJava {
     dependsOn generateJavaVersion

wpilibj/generate_hids.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+
+# 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.
+import json
+import os
+
+from jinja2 import Environment, FileSystemLoader
+
+
+def write_controller_file(outPath, controllerName, contents):
+    if not os.path.exists(outPath):
+        os.makedirs(outPath)
+
+    outpathname = f"{outPath}/{controllerName}"
+
+    if os.path.exists(outpathname):
+        with open(outpathname, "r") as f:
+            if f.read() == contents:
+                return
+
+    # File either doesn't exist or has different contents
+    with open(outpathname, "w", newline="\n") as f:
+        f.write(contents)
+
+
+def main():
+    dirname, _ = os.path.split(os.path.abspath(__file__))
+
+    with open(f"{dirname}/src/generate/hids.json") as f:
+        controllers = json.load(f)
+
+    # Java files
+    env = Environment(
+        loader=FileSystemLoader(f"{dirname}/src/generate/"),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    rootPath = f"{dirname}/src/generated/main/java/edu/wpi/first/wpilibj"
+    template = env.get_template("hid.java.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(f"{controller['ConsoleName']}Controller.java")
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+    # Java simulation files
+    rootPath = f"{dirname}/src/generated/main/java/edu/wpi/first/wpilibj/simulation"
+    template = env.get_template("hidsim.java.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(
+            f"{controller['ConsoleName']}ControllerSim.java"
+        )
+        output = template.render(controller)
+        write_controller_file(rootPath, controllerName, output)
+
+
+if __name__ == "__main__":
+    main()

wpilibj/src/generate/hid.java.jinja

@@ -0,0 +1,289 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+package edu.wpi.first.wpilibj;
+
+{{ "// " if SkipReporting }}import edu.wpi.first.hal.FRCNetComm.tResourceType;
+{{ "// " if SkipReporting }}import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
+
+/**
+ * Handle input from {{ ConsoleName }} controllers connected to the Driver Station.
+ *
+ * <p>This class handles {{ ConsoleName }} input that comes from the Driver Station. Each time a value is
+ * requested the most recent value is returned. There is a single class instance for each controller
+ * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
+ *
+ * <p>Only first party controllers from {{ Manufacturer }} are guaranteed to have the correct mapping, and
+ * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
+ * 3rd party controllers.
+ */
+public class {{ ConsoleName }}Controller extends GenericHID {
+  /** Represents a digital button on a {{ ConsoleName }}Controller. */
+  public enum Button {
+{%- for button in buttons %}
+    /** {{ capitalize_first(button.DocName|default(button.name))  }} button. */
+    k{{ capitalize_first(button.name) }}({{ button.value }}){{ ";" if loop.last else ","}}
+{%- endfor %}
+
+    /** Button value. */
+    public final int value;
+
+    Button(int value) {
+      this.value = value;
+    }
+
+    /**
+     * Get the human-friendly name of the button, matching the relevant methods. This is done by
+     * stripping the leading `k`, and appending `Button`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the button.
+     */
+    @Override
+    public String toString() {
+      // Remove leading `k`
+      return this.name().substring(1) + "Button";
+    }
+  }
+
+  /** Represents an axis on an {{ ConsoleName }}Controller. */
+  public enum Axis {
+{%- for stick in sticks %}
+    /** {{ stick.NameParts|map("capitalize")|join(" ") }} axis. */
+    k{{ stick.NameParts|map("capitalize")|join }}({{ stick.value }}){{ "," if triggers|length > 0 or not loop.last else ";"}}
+{%- endfor %}
+{%- for trigger in triggers %}
+    /** {{ trigger.DocName|capitalize }}. */
+    k{{ capitalize_first(trigger.name) }}({{ trigger.value }}){{ ";" if loop.last else ","}}
+{%- endfor %}
+
+    /** Axis value. */
+    public final int value;
+
+    Axis(int value) {
+      this.value = value;
+    }
+
+    /**
+     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
+     * stripping the leading `k`, and appending `Axis` if the name ends with `{{ AxisNameSuffix }}`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the axis.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (name.endsWith("{{ AxisNameSuffix }}")) {
+        return name + "Axis";
+      }
+      return name;
+    }
+  }
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into (0-5).
+   */
+  public {{ ConsoleName }}Controller(final int port) {
+    super(port);
+    {{ "// " if SkipReporting }}HAL.report(tResourceType.kResourceType_{{ ConsoleName }}Controller, port + 1);
+  }
+{% for stick in sticks %}
+  /**
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   *
+   * @return The axis value.
+   */
+  public double get{{ stick.NameParts|map("capitalize")|join }}() {
+    return getRawAxis(Axis.k{{ stick.NameParts|map("capitalize")|join }}.value);
+  }
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Get the {{ trigger.DocName }} axis value of the controller. Note that this axis is bound to the
+   * range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  public double get{{ capitalize_first(trigger.name) }}Axis() {
+    return getRawAxis(Axis.k{{ capitalize_first(trigger.name) }}.value);
+  }
+{% if trigger.UseThresholdMethods %}
+  /**
+   * Constructs an event instance around the axis value of the {{ trigger.DocName }}. The returned trigger
+   * will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
+   *     value should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
+   *     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);
+  }
+
+  /**
+   * Constructs an event instance around the axis value of the {{ trigger.DocName }}. The returned trigger
+   * will be true when the axis value is greater than 0.5.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public BooleanEvent {{ trigger.name }}(EventLoop loop) {
+    return {{ trigger.name }}(0.5, loop);
+  }
+{% endif -%}
+{% endfor -%}
+{% for button in buttons %}
+  /**
+   * Read the value of the {{ button.DocName|default(button.name) }} button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean get{{ capitalize_first(button.name) }}Button() {
+    return getRawButton(Button.k{{ capitalize_first(button.name) }}.value);
+  }
+
+  /**
+   * Whether the {{ button.DocName|default(button.name) }} button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean get{{ capitalize_first(button.name) }}ButtonPressed() {
+    return getRawButtonPressed(Button.k{{ capitalize_first(button.name) }}.value);
+  }
+
+  /**
+   * Whether the {{ button.DocName|default(button.name) }} button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean get{{ capitalize_first(button.name) }}ButtonReleased() {
+    return getRawButtonReleased(Button.k{{ capitalize_first(button.name) }}.value);
+  }
+
+  /**
+   * Constructs an event instance around the {{ button.DocName|default(button.name) }} button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the {{ button.DocName|default(button.name) }} button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent {{ button.name }}(EventLoop loop) {
+    return new BooleanEvent(loop, this::get{{ capitalize_first(button.name) }}Button);
+  }
+{% endfor -%}
+{% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
+  /**
+   * Read the value of the left bumper (LB) button on the controller.
+   *
+   * @return The state of the button.
+   * @deprecated Use {@link getLeftBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumper() {
+    return getRawButton(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Read the value of the right bumper (RB) button on the controller.
+   *
+   * @return The state of the button.
+   * @deprecated Use {@link getRightBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumper() {
+    return getRawButton(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the left bumper (LB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   * @deprecated Use {@link getLeftBumperButtonPressed} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumperPressed() {
+    return getRawButtonPressed(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   * @deprecated Use {@link getRightBumperButtonPressed} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumperPressed() {
+    return getRawButtonPressed(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   * @deprecated Use {@link getLeftBumperButtonReleased} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumperReleased() {
+    return getRawButtonReleased(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the right bumper (RB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   * @deprecated Use {@link getRightBumperButtonReleased} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumperReleased() {
+    return getRawButtonReleased(Button.kRightBumper.value);
+  }
+{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+  /**
+   * Read the value of the touchpad on the controller.
+   *
+   * @return The state of the touchpad.
+   * @deprecated Use {@link getTouchpadButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getTouchpad() {
+    return getRawButton(Button.kTouchpad.value);
+  }
+
+  /**
+   * Whether the touchpad was pressed since the last check.
+   *
+   * @return Whether the touchpad was pressed since the last check.
+   * @deprecated Use {@link getTouchpadButtonPressed} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getTouchpadPressed() {
+    return getRawButtonPressed(Button.kTouchpad.value);
+  }
+
+  /**
+   * Whether the touchpad was released since the last check.
+   *
+   * @return Whether the touchpad was released since the last check.
+   * @deprecated Use {@link getTouchpadButtonReleased} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getTouchpadReleased() {
+    return getRawButtonReleased(Button.kTouchpad.value);
+  }
+{% endif -%}
+}

wpilibj/src/generate/hids.json

@@ -0,0 +1,440 @@
+[
+  {
+    "ConsoleName": "Xbox",
+    "Manufacturer": "Microsoft",
+    "SkipReporting": false,
+    "AxisNameSuffix": "Trigger",
+    "buttons": [
+      {
+        "name": "a",
+        "value": 1,
+        "DocName": "A"
+      },
+      {
+        "name": "b",
+        "value": 2,
+        "DocName": "B"
+      },
+      {
+        "name": "x",
+        "value": 3,
+        "DocName": "X"
+      },
+      {
+        "name": "y",
+        "value": 4,
+        "DocName": "Y"
+      },
+      {
+        "name": "leftBumper",
+        "value": 5,
+        "DocName": "left bumper"
+      },
+      {
+        "name": "rightBumper",
+        "value": 6,
+        "DocName": "right bumper"
+      },
+      {
+        "name": "back",
+        "value": 7
+      },
+      {
+        "name": "start",
+        "value": 8
+      },
+      {
+        "name": "leftStick",
+        "value": 9,
+        "DocName": "left stick"
+      },
+      {
+        "name": "rightStick",
+        "value": 10,
+        "DocName": "right stick"
+      }
+    ],
+    "sticks": [
+      {
+        "NameParts": [
+          "left",
+          "X"
+        ],
+        "value": 0
+      },
+      {
+        "NameParts": [
+          "right",
+          "X"
+        ],
+        "value": 4
+      },
+      {
+        "NameParts": [
+          "left",
+          "Y"
+        ],
+        "value": 1
+      },
+      {
+        "NameParts": [
+          "right",
+          "Y"
+        ],
+        "value": 5
+      }
+    ],
+    "triggers": [
+      {
+        "name": "leftTrigger",
+        "value": 2,
+        "DocName": "left trigger",
+        "UseThresholdMethods": true
+      },
+      {
+        "name": "rightTrigger",
+        "value": 3,
+        "DocName": "right trigger",
+        "UseThresholdMethods": true
+      }
+    ]
+  },
+  {
+    "ConsoleName": "PS4",
+    "Manufacturer": "Sony",
+    "SkipReporting": false,
+    "AxisNameSuffix": "2",
+    "buttons": [
+      {
+        "name": "square",
+        "value": 1
+      },
+      {
+        "name": "cross",
+        "value": 2
+      },
+      {
+        "name": "circle",
+        "value": 3
+      },
+      {
+        "name": "triangle",
+        "value": 4
+      },
+      {
+        "name": "L1",
+        "value": 5,
+        "DocName": "left trigger 1"
+      },
+      {
+        "name": "R1",
+        "value": 6,
+        "DocName": "right trigger 1"
+      },
+      {
+        "name": "L2",
+        "value": 7,
+        "DocName": "left trigger 2"
+      },
+      {
+        "name": "R2",
+        "value": 8,
+        "DocName": "right trigger 2"
+      },
+      {
+        "name": "share",
+        "value": 9
+      },
+      {
+        "name": "options",
+        "value": 10
+      },
+      {
+        "name": "L3",
+        "value": 11,
+        "DocName": "L3 (left stick)"
+      },
+      {
+        "name": "R3",
+        "value": 12,
+        "DocName": "R3 (right stick)"
+      },
+      {
+        "name": "PS",
+        "value": 13,
+        "DocName": "PlayStation"
+      },
+      {
+        "name": "touchpad",
+        "value": 14
+      }
+    ],
+    "sticks": [
+      {
+        "NameParts": [
+          "left",
+          "X"
+        ],
+        "value": 0
+      },
+      {
+        "NameParts": [
+          "left",
+          "Y"
+        ],
+        "value": 1
+      },
+      {
+        "NameParts": [
+          "right",
+          "X"
+        ],
+        "value": 2
+      },
+      {
+        "NameParts": [
+          "right",
+          "Y"
+        ],
+        "value": 5
+      }
+    ],
+    "triggers": [
+      {
+        "name": "L2",
+        "value": 3,
+        "DocName": "left trigger 2",
+        "UseThresholdMethods": false
+      },
+      {
+        "name": "R2",
+        "value": 4,
+        "DocName": "right trigger 2",
+        "UseThresholdMethods": false
+      }
+    ]
+  },
+  {
+    "ConsoleName": "PS5",
+    "Manufacturer": "Sony",
+    "SkipReporting": true,
+    "AxisNameSuffix": "2",
+    "buttons": [
+      {
+        "name": "square",
+        "value": 1
+      },
+      {
+        "name": "cross",
+        "value": 2
+      },
+      {
+        "name": "circle",
+        "value": 3
+      },
+      {
+        "name": "triangle",
+        "value": 4
+      },
+      {
+        "name": "L1",
+        "value": 5,
+        "DocName": "left trigger 1"
+      },
+      {
+        "name": "R1",
+        "value": 6,
+        "DocName": "right trigger 1"
+      },
+      {
+        "name": "L2",
+        "value": 7,
+        "DocName": "left trigger 2"
+      },
+      {
+        "name": "R2",
+        "value": 8,
+        "DocName": "right trigger 2"
+      },
+      {
+        "name": "create",
+        "value": 9
+      },
+      {
+        "name": "options",
+        "value": 10
+      },
+      {
+        "name": "L3",
+        "value": 11,
+        "DocName": "L3 (left stick)"
+      },
+      {
+        "name": "R3",
+        "value": 12,
+        "DocName": "R3 (right stick)"
+      },
+      {
+        "name": "PS",
+        "value": 13,
+        "DocName": "PlayStation"
+      },
+      {
+        "name": "touchpad",
+        "value": 14
+      }
+    ],
+    "sticks": [
+      {
+        "NameParts": [
+          "left",
+          "X"
+        ],
+        "value": 0
+      },
+      {
+        "NameParts": [
+          "left",
+          "Y"
+        ],
+        "value": 1
+      },
+      {
+        "NameParts": [
+          "right",
+          "X"
+        ],
+        "value": 2
+      },
+      {
+        "NameParts": [
+          "right",
+          "Y"
+        ],
+        "value": 5
+      }
+    ],
+    "triggers": [
+      {
+        "name": "L2",
+        "value": 3,
+        "DocName": "left trigger 2",
+        "UseThresholdMethods": false
+      },
+      {
+        "name": "R2",
+        "value": 4,
+        "DocName": "right trigger 2",
+        "UseThresholdMethods": false
+      }
+    ]
+  },
+  {
+    "ConsoleName": "Stadia",
+    "Manufacturer": "Google",
+    "SkipReporting": true,
+    "AxisNameSuffix": "Trigger",
+    "buttons": [
+      {
+        "name": "a",
+        "value": 1,
+        "DocName": "A"
+      },
+      {
+        "name": "b",
+        "value": 2,
+        "DocName": "B"
+      },
+      {
+        "name": "x",
+        "value": 3,
+        "DocName": "X"
+      },
+      {
+        "name": "y",
+        "value": 4,
+        "DocName": "Y"
+      },
+      {
+        "name": "leftBumper",
+        "value": 5,
+        "DocName": "left bumper"
+      },
+      {
+        "name": "rightBumper",
+        "value": 6,
+        "DocName": "right bumper"
+      },
+      {
+        "name": "leftStick",
+        "value": 7,
+        "DocName": "left stick"
+      },
+      {
+        "name": "rightStick",
+        "value": 8,
+        "DocName": "right stick"
+      },
+      {
+        "name": "ellipses",
+        "value": 9
+      },
+      {
+        "name": "hamburger",
+        "value": 10
+      },
+      {
+        "name": "stadia",
+        "value": 11
+      },
+      {
+        "name": "rightTrigger",
+        "value": 12,
+        "DocName": "right trigger"
+      },
+      {
+        "name": "leftTrigger",
+        "value": 13,
+        "DocName": "left trigger"
+      },
+      {
+        "name": "google",
+        "value": 14
+      },
+      {
+        "name": "frame",
+        "value": 15
+      }
+    ],
+    "sticks": [
+      {
+        "NameParts": [
+          "left",
+          "X"
+        ],
+        "value": 0
+      },
+      {
+        "NameParts": [
+          "right",
+          "X"
+        ],
+        "value": 3
+      },
+      {
+        "NameParts": [
+          "left",
+          "Y"
+        ],
+        "value": 1
+      },
+      {
+        "NameParts": [
+          "right",
+          "Y"
+        ],
+        "value": 4
+      }
+    ]
+  }
+]

wpilibj/src/generate/hids.schema.json

@@ -0,0 +1,120 @@
+{
+  "$schema": "https://json-schema.org/draft/2019-09/schema",
+  "$id": "https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibj/src/generate/hids.schema.json",
+  "title": "A schema for defining HIDs with JSON",
+  "type": "array",
+  "default": [],
+  "items": {
+    "title": "A Schema",
+    "type": "object",
+    "required": [
+      "ConsoleName",
+      "Manufacturer",
+      "SkipReporting",
+      "AxisNameSuffix",
+      "buttons",
+      "sticks"
+    ],
+    "properties": {
+      "ConsoleName": {
+        "description": "The name of the console this controller is associated with",
+        "type": "string"
+      },
+      "Manufacturer": {
+        "description": "The manufacturer of the console",
+        "type": "string"
+      },
+      "SkipReporting": {
+        "description": "Whether or not to skip the usage reporting call",
+        "type": "boolean"
+      },
+      "AxisNameSuffix": {
+        "description": "The suffix of an axis that shouldn't have Axis appended to its name",
+        "type": "string"
+      },
+      "buttons": {
+        "description": "A list of buttons on the controller",
+        "type": "array",
+        "items": {
+          "description": "A description of a button on the controller",
+          "type": "object",
+          "required": [
+            "name",
+            "value"
+          ],
+          "properties": {
+            "name": {
+              "description": "The name in lowerCamelCase",
+              "type": "string"
+            },
+            "value": {
+              "description": "The button value",
+              "type": "integer"
+            },
+            "DocName": {
+              "description": "The name of the button to use in docs",
+              "type": "string"
+            }
+          }
+        }
+      },
+      "sticks": {
+        "description": "A list of joysticks on the controller",
+        "type": "array",
+        "items": {
+          "description": "A description of a joystick",
+          "type": "object",
+          "required": [
+            "NameParts",
+            "value"
+          ],
+          "properties": {
+            "NameParts": {
+              "description": "The parts of the joystick name in lowerCamelCase",
+              "type": "array",
+              "items": {
+                "description": "The different components of a joystick name, direction and axis",
+                "type": "string"
+              }
+            },
+            "value": {
+              "description": "The axis value",
+              "type": "integer"
+            }
+          }
+        }
+      },
+      "triggers": {
+        "description": "A list of triggers on the controller",
+        "type": "array",
+        "items": {
+          "description": "A description of a trigger on the controller",
+          "type": "object",
+          "required": [
+            "name",
+            "value",
+            "UseThresholdMethods"
+          ],
+          "properties": {
+            "name": {
+              "description": "The name of the trigger to use in code",
+              "type": "string"
+            },
+            "value": {
+              "description": "The axis value",
+              "type": "integer"
+            },
+            "DocName": {
+              "description": "The name of the trigger for use in docs",
+              "type": "string"
+            },
+            "UseThresholdMethods": {
+              "description": "Whether or not an method is created where an event fires based on the axis value",
+              "type": "boolean"
+            }
+          }
+        }
+      }
+    }
+  }
+}

wpilibj/src/generate/hidsim.java.jinja

@@ -0,0 +1,115 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.{{ ConsoleName }}Controller;
+
+/** Class to control a simulated {{ ConsoleName }} controller. */
+public class {{ ConsoleName }}ControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a {{ ConsoleName }}Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public {{ ConsoleName }}ControllerSim({{ ConsoleName }}Controller joystick) {
+    super(joystick);
+    setAxisCount({{ sticks|length + triggers|length }});
+    setButtonCount({{ buttons|length }});
+    setPOVCount(1);
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public {{ ConsoleName }}ControllerSim(int port) {
+    super(port);
+    setAxisCount({{ sticks|length + triggers|length }});
+    setButtonCount({{ buttons|length }});
+    setPOVCount(1);
+  }
+{% for stick in sticks %}
+  /**
+   * Change the {{ stick.NameParts|join(" ") }} value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void set{{ stick.NameParts|map("capitalize")|join }}(double value) {
+    setRawAxis({{ ConsoleName }}Controller.Axis.k{{ stick.NameParts|map("capitalize")|join }}.value, value);
+  }
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Change the value of the {{ trigger.DocName }} axis on the controller.
+   *
+   * @param value the new value
+   */
+  public void set{{ capitalize_first(trigger.name) }}Axis(double value) {
+    setRawAxis({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, value);
+  }
+{% endfor -%}
+{% for button in buttons %}
+  /**
+   * Change the value of the {{ button.DocName|default(button.name) }} button on the controller.
+   *
+   * @param value the new value
+   */
+  public void set{{ capitalize_first(button.name) }}Button(boolean value) {
+    setRawButton({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, value);
+  }
+{% endfor -%}
+{% if ConsoleName == "Xbox" %}
+  /**
+   * Change the value of the left bumper on the joystick.
+   *
+   * @param state the new value
+   * @deprecated Use {@link setLeftBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public void setLeftBumper(boolean state) {
+    setRawButton(XboxController.Button.kLeftBumper.value, state);
+  }
+
+  /**
+   * Change the value of the right bumper on the joystick.
+   *
+   * @param state the new value
+   * @deprecated Use {@link setRightBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public void setRightBumper(boolean state) {
+    setRawButton(XboxController.Button.kRightBumper.value, state);
+  }
+{% elif ConsoleName == "PS4" %}
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   * @deprecated Use {@link setTouchpadButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public void setTouchpad(boolean value) {
+    setRawButton(PS4Controller.Button.kTouchpad.value, value);
+  }
+{% elif ConsoleName == "PS5" %}
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   * @deprecated Use {@link setTouchpadButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public void setTouchpad(boolean value) {
+    setRawButton(PS5Controller.Button.kTouchpad.value, value);
+  }
+{% endif -%}
+}

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj;
 
 // import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -15,6 +17,10 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * <p>This class handles Stadia input that comes from the Driver Station. Each time a value is
  * requested the most recent value is returned. There is a single class instance for each controller
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
+ *
+ * <p>Only first party controllers from Google are guaranteed to have the correct mapping, and
+ * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
+ * 3rd party controllers.
  */
 public class StadiaController extends GenericHID {
   /** Represents a digital button on a StadiaController. */
@@ -23,9 +29,9 @@ public class StadiaController extends GenericHID {
     kA(1),
     /** B button. */
     kB(2),
-    /** X Button. */
+    /** X button. */
     kX(3),
-    /** Y Button. */
+    /** Y button. */
     kY(4),
     /** Left bumper button. */
     kLeftBumper(5),
@@ -59,7 +65,7 @@ public class StadiaController extends GenericHID {
 
     /**
      * Get the human-friendly name of the button, matching the relevant methods. This is done by
-     * stripping the leading `k`, and if not a Bumper button append `Button`.
+     * stripping the leading `k`, and appending `Button`.
      *
      * <p>Primarily used for automated unit tests.
      *
@@ -67,15 +73,12 @@ public class StadiaController extends GenericHID {
      */
     @Override
     public String toString() {
-      var name = this.name().substring(1); // Remove leading `k`
-      if (name.endsWith("Bumper")) {
-        return name;
-      }
-      return name + "Button";
+      // Remove leading `k`
+      return this.name().substring(1) + "Button";
     }
   }
 
-  /** Represents an axis on a StadiaController. */
+  /** Represents an axis on an StadiaController. */
   public enum Axis {
     /** Left X axis. */
     kLeftX(0),
@@ -95,7 +98,7 @@ public class StadiaController extends GenericHID {
 
     /**
      * Get the human-friendly name of the axis, matching the relevant methods. This is done by
-     * stripping the leading `k`, and if a trigger axis append `Axis`.
+     * stripping the leading `k`, and appending `Axis` if the name ends with `Trigger`.
      *
      * <p>Primarily used for automated unit tests.
      *
@@ -114,12 +117,11 @@ public class StadiaController extends GenericHID {
   /**
    * Construct an instance of a controller.
    *
-   * @param port The port index on the Driver Station that the controller is plugged into.
+   * @param port The port index on the Driver Station that the controller is plugged into (0-5).
    */
   public StadiaController(final int port) {
     super(port);
-    // re-enable when StadiaController is added to Usage Reporting
-    // HAL.report(tResourceType.kResourceType_Joystick, port + 1);
+    // HAL.report(tResourceType.kResourceType_StadiaController, port + 1);
   }
 
   /**
@@ -158,234 +160,6 @@ public class StadiaController extends GenericHID {
     return getRawAxis(Axis.kRightY.value);
   }
 
-  /**
-   * Read the value of the left bumper (LB) button on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getLeftBumper() {
-    return getRawButton(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getRightBumper() {
-    return getRawButton(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getLeftBumperPressed() {
-    return getRawButtonPressed(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getRightBumperPressed() {
-    return getRawButtonPressed(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getLeftBumperReleased() {
-    return getRawButtonReleased(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getRightBumperReleased() {
-    return getRawButtonReleased(Button.kRightBumper.value);
-  }
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right bumper's digital signal attached to the given
-   *     loop.
-   */
-  public BooleanEvent leftBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftBumper);
-  }
-
-  /**
-   * Constructs an event instance around the left bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left bumper's digital signal attached to the given
-   *     loop.
-   */
-  public BooleanEvent rightBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightBumper);
-  }
-
-  /**
-   * Read the value of the left stick button (LSB) on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getLeftStickButton() {
-    return getRawButton(Button.kLeftStick.value);
-  }
-
-  /**
-   * Read the value of the right stick button (RSB) on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getRightStickButton() {
-    return getRawButton(Button.kRightStick.value);
-  }
-
-  /**
-   * Whether the left stick button (LSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getLeftStickButtonPressed() {
-    return getRawButtonPressed(Button.kLeftStick.value);
-  }
-
-  /**
-   * Whether the right stick button (RSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getRightStickButtonPressed() {
-    return getRawButtonPressed(Button.kRightStick.value);
-  }
-
-  /**
-   * Whether the left stick button (LSB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getLeftStickButtonReleased() {
-    return getRawButtonReleased(Button.kLeftStick.value);
-  }
-
-  /**
-   * Whether the right stick (RSB) button was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getRightStickButtonReleased() {
-    return getRawButtonReleased(Button.kRightStick.value);
-  }
-
-  /**
-   * Constructs an event instance around the left stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left stick button's digital signal attached to the
-   *     given loop.
-   */
-  public BooleanEvent leftStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftStickButton);
-  }
-
-  /**
-   * Constructs an event instance around the right stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right stick button's digital signal attached to the
-   *     given loop.
-   */
-  public BooleanEvent rightStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightStickButton);
-  }
-
-  /**
-   * Read the value of the left trigger button (LTB) on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getLeftTriggerButton() {
-    return getRawButton(Button.kLeftTrigger.value);
-  }
-
-  /**
-   * Read the value of the right trigger button (RTB) on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getRightTriggerButton() {
-    return getRawButton(Button.kRightTrigger.value);
-  }
-
-  /**
-   * Whether the left trigger button (LTB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getLeftTriggerButtonPressed() {
-    return getRawButtonPressed(Button.kLeftTrigger.value);
-  }
-
-  /**
-   * Whether the right trigger button (RTB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getRightTriggerButtonPressed() {
-    return getRawButtonPressed(Button.kRightTrigger.value);
-  }
-
-  /**
-   * Whether the left trigger button (LTB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getLeftTriggerButtonReleased() {
-    return getRawButtonReleased(Button.kLeftTrigger.value);
-  }
-
-  /**
-   * Whether the right trigger (RTB) button was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getRightTriggerButtonReleased() {
-    return getRawButtonReleased(Button.kRightTrigger.value);
-  }
-
-  /**
-   * Constructs an event instance around the left trigger button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left trigger button's digital signal attached to the
-   *     given loop.
-   */
-  public BooleanEvent leftTrigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftTriggerButton);
-  }
-
-  /**
-   * Constructs an event instance around the right trigger button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right trigger button's digital signal attached to
-   *     the given loop.
-   */
-  public BooleanEvent rightTrigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightTriggerButton);
-  }
-
   /**
    * Read the value of the A button on the controller.
    *
@@ -417,10 +191,9 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the A button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the A button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent a(EventLoop loop) {
     return new BooleanEvent(loop, this::getAButton);
   }
@@ -456,10 +229,9 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the B button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the B button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent b(EventLoop loop) {
     return new BooleanEvent(loop, this::getBButton);
   }
@@ -495,10 +267,9 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the X button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the X button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent x(EventLoop loop) {
     return new BooleanEvent(loop, this::getXButton);
   }
@@ -534,14 +305,165 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the Y button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the Y button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent y(EventLoop loop) {
     return new BooleanEvent(loop, this::getYButton);
   }
 
+  /**
+   * Read the value of the left bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftBumperButton() {
+    return getRawButton(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the left bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftBumperButtonPressed() {
+    return getRawButtonPressed(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the left bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftBumperButtonReleased() {
+    return getRawButtonReleased(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Constructs an event instance around the left bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftBumperButton);
+  }
+
+  /**
+   * Read the value of the right bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightBumperButton() {
+    return getRawButton(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the right bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightBumperButtonPressed() {
+    return getRawButtonPressed(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the right bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightBumperButtonReleased() {
+    return getRawButtonReleased(Button.kRightBumper.value);
+  }
+
+  /**
+   * Constructs an event instance around the right bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightBumperButton);
+  }
+
+  /**
+   * Read the value of the left stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftStickButton() {
+    return getRawButton(Button.kLeftStick.value);
+  }
+
+  /**
+   * Whether the left stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftStickButtonPressed() {
+    return getRawButtonPressed(Button.kLeftStick.value);
+  }
+
+  /**
+   * Whether the left stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftStickButtonReleased() {
+    return getRawButtonReleased(Button.kLeftStick.value);
+  }
+
+  /**
+   * Constructs an event instance around the left stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftStickButton);
+  }
+
+  /**
+   * Read the value of the right stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickButton() {
+    return getRawButton(Button.kRightStick.value);
+  }
+
+  /**
+   * Whether the right stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickButtonPressed() {
+    return getRawButtonPressed(Button.kRightStick.value);
+  }
+
+  /**
+   * Whether the right stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickButtonReleased() {
+    return getRawButtonReleased(Button.kRightStick.value);
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightStickButton);
+  }
+
   /**
    * Read the value of the ellipses button on the controller.
    *
@@ -573,8 +495,8 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the ellipses button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the ellipses button's digital signal attached to the
-   *     given loop.
+   * @return an event instance representing the ellipses button's digital signal
+   *     attached to the given loop.
    */
   public BooleanEvent ellipses(EventLoop loop) {
     return new BooleanEvent(loop, this::getEllipsesButton);
@@ -611,8 +533,8 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the hamburger button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the hamburger button's digital signal attached to the
-   *     given loop.
+   * @return an event instance representing the hamburger button's digital signal
+   *     attached to the given loop.
    */
   public BooleanEvent hamburger(EventLoop loop) {
     return new BooleanEvent(loop, this::getHamburgerButton);
@@ -649,14 +571,89 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the stadia button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the stadia button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the stadia button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent stadia(EventLoop loop) {
     return new BooleanEvent(loop, this::getStadiaButton);
   }
 
+  /**
+   * Read the value of the right trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightTriggerButton() {
+    return getRawButton(Button.kRightTrigger.value);
+  }
+
+  /**
+   * Whether the right trigger button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightTriggerButtonPressed() {
+    return getRawButtonPressed(Button.kRightTrigger.value);
+  }
+
+  /**
+   * Whether the right trigger button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightTriggerButtonReleased() {
+    return getRawButtonReleased(Button.kRightTrigger.value);
+  }
+
+  /**
+   * Constructs an event instance around the right trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right trigger button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightTrigger(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightTriggerButton);
+  }
+
+  /**
+   * Read the value of the left trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftTriggerButton() {
+    return getRawButton(Button.kLeftTrigger.value);
+  }
+
+  /**
+   * Whether the left trigger button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftTriggerButtonPressed() {
+    return getRawButtonPressed(Button.kLeftTrigger.value);
+  }
+
+  /**
+   * Whether the left trigger button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftTriggerButtonReleased() {
+    return getRawButtonReleased(Button.kLeftTrigger.value);
+  }
+
+  /**
+   * Constructs an event instance around the left trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left trigger button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftTrigger(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftTriggerButton);
+  }
+
   /**
    * Read the value of the google button on the controller.
    *
@@ -688,10 +685,9 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the google button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the google button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the google button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent google(EventLoop loop) {
     return new BooleanEvent(loop, this::getGoogleButton);
   }
@@ -727,11 +723,76 @@ public class StadiaController extends GenericHID {
    * Constructs an event instance around the frame button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the frame button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the frame button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent frame(EventLoop loop) {
     return new BooleanEvent(loop, this::getFrameButton);
   }
+
+  /**
+   * Read the value of the left bumper (LB) button on the controller.
+   *
+   * @return The state of the button.
+   * @deprecated Use {@link getLeftBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumper() {
+    return getRawButton(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Read the value of the right bumper (RB) button on the controller.
+   *
+   * @return The state of the button.
+   * @deprecated Use {@link getRightBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumper() {
+    return getRawButton(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the left bumper (LB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   * @deprecated Use {@link getLeftBumperButtonPressed} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumperPressed() {
+    return getRawButtonPressed(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   * @deprecated Use {@link getRightBumperButtonPressed} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumperPressed() {
+    return getRawButtonPressed(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   * @deprecated Use {@link getLeftBumperButtonReleased} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumperReleased() {
+    return getRawButtonReleased(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the right bumper (RB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   * @deprecated Use {@link getRightBumperButtonReleased} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumperReleased() {
+    return getRawButtonReleased(Button.kRightBumper.value);
+  }
 }

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -10,7 +12,7 @@ import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 
 /**
- * Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station.
+ * Handle input from Xbox controllers connected to the Driver Station.
  *
  * <p>This class handles Xbox input that comes from the Driver Station. Each time a value is
  * requested the most recent value is returned. There is a single class instance for each controller
@@ -21,28 +23,28 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * 3rd party controllers.
  */
 public class XboxController extends GenericHID {
-  /** Represents a digital button on an XboxController. */
+  /** Represents a digital button on a XboxController. */
   public enum Button {
-    /** Left bumper. */
-    kLeftBumper(5),
-    /** Right bumper. */
-    kRightBumper(6),
-    /** Left stick. */
-    kLeftStick(9),
-    /** Right stick. */
-    kRightStick(10),
-    /** A. */
+    /** A button. */
     kA(1),
-    /** B. */
+    /** B button. */
     kB(2),
-    /** X. */
+    /** X button. */
     kX(3),
-    /** Y. */
+    /** Y button. */
     kY(4),
-    /** Back. */
+    /** Left bumper button. */
+    kLeftBumper(5),
+    /** Right bumper button. */
+    kRightBumper(6),
+    /** Back button. */
     kBack(7),
-    /** Start. */
-    kStart(8);
+    /** Start button. */
+    kStart(8),
+    /** Left stick button. */
+    kLeftStick(9),
+    /** Right stick button. */
+    kRightStick(10);
 
     /** Button value. */
     public final int value;
@@ -53,7 +55,7 @@ public class XboxController extends GenericHID {
 
     /**
      * Get the human-friendly name of the button, matching the relevant methods. This is done by
-     * stripping the leading `k`, and if not a Bumper button append `Button`.
+     * stripping the leading `k`, and appending `Button`.
      *
      * <p>Primarily used for automated unit tests.
      *
@@ -61,23 +63,20 @@ public class XboxController extends GenericHID {
      */
     @Override
     public String toString() {
-      var name = this.name().substring(1); // Remove leading `k`
-      if (name.endsWith("Bumper")) {
-        return name;
-      }
-      return name + "Button";
+      // Remove leading `k`
+      return this.name().substring(1) + "Button";
     }
   }
 
   /** Represents an axis on an XboxController. */
   public enum Axis {
-    /** Left X. */
+    /** Left X axis. */
     kLeftX(0),
-    /** Right X. */
+    /** Right X axis. */
     kRightX(4),
-    /** Left Y. */
+    /** Left Y axis. */
     kLeftY(1),
-    /** Right Y. */
+    /** Right Y axis. */
     kRightY(5),
     /** Left trigger. */
     kLeftTrigger(2),
@@ -93,7 +92,7 @@ public class XboxController extends GenericHID {
 
     /**
      * Get the human-friendly name of the axis, matching the relevant methods. This is done by
-     * stripping the leading `k`, and if a trigger axis append `Axis`.
+     * stripping the leading `k`, and appending `Axis` if the name ends with `Trigger`.
      *
      * <p>Primarily used for automated unit tests.
      *
@@ -112,11 +111,10 @@ public class XboxController extends GenericHID {
   /**
    * Construct an instance of a controller.
    *
-   * @param port The port index on the Driver Station that the controller is plugged into.
+   * @param port The port index on the Driver Station that the controller is plugged into (0-5).
    */
   public XboxController(final int port) {
     super(port);
-
     HAL.report(tResourceType.kResourceType_XboxController, port + 1);
   }
 
@@ -157,7 +155,7 @@ public class XboxController extends GenericHID {
   }
 
   /**
-   * Get the left trigger (LT) axis value of the controller. Note that this axis is bound to the
+   * Get the left trigger axis value of the controller. Note that this axis is bound to the
    * range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
@@ -167,7 +165,33 @@ public class XboxController extends GenericHID {
   }
 
   /**
-   * Get the right trigger (RT) axis value of the controller. Note that this axis is bound to the
+   * Constructs an event instance around the axis value of the left trigger. The returned trigger
+   * will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
+   *     value should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the left trigger's axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public BooleanEvent leftTrigger(double threshold, EventLoop loop) {
+    return new BooleanEvent(loop, () -> getLeftTriggerAxis() > threshold);
+  }
+
+  /**
+   * Constructs an event instance around the axis value of the left trigger. The returned trigger
+   * will be true when the axis value is greater than 0.5.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the left trigger's axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public BooleanEvent leftTrigger(EventLoop loop) {
+    return leftTrigger(0.5, loop);
+  }
+
+  /**
+   * Get the right trigger axis value of the controller. Note that this axis is bound to the
    * range of [0, 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
@@ -177,155 +201,29 @@ public class XboxController extends GenericHID {
   }
 
   /**
-   * Read the value of the left bumper (LB) button on the controller.
+   * Constructs an event instance around the axis value of the right trigger. The returned trigger
+   * will be true when the axis value is greater than {@code threshold}.
    *
-   * @return The state of the button.
+   * @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
+   *     value should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the right trigger's axis exceeds the provided
+   *     threshold, attached to the given event loop
    */
-  public boolean getLeftBumper() {
-    return getRawButton(Button.kLeftBumper.value);
+  public BooleanEvent rightTrigger(double threshold, EventLoop loop) {
+    return new BooleanEvent(loop, () -> getRightTriggerAxis() > threshold);
   }
 
   /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getRightBumper() {
-    return getRawButton(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getLeftBumperPressed() {
-    return getRawButtonPressed(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getRightBumperPressed() {
-    return getRawButtonPressed(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getLeftBumperReleased() {
-    return getRawButtonReleased(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getRightBumperReleased() {
-    return getRawButtonReleased(Button.kRightBumper.value);
-  }
-
-  /**
-   * Constructs an event instance around the right bumper's digital signal.
+   * Constructs an event instance around the axis value of the right trigger. The returned trigger
+   * will be true when the axis value is greater than 0.5.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right bumper's digital signal attached to the given
-   *     loop.
+   * @return an event instance that is true when the right trigger's axis exceeds the provided
+   *     threshold, attached to the given event loop
    */
-  public BooleanEvent leftBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftBumper);
-  }
-
-  /**
-   * Constructs an event instance around the left bumper's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left bumper's digital signal attached to the given
-   *     loop.
-   */
-  public BooleanEvent rightBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightBumper);
-  }
-
-  /**
-   * Read the value of the left stick button (LSB) on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getLeftStickButton() {
-    return getRawButton(Button.kLeftStick.value);
-  }
-
-  /**
-   * Read the value of the right stick button (RSB) on the controller.
-   *
-   * @return The state of the button.
-   */
-  public boolean getRightStickButton() {
-    return getRawButton(Button.kRightStick.value);
-  }
-
-  /**
-   * Whether the left stick button (LSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getLeftStickButtonPressed() {
-    return getRawButtonPressed(Button.kLeftStick.value);
-  }
-
-  /**
-   * Whether the right stick button (RSB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   */
-  public boolean getRightStickButtonPressed() {
-    return getRawButtonPressed(Button.kRightStick.value);
-  }
-
-  /**
-   * Whether the left stick button (LSB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getLeftStickButtonReleased() {
-    return getRawButtonReleased(Button.kLeftStick.value);
-  }
-
-  /**
-   * Whether the right stick (RSB) button was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   */
-  public boolean getRightStickButtonReleased() {
-    return getRawButtonReleased(Button.kRightStick.value);
-  }
-
-  /**
-   * Constructs an event instance around the left stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the left stick button's digital signal attached to the
-   *     given loop.
-   */
-  public BooleanEvent leftStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftStickButton);
-  }
-
-  /**
-   * Constructs an event instance around the right stick button's digital signal.
-   *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right stick button's digital signal attached to the
-   *     given loop.
-   */
-  public BooleanEvent rightStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightStickButton);
+  public BooleanEvent rightTrigger(EventLoop loop) {
+    return rightTrigger(0.5, loop);
   }
 
   /**
@@ -359,10 +257,9 @@ public class XboxController extends GenericHID {
    * Constructs an event instance around the A button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the A button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent a(EventLoop loop) {
     return new BooleanEvent(loop, this::getAButton);
   }
@@ -398,10 +295,9 @@ public class XboxController extends GenericHID {
    * Constructs an event instance around the B button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the B button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent b(EventLoop loop) {
     return new BooleanEvent(loop, this::getBButton);
   }
@@ -437,10 +333,9 @@ public class XboxController extends GenericHID {
    * Constructs an event instance around the X button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the X button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent x(EventLoop loop) {
     return new BooleanEvent(loop, this::getXButton);
   }
@@ -476,14 +371,89 @@ public class XboxController extends GenericHID {
    * Constructs an event instance around the Y button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the Y button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
    */
-  @SuppressWarnings("MethodName")
   public BooleanEvent y(EventLoop loop) {
     return new BooleanEvent(loop, this::getYButton);
   }
 
+  /**
+   * Read the value of the left bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftBumperButton() {
+    return getRawButton(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the left bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftBumperButtonPressed() {
+    return getRawButtonPressed(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the left bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftBumperButtonReleased() {
+    return getRawButtonReleased(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Constructs an event instance around the left bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftBumperButton);
+  }
+
+  /**
+   * Read the value of the right bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightBumperButton() {
+    return getRawButton(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the right bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightBumperButtonPressed() {
+    return getRawButtonPressed(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the right bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightBumperButtonReleased() {
+    return getRawButtonReleased(Button.kRightBumper.value);
+  }
+
+  /**
+   * Constructs an event instance around the right bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightBumperButton);
+  }
+
   /**
    * Read the value of the back button on the controller.
    *
@@ -515,8 +485,8 @@ public class XboxController extends GenericHID {
    * Constructs an event instance around the back button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the back button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the back button's digital signal
+   *     attached to the given loop.
    */
   public BooleanEvent back(EventLoop loop) {
     return new BooleanEvent(loop, this::getBackButton);
@@ -553,62 +523,152 @@ public class XboxController extends GenericHID {
    * Constructs an event instance around the start button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the start button's digital signal attached to the given
-   *     loop.
+   * @return an event instance representing the start button's digital signal
+   *     attached to the given loop.
    */
   public BooleanEvent start(EventLoop loop) {
     return new BooleanEvent(loop, this::getStartButton);
   }
 
   /**
-   * Constructs an event instance around the axis value of the left trigger. The returned trigger
-   * will be true when the axis value is greater than {@code threshold}.
+   * Read the value of the left stick button on the controller.
    *
-   * @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
-   *     value should be in the range [0, 1] where 0 is the unpressed state of the axis.
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the left trigger's axis exceeds the provided
-   *     threshold, attached to the given event loop
+   * @return The state of the button.
    */
-  public BooleanEvent leftTrigger(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getLeftTriggerAxis() > threshold);
+  public boolean getLeftStickButton() {
+    return getRawButton(Button.kLeftStick.value);
   }
 
   /**
-   * Constructs an event instance around the axis value of the left trigger. The returned trigger
-   * will be true when the axis value is greater than 0.5.
+   * Whether the left stick button was pressed since the last check.
    *
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the left trigger's axis exceeds the provided
-   *     threshold, attached to the given event loop
+   * @return Whether the button was pressed since the last check.
    */
-  public BooleanEvent leftTrigger(EventLoop loop) {
-    return leftTrigger(0.5, loop);
+  public boolean getLeftStickButtonPressed() {
+    return getRawButtonPressed(Button.kLeftStick.value);
   }
 
   /**
-   * Constructs an event instance around the axis value of the right trigger. The returned trigger
-   * will be true when the axis value is greater than {@code threshold}.
+   * Whether the left stick button was released since the last check.
    *
-   * @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
-   *     value should be in the range [0, 1] where 0 is the unpressed state of the axis.
-   * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the right trigger's axis exceeds the provided
-   *     threshold, attached to the given event loop
+   * @return Whether the button was released since the last check.
    */
-  public BooleanEvent rightTrigger(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRightTriggerAxis() > threshold);
+  public boolean getLeftStickButtonReleased() {
+    return getRawButtonReleased(Button.kLeftStick.value);
   }
 
   /**
-   * Constructs an event instance around the axis value of the right trigger. The returned trigger
-   * will be true when the axis value is greater than 0.5.
+   * Constructs an event instance around the left stick button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance that is true when the right trigger's axis exceeds the provided
-   *     threshold, attached to the given event loop
+   * @return an event instance representing the left stick button's digital signal
+   *     attached to the given loop.
    */
-  public BooleanEvent rightTrigger(EventLoop loop) {
-    return rightTrigger(0.5, loop);
+  public BooleanEvent leftStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftStickButton);
+  }
+
+  /**
+   * Read the value of the right stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickButton() {
+    return getRawButton(Button.kRightStick.value);
+  }
+
+  /**
+   * Whether the right stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickButtonPressed() {
+    return getRawButtonPressed(Button.kRightStick.value);
+  }
+
+  /**
+   * Whether the right stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickButtonReleased() {
+    return getRawButtonReleased(Button.kRightStick.value);
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightStickButton);
+  }
+
+  /**
+   * Read the value of the left bumper (LB) button on the controller.
+   *
+   * @return The state of the button.
+   * @deprecated Use {@link getLeftBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumper() {
+    return getRawButton(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Read the value of the right bumper (RB) button on the controller.
+   *
+   * @return The state of the button.
+   * @deprecated Use {@link getRightBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumper() {
+    return getRawButton(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the left bumper (LB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   * @deprecated Use {@link getLeftBumperButtonPressed} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumperPressed() {
+    return getRawButtonPressed(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   * @deprecated Use {@link getRightBumperButtonPressed} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumperPressed() {
+    return getRawButtonPressed(Button.kRightBumper.value);
+  }
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   * @deprecated Use {@link getLeftBumperButtonReleased} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getLeftBumperReleased() {
+    return getRawButtonReleased(Button.kLeftBumper.value);
+  }
+
+  /**
+   * Whether the right bumper (RB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   * @deprecated Use {@link getRightBumperButtonReleased} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public boolean getRightBumperReleased() {
+    return getRawButtonReleased(Button.kRightBumper.value);
   }
 }

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/simulation/PS4ControllerSim.java

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.wpilibj.PS4Controller;
@@ -35,7 +37,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the X axis value of the controller's left stick.
+   * Change the left X value of the controller's joystick.
    *
    * @param value the new value
    */
@@ -44,16 +46,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the X axis value of the controller's right stick.
-   *
-   * @param value the new value
-   */
-  public void setRightX(double value) {
-    setRawAxis(PS4Controller.Axis.kRightX.value, value);
-  }
-
-  /**
-   * Change the Y axis value of the controller's left stick.
+   * Change the left Y value of the controller's joystick.
    *
    * @param value the new value
    */
@@ -62,7 +55,16 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the Y axis value of the controller's right stick.
+   * Change the right X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(PS4Controller.Axis.kRightX.value, value);
+  }
+
+  /**
+   * Change the right Y value of the controller's joystick.
    *
    * @param value the new value
    */
@@ -71,7 +73,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the L2 axis value of the controller.
+   * Change the value of the left trigger 2 axis on the controller.
    *
    * @param value the new value
    */
@@ -80,7 +82,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the R2 axis value of the controller.
+   * Change the value of the right trigger 2 axis on the controller.
    *
    * @param value the new value
    */
@@ -89,7 +91,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Square button on the controller.
+   * Change the value of the square button on the controller.
    *
    * @param value the new value
    */
@@ -98,7 +100,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Cross button on the controller.
+   * Change the value of the cross button on the controller.
    *
    * @param value the new value
    */
@@ -107,7 +109,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Circle button on the controller.
+   * Change the value of the circle button on the controller.
    *
    * @param value the new value
    */
@@ -116,7 +118,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Triangle button on the controller.
+   * Change the value of the triangle button on the controller.
    *
    * @param value the new value
    */
@@ -125,7 +127,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the L1 button on the controller.
+   * Change the value of the left trigger 1 button on the controller.
    *
    * @param value the new value
    */
@@ -134,7 +136,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the R1 button on the controller.
+   * Change the value of the right trigger 1 button on the controller.
    *
    * @param value the new value
    */
@@ -143,7 +145,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the L2 button on the controller.
+   * Change the value of the left trigger 2 button on the controller.
    *
    * @param value the new value
    */
@@ -152,7 +154,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the R2 button on the controller.
+   * Change the value of the right trigger 2 button on the controller.
    *
    * @param value the new value
    */
@@ -161,7 +163,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Share button on the controller.
+   * Change the value of the share button on the controller.
    *
    * @param value the new value
    */
@@ -170,7 +172,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Options button on the controller.
+   * Change the value of the options button on the controller.
    *
    * @param value the new value
    */
@@ -197,7 +199,7 @@ public class PS4ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the PS button on the controller.
+   * Change the value of the PlayStation button on the controller.
    *
    * @param value the new value
    */
@@ -210,6 +212,17 @@ public class PS4ControllerSim extends GenericHIDSim {
    *
    * @param value the new value
    */
+  public void setTouchpadButton(boolean value) {
+    setRawButton(PS4Controller.Button.kTouchpad.value, value);
+  }
+
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   * @deprecated Use {@link setTouchpadButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
   public void setTouchpad(boolean value) {
     setRawButton(PS4Controller.Button.kTouchpad.value, value);
   }

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/simulation/PS5ControllerSim.java

@@ -2,6 +2,8 @@
 // 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.
 
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+
 package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.wpilibj.PS5Controller;
@@ -35,7 +37,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the X axis value of the controller's left stick.
+   * Change the left X value of the controller's joystick.
    *
    * @param value the new value
    */
@@ -44,16 +46,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the X axis value of the controller's right stick.
-   *
-   * @param value the new value
-   */
-  public void setRightX(double value) {
-    setRawAxis(PS5Controller.Axis.kRightX.value, value);
-  }
-
-  /**
-   * Change the Y axis value of the controller's left stick.
+   * Change the left Y value of the controller's joystick.
    *
    * @param value the new value
    */
@@ -62,7 +55,16 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the Y axis value of the controller's right stick.
+   * Change the right X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(PS5Controller.Axis.kRightX.value, value);
+  }
+
+  /**
+   * Change the right Y value of the controller's joystick.
    *
    * @param value the new value
    */
@@ -71,7 +73,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the L2 axis value of the controller.
+   * Change the value of the left trigger 2 axis on the controller.
    *
    * @param value the new value
    */
@@ -80,7 +82,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the R2 axis value of the controller.
+   * Change the value of the right trigger 2 axis on the controller.
    *
    * @param value the new value
    */
@@ -89,7 +91,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Square button on the controller.
+   * Change the value of the square button on the controller.
    *
    * @param value the new value
    */
@@ -98,7 +100,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Cross button on the controller.
+   * Change the value of the cross button on the controller.
    *
    * @param value the new value
    */
@@ -107,7 +109,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Circle button on the controller.
+   * Change the value of the circle button on the controller.
    *
    * @param value the new value
    */
@@ -116,7 +118,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Triangle button on the controller.
+   * Change the value of the triangle button on the controller.
    *
    * @param value the new value
    */
@@ -125,7 +127,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the L1 button on the controller.
+   * Change the value of the left trigger 1 button on the controller.
    *
    * @param value the new value
    */
@@ -134,7 +136,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the R1 button on the controller.
+   * Change the value of the right trigger 1 button on the controller.
    *
    * @param value the new value
    */
@@ -143,7 +145,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the L2 button on the controller.
+   * Change the value of the left trigger 2 button on the controller.
    *
    * @param value the new value
    */
@@ -152,7 +154,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the R2 button on the controller.
+   * Change the value of the right trigger 2 button on the controller.
    *
    * @param value the new value
    */
@@ -161,7 +163,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Create button on the controller.
+   * Change the value of the create button on the controller.
    *
    * @param value the new value
    */
@@ -170,7 +172,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the Options button on the controller.
+   * Change the value of the options button on the controller.
    *
    * @param value the new value
    */
@@ -197,7 +199,7 @@ public class PS5ControllerSim extends GenericHIDSim {
   }
 
   /**
-   * Change the value of the PS button on the controller.
+   * Change the value of the PlayStation button on the controller.
    *
    * @param value the new value
    */
@@ -210,6 +212,17 @@ public class PS5ControllerSim extends GenericHIDSim {
    *
    * @param value the new value
    */
+  public void setTouchpadButton(boolean value) {
+    setRawButton(PS5Controller.Button.kTouchpad.value, value);
+  }
+
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   * @deprecated Use {@link setTouchpadButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
   public void setTouchpad(boolean value) {
     setRawButton(PS5Controller.Button.kTouchpad.value, value);
   }

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/simulation/StadiaControllerSim.java

@@ -0,0 +1,209 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.StadiaController;
+
+/** Class to control a simulated Stadia controller. */
+public class StadiaControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a StadiaController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public StadiaControllerSim(StadiaController joystick) {
+    super(joystick);
+    setAxisCount(4);
+    setButtonCount(15);
+    setPOVCount(1);
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public StadiaControllerSim(int port) {
+    super(port);
+    setAxisCount(4);
+    setButtonCount(15);
+    setPOVCount(1);
+  }
+
+  /**
+   * Change the left X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(StadiaController.Axis.kLeftX.value, value);
+  }
+
+  /**
+   * Change the right X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(StadiaController.Axis.kRightX.value, value);
+  }
+
+  /**
+   * Change the left Y value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(StadiaController.Axis.kLeftY.value, value);
+  }
+
+  /**
+   * Change the right Y value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(StadiaController.Axis.kRightY.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(StadiaController.Button.kA.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(StadiaController.Button.kB.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(StadiaController.Button.kX.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(StadiaController.Button.kY.value, value);
+  }
+
+  /**
+   * Change the value of the left bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftBumperButton(boolean value) {
+    setRawButton(StadiaController.Button.kLeftBumper.value, value);
+  }
+
+  /**
+   * Change the value of the right bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightBumperButton(boolean value) {
+    setRawButton(StadiaController.Button.kRightBumper.value, value);
+  }
+
+  /**
+   * Change the value of the left stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftStickButton(boolean value) {
+    setRawButton(StadiaController.Button.kLeftStick.value, value);
+  }
+
+  /**
+   * Change the value of the right stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightStickButton(boolean value) {
+    setRawButton(StadiaController.Button.kRightStick.value, value);
+  }
+
+  /**
+   * Change the value of the ellipses button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setEllipsesButton(boolean value) {
+    setRawButton(StadiaController.Button.kEllipses.value, value);
+  }
+
+  /**
+   * Change the value of the hamburger button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setHamburgerButton(boolean value) {
+    setRawButton(StadiaController.Button.kHamburger.value, value);
+  }
+
+  /**
+   * Change the value of the stadia button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setStadiaButton(boolean value) {
+    setRawButton(StadiaController.Button.kStadia.value, value);
+  }
+
+  /**
+   * Change the value of the right trigger button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightTriggerButton(boolean value) {
+    setRawButton(StadiaController.Button.kRightTrigger.value, value);
+  }
+
+  /**
+   * Change the value of the left trigger button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftTriggerButton(boolean value) {
+    setRawButton(StadiaController.Button.kLeftTrigger.value, value);
+  }
+
+  /**
+   * Change the value of the google button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setGoogleButton(boolean value) {
+    setRawButton(StadiaController.Button.kGoogle.value, value);
+  }
+
+  /**
+   * Change the value of the frame button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setFrameButton(boolean value) {
+    setRawButton(StadiaController.Button.kFrame.value, value);
+  }
+}

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java

@@ -0,0 +1,204 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.XboxController;
+
+/** Class to control a simulated Xbox controller. */
+public class XboxControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a XboxController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public XboxControllerSim(XboxController joystick) {
+    super(joystick);
+    setAxisCount(6);
+    setButtonCount(10);
+    setPOVCount(1);
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public XboxControllerSim(int port) {
+    super(port);
+    setAxisCount(6);
+    setButtonCount(10);
+    setPOVCount(1);
+  }
+
+  /**
+   * Change the left X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(XboxController.Axis.kLeftX.value, value);
+  }
+
+  /**
+   * Change the right X value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(XboxController.Axis.kRightX.value, value);
+  }
+
+  /**
+   * Change the left Y value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(XboxController.Axis.kLeftY.value, value);
+  }
+
+  /**
+   * Change the right Y value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(XboxController.Axis.kRightY.value, value);
+  }
+
+  /**
+   * Change the value of the left trigger axis on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftTriggerAxis(double value) {
+    setRawAxis(XboxController.Axis.kLeftTrigger.value, value);
+  }
+
+  /**
+   * Change the value of the right trigger axis on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightTriggerAxis(double value) {
+    setRawAxis(XboxController.Axis.kRightTrigger.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(XboxController.Button.kA.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(XboxController.Button.kB.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(XboxController.Button.kX.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(XboxController.Button.kY.value, value);
+  }
+
+  /**
+   * Change the value of the left bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftBumperButton(boolean value) {
+    setRawButton(XboxController.Button.kLeftBumper.value, value);
+  }
+
+  /**
+   * Change the value of the right bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightBumperButton(boolean value) {
+    setRawButton(XboxController.Button.kRightBumper.value, value);
+  }
+
+  /**
+   * Change the value of the back button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBackButton(boolean value) {
+    setRawButton(XboxController.Button.kBack.value, value);
+  }
+
+  /**
+   * Change the value of the start button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setStartButton(boolean value) {
+    setRawButton(XboxController.Button.kStart.value, value);
+  }
+
+  /**
+   * Change the value of the left stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftStickButton(boolean value) {
+    setRawButton(XboxController.Button.kLeftStick.value, value);
+  }
+
+  /**
+   * Change the value of the right stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightStickButton(boolean value) {
+    setRawButton(XboxController.Button.kRightStick.value, value);
+  }
+
+  /**
+   * Change the value of the left bumper on the joystick.
+   *
+   * @param state the new value
+   * @deprecated Use {@link setLeftBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public void setLeftBumper(boolean state) {
+    setRawButton(XboxController.Button.kLeftBumper.value, state);
+  }
+
+  /**
+   * Change the value of the right bumper on the joystick.
+   *
+   * @param state the new value
+   * @deprecated Use {@link setRightBumperButton} instead
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public void setRightBumper(boolean state) {
+    setRawButton(XboxController.Button.kRightBumper.value, state);
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java

@@ -1,180 +0,0 @@
-// 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.
-
-package edu.wpi.first.wpilibj.simulation;
-
-import edu.wpi.first.wpilibj.XboxController;
-
-/** Class to control a simulated Xbox 360 or Xbox One controller. */
-public class XboxControllerSim extends GenericHIDSim {
-  /**
-   * Constructs from a XboxController object.
-   *
-   * @param joystick controller to simulate
-   */
-  @SuppressWarnings("this-escape")
-  public XboxControllerSim(XboxController joystick) {
-    super(joystick);
-    setAxisCount(6);
-    setButtonCount(10);
-    setPOVCount(1);
-  }
-
-  /**
-   * Constructs from a joystick port number.
-   *
-   * @param port port number
-   */
-  @SuppressWarnings("this-escape")
-  public XboxControllerSim(int port) {
-    super(port);
-    setAxisCount(6);
-    setButtonCount(10);
-    setPOVCount(1);
-  }
-
-  /**
-   * Change the left X value of the joystick.
-   *
-   * @param value the new value
-   */
-  public void setLeftX(double value) {
-    setRawAxis(XboxController.Axis.kLeftX.value, value);
-  }
-
-  /**
-   * Change the right X value of the joystick.
-   *
-   * @param value the new value
-   */
-  public void setRightX(double value) {
-    setRawAxis(XboxController.Axis.kRightX.value, value);
-  }
-
-  /**
-   * Change the left Y value of the joystick.
-   *
-   * @param value the new value
-   */
-  public void setLeftY(double value) {
-    setRawAxis(XboxController.Axis.kLeftY.value, value);
-  }
-
-  /**
-   * Change the right Y value of the joystick.
-   *
-   * @param value the new value
-   */
-  public void setRightY(double value) {
-    setRawAxis(XboxController.Axis.kRightY.value, value);
-  }
-
-  /**
-   * Change the value of the left trigger axis on the joystick.
-   *
-   * @param value the new value
-   */
-  public void setLeftTriggerAxis(double value) {
-    setRawAxis(XboxController.Axis.kLeftTrigger.value, value);
-  }
-
-  /**
-   * Change the value of the right trigger axis on the joystick.
-   *
-   * @param value the new value
-   */
-  public void setRightTriggerAxis(double value) {
-    setRawAxis(XboxController.Axis.kRightTrigger.value, value);
-  }
-
-  /**
-   * Change the value of the left bumper on the joystick.
-   *
-   * @param state the new value
-   */
-  public void setLeftBumper(boolean state) {
-    setRawButton(XboxController.Button.kLeftBumper.value, state);
-  }
-
-  /**
-   * Change the value of the right bumper on the joystick.
-   *
-   * @param state the new value
-   */
-  public void setRightBumper(boolean state) {
-    setRawButton(XboxController.Button.kRightBumper.value, state);
-  }
-
-  /**
-   * Change the value of the left stick button on the joystick.
-   *
-   * @param state the new value
-   */
-  public void setLeftStickButton(boolean state) {
-    setRawButton(XboxController.Button.kLeftStick.value, state);
-  }
-
-  /**
-   * Change the value of the right stick button on the joystick.
-   *
-   * @param state the new value
-   */
-  public void setRightStickButton(boolean state) {
-    setRawButton(XboxController.Button.kRightStick.value, state);
-  }
-
-  /**
-   * Change the value of the A button.
-   *
-   * @param state the new value
-   */
-  public void setAButton(boolean state) {
-    setRawButton(XboxController.Button.kA.value, state);
-  }
-
-  /**
-   * Change the value of the B button.
-   *
-   * @param state the new value
-   */
-  public void setBButton(boolean state) {
-    setRawButton(XboxController.Button.kB.value, state);
-  }
-
-  /**
-   * Change the value of the X button.
-   *
-   * @param state the new value
-   */
-  public void setXButton(boolean state) {
-    setRawButton(XboxController.Button.kX.value, state);
-  }
-
-  /**
-   * Change the value of the Y button.
-   *
-   * @param state the new value
-   */
-  public void setYButton(boolean state) {
-    setRawButton(XboxController.Button.kY.value, state);
-  }
-
-  /**
-   * Change the value of the Back button.
-   *
-   * @param state the new value
-   */
-  public void setBackButton(boolean state) {
-    setRawButton(XboxController.Button.kBack.value, state);
-  }
-
-  /**
-   * Change the value of the Start button.
-   *
-   * @param state the new value
-   */
-  public void setStartButton(boolean state) {
-    setRawButton(XboxController.Button.kStart.value, state);
-  }
-}