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

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

@@ -0,0 +1,407 @@
+// 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.StadiaController;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A version of {@link StadiaController} with {@link Trigger} factories for command-based.
+ *
+ * @see StadiaController
+ */
+@SuppressWarnings("MethodName")
+public class CommandStadiaController extends CommandGenericHID {
+  private final StadiaController m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandStadiaController(int port) {
+    super(port);
+    m_hid = new StadiaController(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public StadiaController getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Constructs a Trigger instance around the A button's digital signal.
+   *
+   * @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() {
+    return a(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the B button's digital signal.
+   *
+   * @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() {
+    return b(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the X button's digital signal.
+   *
+   * @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() {
+    return x(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the Y button's digital signal.
+   *
+   * @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() {
+    return y(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the left bumper button's digital signal.
+   *
+   * @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() {
+    return ellipses(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the ellipses button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the hamburger button's digital signal.
+   *
+   * @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() {
+    return hamburger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the hamburger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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.
+   *
+   * @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();
+  }
+}

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

@@ -0,0 +1,395 @@
+// 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.XboxController;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A version of {@link XboxController} with {@link Trigger} factories for command-based.
+ *
+ * @see XboxController
+ */
+@SuppressWarnings("MethodName")
+public class CommandXboxController extends CommandGenericHID {
+  private final XboxController m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandXboxController(int port) {
+    super(port);
+    m_hid = new XboxController(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public XboxController getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Constructs a Trigger instance around the A button's digital signal.
+   *
+   * @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() {
+    return a(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the B button's digital signal.
+   *
+   * @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() {
+    return b(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the X button's digital signal.
+   *
+   * @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() {
+    return x(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the Y button's digital signal.
+   *
+   * @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() {
+    return y(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 a Trigger instance around the left bumper button's digital signal.
+   *
+   * @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 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() {
+    return back(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the back button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @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 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.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the left trigger's axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger leftTrigger(double threshold, EventLoop loop) {
+    return m_hid.leftTrigger(threshold, 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.
+   * @return a Trigger instance that is true when the left trigger's axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger leftTrigger(double threshold) {
+    return leftTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * 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 0.5.
+   *
+   * @return a Trigger instance that is true when the left trigger's axis exceeds 0.5, attached to
+   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger leftTrigger() {
+    return leftTrigger(0.5);
+  }
+
+  /**
+   * 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.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the right trigger's axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger rightTrigger(double threshold, EventLoop loop) {
+    return m_hid.rightTrigger(threshold, loop).castTo(Trigger::new);
+  }
+
+  /**
+   * 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.
+   * @return a Trigger instance that is true when the right trigger's axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger rightTrigger(double threshold) {
+    return rightTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * 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 0.5.
+   *
+   * @return a Trigger instance that is true when the right trigger's axis exceeds 0.5, attached to
+   *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(0.5);
+  }
+
+  /**
+   * 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 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.
+   */
+  public double getLeftTriggerAxis() {
+    return m_hid.getLeftTriggerAxis();
+  }
+
+  /**
+   * 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.
+   */
+  public double getRightTriggerAxis() {
+    return m_hid.getRightTriggerAxis();
+  }
+}

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

@@ -0,0 +1,96 @@
+// 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
+
+#include "frc2/command/button/CommandPS4Controller.h"
+
+using namespace frc2;
+
+CommandPS4Controller::CommandPS4Controller(int port)
+    : CommandGenericHID(port), m_hid{frc::PS4Controller(port)} {}
+
+frc::PS4Controller& CommandPS4Controller::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
+  return m_hid.Square(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Cross(frc::EventLoop* loop) const {
+  return m_hid.Cross(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Circle(frc::EventLoop* loop) const {
+  return m_hid.Circle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Triangle(frc::EventLoop* loop) const {
+  return m_hid.Triangle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::L1(frc::EventLoop* loop) const {
+  return m_hid.L1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::R1(frc::EventLoop* loop) const {
+  return m_hid.R1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::L2(frc::EventLoop* loop) const {
+  return m_hid.L2(loop).CastTo<Trigger>();
+}
+
+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>();
+}
+
+Trigger CommandPS4Controller::L3(frc::EventLoop* loop) const {
+  return m_hid.L3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::R3(frc::EventLoop* loop) const {
+  return m_hid.R3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::PS(frc::EventLoop* loop) const {
+  return m_hid.PS(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
+  return m_hid.Touchpad(loop).CastTo<Trigger>();
+}
+
+double CommandPS4Controller::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandPS4Controller::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandPS4Controller::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+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

@@ -0,0 +1,96 @@
+// 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
+
+#include "frc2/command/button/CommandPS5Controller.h"
+
+using namespace frc2;
+
+CommandPS5Controller::CommandPS5Controller(int port)
+    : CommandGenericHID(port), m_hid{frc::PS5Controller(port)} {}
+
+frc::PS5Controller& CommandPS5Controller::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandPS5Controller::Square(frc::EventLoop* loop) const {
+  return m_hid.Square(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Cross(frc::EventLoop* loop) const {
+  return m_hid.Cross(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Circle(frc::EventLoop* loop) const {
+  return m_hid.Circle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Triangle(frc::EventLoop* loop) const {
+  return m_hid.Triangle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::L1(frc::EventLoop* loop) const {
+  return m_hid.L1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::R1(frc::EventLoop* loop) const {
+  return m_hid.R1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::L2(frc::EventLoop* loop) const {
+  return m_hid.L2(loop).CastTo<Trigger>();
+}
+
+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>();
+}
+
+Trigger CommandPS5Controller::L3(frc::EventLoop* loop) const {
+  return m_hid.L3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::R3(frc::EventLoop* loop) const {
+  return m_hid.R3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::PS(frc::EventLoop* loop) const {
+  return m_hid.PS(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
+  return m_hid.Touchpad(loop).CastTo<Trigger>();
+}
+
+double CommandPS5Controller::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandPS5Controller::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandPS5Controller::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+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

@@ -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
+
+#include "frc2/command/button/CommandStadiaController.h"
+
+using namespace frc2;
+
+CommandStadiaController::CommandStadiaController(int port)
+    : CommandGenericHID(port), m_hid{frc::StadiaController(port)} {}
+
+frc::StadiaController& CommandStadiaController::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
+  return m_hid.A(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::B(frc::EventLoop* loop) const {
+  return m_hid.B(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::X(frc::EventLoop* loop) const {
+  return m_hid.X(loop).CastTo<Trigger>();
+}
+
+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>();
+}
+
+Trigger CommandStadiaController::Hamburger(frc::EventLoop* loop) const {
+  return m_hid.Hamburger(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
+  return m_hid.Stadia(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::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 {
+  return m_hid.GetLeftX();
+}
+
+double CommandStadiaController::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+double CommandStadiaController::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandStadiaController::GetRightY() const {
+  return m_hid.GetRightY();
+}

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

@@ -0,0 +1,90 @@
+// 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
+
+#include "frc2/command/button/CommandXboxController.h"
+
+using namespace frc2;
+
+CommandXboxController::CommandXboxController(int port)
+    : CommandGenericHID(port), m_hid{frc::XboxController(port)} {}
+
+frc::XboxController& CommandXboxController::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandXboxController::A(frc::EventLoop* loop) const {
+  return m_hid.A(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::B(frc::EventLoop* loop) const {
+  return m_hid.B(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::X(frc::EventLoop* loop) const {
+  return m_hid.X(loop).CastTo<Trigger>();
+}
+
+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>();
+}
+
+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 {
+  return m_hid.RightTrigger(threshold, loop).CastTo<Trigger>();
+}
+
+double CommandXboxController::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandXboxController::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+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

@@ -0,0 +1,239 @@
+// 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/XboxController.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::XboxController} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see frc::XboxController
+ */
+class CommandXboxController : 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 CommandXboxController(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::XboxController& 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 back 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 back button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Back(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * 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 a Trigger instance representing the start button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Start(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 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 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 left trigger's axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger LeftTrigger(double threshold = 0.5,
+                      frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
+
+  /**
+   * 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 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 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 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;
+
+  /**
+   * 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;
+};
+}  // namespace frc2