diff --git a/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja b/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja
index 05b5572453..77b198a800 100644
--- a/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja
@@ -9,6 +9,7 @@
 #include "frc/{{ ConsoleName }}Controller.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -77,7 +78,7 @@ bool {{ ConsoleName }}Controller::GetLeftBumperReleased() {
 bool {{ ConsoleName }}Controller::GetRightBumperReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
-{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
 bool {{ ConsoleName }}Controller::GetTouchpad() const {
   return GetRawButton(Button::kTouchpad);
 }
@@ -89,4 +90,18 @@ bool {{ ConsoleName }}Controller::GetTouchpadPressed() {
 bool {{ ConsoleName }}Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
-{% endif %}
+{%- endif %}
+
+void {{ ConsoleName }}Controller::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "{{ ConsoleName }}");
+{%- for trigger in triggers %}
+  builder.AddDoubleProperty("{{ capitalize_first(trigger.name) }}", [this] { return Get{{ capitalize_first(trigger.name) }}Axis(); }, nullptr);
+{%- endfor -%}
+{% for stick in sticks %}
+  builder.AddDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", [this] { return Get{{ stick.NameParts|map("capitalize")|join }}(); }, nullptr);
+{%- endfor -%}
+{% for button in buttons %}
+  builder.AddBooleanProperty("{{ capitalize_first(button.name) }}", [this] { return Get{{ capitalize_first(button.name) }}Button(); }, nullptr);
+{%- endfor %}
+}
diff --git a/wpilibc/src/generate/main/native/include/frc/hid.h.jinja b/wpilibc/src/generate/main/native/include/frc/hid.h.jinja
index 1d2ef67335..4a03a84383 100644
--- a/wpilibc/src/generate/main/native/include/frc/hid.h.jinja
+++ b/wpilibc/src/generate/main/native/include/frc/hid.h.jinja
@@ -8,6 +8,9 @@
 {%- endmacro %}
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/GenericHID.h"
 
 namespace frc {
@@ -24,7 +27,9 @@ namespace frc {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class {{ ConsoleName }}Controller : public GenericHID {
+class {{ ConsoleName }}Controller : public GenericHID,
+                                    public wpi::Sendable,
+                                    public wpi::SendableHelper<{{ ConsoleName }}Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -203,6 +208,8 @@ class {{ ConsoleName }}Controller : public GenericHID {
     static constexpr int k{{ capitalize_first(trigger.name) }} = {{ trigger.value }};
 {%- endfor %}
   };
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/generated/main/native/cpp/PS4Controller.cpp b/wpilibc/src/generated/main/native/cpp/PS4Controller.cpp
index 3e4b991d8c..1b2b88b182 100644
--- a/wpilibc/src/generated/main/native/cpp/PS4Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/PS4Controller.cpp
@@ -7,6 +7,7 @@
 #include "frc/PS4Controller.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -275,3 +276,28 @@ bool PS4Controller::GetTouchpadPressed() {
 bool PS4Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
+
+void PS4Controller::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "PS4");
+  builder.AddDoubleProperty("L2", [this] { return GetL2Axis(); }, nullptr);
+  builder.AddDoubleProperty("R2", [this] { return GetR2Axis(); }, nullptr);
+  builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
+  builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
+  builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
+  builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
+  builder.AddBooleanProperty("Square", [this] { return GetSquareButton(); }, nullptr);
+  builder.AddBooleanProperty("Cross", [this] { return GetCrossButton(); }, nullptr);
+  builder.AddBooleanProperty("Circle", [this] { return GetCircleButton(); }, nullptr);
+  builder.AddBooleanProperty("Triangle", [this] { return GetTriangleButton(); }, nullptr);
+  builder.AddBooleanProperty("L1", [this] { return GetL1Button(); }, nullptr);
+  builder.AddBooleanProperty("R1", [this] { return GetR1Button(); }, nullptr);
+  builder.AddBooleanProperty("L2", [this] { return GetL2Button(); }, nullptr);
+  builder.AddBooleanProperty("R2", [this] { return GetR2Button(); }, nullptr);
+  builder.AddBooleanProperty("Share", [this] { return GetShareButton(); }, nullptr);
+  builder.AddBooleanProperty("Options", [this] { return GetOptionsButton(); }, nullptr);
+  builder.AddBooleanProperty("L3", [this] { return GetL3Button(); }, nullptr);
+  builder.AddBooleanProperty("R3", [this] { return GetR3Button(); }, nullptr);
+  builder.AddBooleanProperty("PS", [this] { return GetPSButton(); }, nullptr);
+  builder.AddBooleanProperty("Touchpad", [this] { return GetTouchpadButton(); }, nullptr);
+}
\ No newline at end of file
diff --git a/wpilibc/src/generated/main/native/cpp/PS5Controller.cpp b/wpilibc/src/generated/main/native/cpp/PS5Controller.cpp
index 34df999abd..56d50e37ee 100644
--- a/wpilibc/src/generated/main/native/cpp/PS5Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/PS5Controller.cpp
@@ -7,6 +7,7 @@
 #include "frc/PS5Controller.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -275,3 +276,28 @@ bool PS5Controller::GetTouchpadPressed() {
 bool PS5Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
+
+void PS5Controller::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "PS5");
+  builder.AddDoubleProperty("L2", [this] { return GetL2Axis(); }, nullptr);
+  builder.AddDoubleProperty("R2", [this] { return GetR2Axis(); }, nullptr);
+  builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
+  builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
+  builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
+  builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
+  builder.AddBooleanProperty("Square", [this] { return GetSquareButton(); }, nullptr);
+  builder.AddBooleanProperty("Cross", [this] { return GetCrossButton(); }, nullptr);
+  builder.AddBooleanProperty("Circle", [this] { return GetCircleButton(); }, nullptr);
+  builder.AddBooleanProperty("Triangle", [this] { return GetTriangleButton(); }, nullptr);
+  builder.AddBooleanProperty("L1", [this] { return GetL1Button(); }, nullptr);
+  builder.AddBooleanProperty("R1", [this] { return GetR1Button(); }, nullptr);
+  builder.AddBooleanProperty("L2", [this] { return GetL2Button(); }, nullptr);
+  builder.AddBooleanProperty("R2", [this] { return GetR2Button(); }, nullptr);
+  builder.AddBooleanProperty("Create", [this] { return GetCreateButton(); }, nullptr);
+  builder.AddBooleanProperty("Options", [this] { return GetOptionsButton(); }, nullptr);
+  builder.AddBooleanProperty("L3", [this] { return GetL3Button(); }, nullptr);
+  builder.AddBooleanProperty("R3", [this] { return GetR3Button(); }, nullptr);
+  builder.AddBooleanProperty("PS", [this] { return GetPSButton(); }, nullptr);
+  builder.AddBooleanProperty("Touchpad", [this] { return GetTouchpadButton(); }, nullptr);
+}
\ No newline at end of file
diff --git a/wpilibc/src/generated/main/native/cpp/StadiaController.cpp b/wpilibc/src/generated/main/native/cpp/StadiaController.cpp
index 54192f2071..ee87b888df 100644
--- a/wpilibc/src/generated/main/native/cpp/StadiaController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/StadiaController.cpp
@@ -7,6 +7,7 @@
 #include "frc/StadiaController.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -295,3 +296,27 @@ bool StadiaController::GetLeftBumperReleased() {
 bool StadiaController::GetRightBumperReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
+
+void StadiaController::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "Stadia");
+  builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
+  builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
+  builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
+  builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
+  builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
+  builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
+  builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
+  builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftBumper", [this] { return GetLeftBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("RightBumper", [this] { return GetRightBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
+  builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
+  builder.AddBooleanProperty("Ellipses", [this] { return GetEllipsesButton(); }, nullptr);
+  builder.AddBooleanProperty("Hamburger", [this] { return GetHamburgerButton(); }, nullptr);
+  builder.AddBooleanProperty("Stadia", [this] { return GetStadiaButton(); }, nullptr);
+  builder.AddBooleanProperty("RightTrigger", [this] { return GetRightTriggerButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftTrigger", [this] { return GetLeftTriggerButton(); }, nullptr);
+  builder.AddBooleanProperty("Google", [this] { return GetGoogleButton(); }, nullptr);
+  builder.AddBooleanProperty("Frame", [this] { return GetFrameButton(); }, nullptr);
+}
\ No newline at end of file
diff --git a/wpilibc/src/generated/main/native/cpp/XboxController.cpp b/wpilibc/src/generated/main/native/cpp/XboxController.cpp
index a924ba21ef..4b220170a6 100644
--- a/wpilibc/src/generated/main/native/cpp/XboxController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/XboxController.cpp
@@ -7,6 +7,7 @@
 #include "frc/XboxController.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -239,3 +240,24 @@ bool XboxController::GetLeftBumperReleased() {
 bool XboxController::GetRightBumperReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
+
+void XboxController::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "Xbox");
+  builder.AddDoubleProperty("LeftTrigger", [this] { return GetLeftTriggerAxis(); }, nullptr);
+  builder.AddDoubleProperty("RightTrigger", [this] { return GetRightTriggerAxis(); }, nullptr);
+  builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
+  builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
+  builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
+  builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
+  builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
+  builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
+  builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
+  builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftBumper", [this] { return GetLeftBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("RightBumper", [this] { return GetRightBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("Back", [this] { return GetBackButton(); }, nullptr);
+  builder.AddBooleanProperty("Start", [this] { return GetStartButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
+  builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
+}
\ No newline at end of file
diff --git a/wpilibc/src/generated/main/native/include/frc/PS4Controller.h b/wpilibc/src/generated/main/native/include/frc/PS4Controller.h
index 3614cc3fdf..cd589e76ec 100644
--- a/wpilibc/src/generated/main/native/include/frc/PS4Controller.h
+++ b/wpilibc/src/generated/main/native/include/frc/PS4Controller.h
@@ -6,6 +6,9 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/GenericHID.h"
 
 namespace frc {
@@ -22,7 +25,9 @@ namespace frc {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class PS4Controller : public GenericHID {
+class PS4Controller : public GenericHID,
+                                    public wpi::Sendable,
+                                    public wpi::SendableHelper<PS4Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -587,6 +592,8 @@ class PS4Controller : public GenericHID {
     /// Right trigger 2.
     static constexpr int kR2 = 4;
   };
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/generated/main/native/include/frc/PS5Controller.h b/wpilibc/src/generated/main/native/include/frc/PS5Controller.h
index 461a853a98..31cd9e3021 100644
--- a/wpilibc/src/generated/main/native/include/frc/PS5Controller.h
+++ b/wpilibc/src/generated/main/native/include/frc/PS5Controller.h
@@ -6,6 +6,9 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/GenericHID.h"
 
 namespace frc {
@@ -22,7 +25,9 @@ namespace frc {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class PS5Controller : public GenericHID {
+class PS5Controller : public GenericHID,
+                                    public wpi::Sendable,
+                                    public wpi::SendableHelper<PS5Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -587,6 +592,8 @@ class PS5Controller : public GenericHID {
     /// Right trigger 2.
     static constexpr int kR2 = 4;
   };
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/generated/main/native/include/frc/StadiaController.h b/wpilibc/src/generated/main/native/include/frc/StadiaController.h
index 6a10aa213b..6582cc9bbf 100644
--- a/wpilibc/src/generated/main/native/include/frc/StadiaController.h
+++ b/wpilibc/src/generated/main/native/include/frc/StadiaController.h
@@ -6,6 +6,9 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/GenericHID.h"
 
 namespace frc {
@@ -22,7 +25,9 @@ namespace frc {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class StadiaController : public GenericHID {
+class StadiaController : public GenericHID,
+                                    public wpi::Sendable,
+                                    public wpi::SendableHelper<StadiaController> {
  public:
   /**
    * Construct an instance of a controller.
@@ -625,6 +630,8 @@ class StadiaController : public GenericHID {
     /// Right Y axis.
     static constexpr int kRightY = 4;
   };
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/generated/main/native/include/frc/XboxController.h b/wpilibc/src/generated/main/native/include/frc/XboxController.h
index 0a8357df16..ce2c21e048 100644
--- a/wpilibc/src/generated/main/native/include/frc/XboxController.h
+++ b/wpilibc/src/generated/main/native/include/frc/XboxController.h
@@ -6,6 +6,9 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/GenericHID.h"
 
 namespace frc {
@@ -22,7 +25,9 @@ namespace frc {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class XboxController : public GenericHID {
+class XboxController : public GenericHID,
+                                    public wpi::Sendable,
+                                    public wpi::SendableHelper<XboxController> {
  public:
   /**
    * Construct an instance of a controller.
@@ -524,6 +529,8 @@ class XboxController : public GenericHID {
     /// Right trigger.
     static constexpr int kRightTrigger = 3;
   };
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc
diff --git a/wpilibj/src/generate/hid.java.jinja b/wpilibj/src/generate/hid.java.jinja
index 84dbd8c3e8..3c78bd5a3d 100644
--- a/wpilibj/src/generate/hid.java.jinja
+++ b/wpilibj/src/generate/hid.java.jinja
@@ -10,6 +10,8 @@ package edu.wpi.first.wpilibj;
 
 {{ "// " if SkipReporting }}import edu.wpi.first.hal.FRCNetComm.tResourceType;
 {{ "// " if SkipReporting }}import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 
@@ -24,7 +26,7 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class {{ ConsoleName }}Controller extends GenericHID {
+public class {{ ConsoleName }}Controller extends GenericHID implements Sendable {
   /** Represents a digital button on a {{ ConsoleName }}Controller. */
   public enum Button {
 {%- for button in buttons %}
@@ -252,7 +254,7 @@ public class {{ ConsoleName }}Controller extends GenericHID {
   public boolean getRightBumperReleased() {
     return getRawButtonReleased(Button.kRightBumper.value);
   }
-{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
   /**
    * Read the value of the touchpad on the controller.
    *
@@ -285,5 +287,20 @@ public class {{ ConsoleName }}Controller extends GenericHID {
   public boolean getTouchpadReleased() {
     return getRawButtonReleased(Button.kTouchpad.value);
   }
-{% endif -%}
+{%- endif %}
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "{{ ConsoleName }}");
+{%- for trigger in triggers %}
+    builder.addDoubleProperty("{{ capitalize_first(trigger.name) }}", this::get{{ capitalize_first(trigger.name) }}Axis, null);
+{%- endfor -%}
+{% for stick in sticks %}
+    builder.addDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", this::get{{ stick.NameParts|map("capitalize")|join }}, null);
+{%- endfor -%}
+{% for button in buttons %}
+    builder.addBooleanProperty("{{ capitalize_first(button.name) }}", this::get{{ capitalize_first(button.name) }}Button, null);
+{%- endfor %}
+  }
 }
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
index 3195c5122b..ca8ae5058f 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
@@ -8,6 +8,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 
@@ -22,7 +24,7 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class PS4Controller extends GenericHID {
+public class PS4Controller extends GenericHID implements Sendable {
   /** Represents a digital button on a PS4Controller. */
   public enum Button {
     /** Square button. */
@@ -746,4 +748,30 @@ public class PS4Controller extends GenericHID {
   public boolean getTouchpadReleased() {
     return getRawButtonReleased(Button.kTouchpad.value);
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "PS4");
+    builder.addDoubleProperty("L2", this::getL2Axis, null);
+    builder.addDoubleProperty("R2", this::getR2Axis, null);
+    builder.addDoubleProperty("LeftX", this::getLeftX, null);
+    builder.addDoubleProperty("LeftY", this::getLeftY, null);
+    builder.addDoubleProperty("RightX", this::getRightX, null);
+    builder.addDoubleProperty("RightY", this::getRightY, null);
+    builder.addBooleanProperty("Square", this::getSquareButton, null);
+    builder.addBooleanProperty("Cross", this::getCrossButton, null);
+    builder.addBooleanProperty("Circle", this::getCircleButton, null);
+    builder.addBooleanProperty("Triangle", this::getTriangleButton, null);
+    builder.addBooleanProperty("L1", this::getL1Button, null);
+    builder.addBooleanProperty("R1", this::getR1Button, null);
+    builder.addBooleanProperty("L2", this::getL2Button, null);
+    builder.addBooleanProperty("R2", this::getR2Button, null);
+    builder.addBooleanProperty("Share", this::getShareButton, null);
+    builder.addBooleanProperty("Options", this::getOptionsButton, null);
+    builder.addBooleanProperty("L3", this::getL3Button, null);
+    builder.addBooleanProperty("R3", this::getR3Button, null);
+    builder.addBooleanProperty("PS", this::getPSButton, null);
+    builder.addBooleanProperty("Touchpad", this::getTouchpadButton, null);
+  }
 }
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
index 7b0e3083ab..26c747906f 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
@@ -8,6 +8,8 @@ package edu.wpi.first.wpilibj;
 
 // import edu.wpi.first.hal.FRCNetComm.tResourceType;
 // import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 
@@ -22,7 +24,7 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class PS5Controller extends GenericHID {
+public class PS5Controller extends GenericHID implements Sendable {
   /** Represents a digital button on a PS5Controller. */
   public enum Button {
     /** Square button. */
@@ -746,4 +748,30 @@ public class PS5Controller extends GenericHID {
   public boolean getTouchpadReleased() {
     return getRawButtonReleased(Button.kTouchpad.value);
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "PS5");
+    builder.addDoubleProperty("L2", this::getL2Axis, null);
+    builder.addDoubleProperty("R2", this::getR2Axis, null);
+    builder.addDoubleProperty("LeftX", this::getLeftX, null);
+    builder.addDoubleProperty("LeftY", this::getLeftY, null);
+    builder.addDoubleProperty("RightX", this::getRightX, null);
+    builder.addDoubleProperty("RightY", this::getRightY, null);
+    builder.addBooleanProperty("Square", this::getSquareButton, null);
+    builder.addBooleanProperty("Cross", this::getCrossButton, null);
+    builder.addBooleanProperty("Circle", this::getCircleButton, null);
+    builder.addBooleanProperty("Triangle", this::getTriangleButton, null);
+    builder.addBooleanProperty("L1", this::getL1Button, null);
+    builder.addBooleanProperty("R1", this::getR1Button, null);
+    builder.addBooleanProperty("L2", this::getL2Button, null);
+    builder.addBooleanProperty("R2", this::getR2Button, null);
+    builder.addBooleanProperty("Create", this::getCreateButton, null);
+    builder.addBooleanProperty("Options", this::getOptionsButton, null);
+    builder.addBooleanProperty("L3", this::getL3Button, null);
+    builder.addBooleanProperty("R3", this::getR3Button, null);
+    builder.addBooleanProperty("PS", this::getPSButton, null);
+    builder.addBooleanProperty("Touchpad", this::getTouchpadButton, null);
+  }
 }
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
index 916ab3979d..3bcd395eb9 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
@@ -8,6 +8,8 @@ package edu.wpi.first.wpilibj;
 
 // import edu.wpi.first.hal.FRCNetComm.tResourceType;
 // import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 
@@ -22,7 +24,7 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class StadiaController extends GenericHID {
+public class StadiaController extends GenericHID implements Sendable {
   /** Represents a digital button on a StadiaController. */
   public enum Button {
     /** A button. */
@@ -795,4 +797,29 @@ public class StadiaController extends GenericHID {
   public boolean getRightBumperReleased() {
     return getRawButtonReleased(Button.kRightBumper.value);
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "Stadia");
+    builder.addDoubleProperty("LeftX", this::getLeftX, null);
+    builder.addDoubleProperty("RightX", this::getRightX, null);
+    builder.addDoubleProperty("LeftY", this::getLeftY, null);
+    builder.addDoubleProperty("RightY", this::getRightY, null);
+    builder.addBooleanProperty("A", this::getAButton, null);
+    builder.addBooleanProperty("B", this::getBButton, null);
+    builder.addBooleanProperty("X", this::getXButton, null);
+    builder.addBooleanProperty("Y", this::getYButton, null);
+    builder.addBooleanProperty("LeftBumper", this::getLeftBumperButton, null);
+    builder.addBooleanProperty("RightBumper", this::getRightBumperButton, null);
+    builder.addBooleanProperty("LeftStick", this::getLeftStickButton, null);
+    builder.addBooleanProperty("RightStick", this::getRightStickButton, null);
+    builder.addBooleanProperty("Ellipses", this::getEllipsesButton, null);
+    builder.addBooleanProperty("Hamburger", this::getHamburgerButton, null);
+    builder.addBooleanProperty("Stadia", this::getStadiaButton, null);
+    builder.addBooleanProperty("RightTrigger", this::getRightTriggerButton, null);
+    builder.addBooleanProperty("LeftTrigger", this::getLeftTriggerButton, null);
+    builder.addBooleanProperty("Google", this::getGoogleButton, null);
+    builder.addBooleanProperty("Frame", this::getFrameButton, null);
+  }
 }
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
index 3bf77e11f6..5dc2a0258f 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -8,6 +8,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 
@@ -22,7 +24,7 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class XboxController extends GenericHID {
+public class XboxController extends GenericHID implements Sendable {
   /** Represents a digital button on a XboxController. */
   public enum Button {
     /** A button. */
@@ -671,4 +673,26 @@ public class XboxController extends GenericHID {
   public boolean getRightBumperReleased() {
     return getRawButtonReleased(Button.kRightBumper.value);
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "Xbox");
+    builder.addDoubleProperty("LeftTrigger", this::getLeftTriggerAxis, null);
+    builder.addDoubleProperty("RightTrigger", this::getRightTriggerAxis, null);
+    builder.addDoubleProperty("LeftX", this::getLeftX, null);
+    builder.addDoubleProperty("RightX", this::getRightX, null);
+    builder.addDoubleProperty("LeftY", this::getLeftY, null);
+    builder.addDoubleProperty("RightY", this::getRightY, null);
+    builder.addBooleanProperty("A", this::getAButton, null);
+    builder.addBooleanProperty("B", this::getBButton, null);
+    builder.addBooleanProperty("X", this::getXButton, null);
+    builder.addBooleanProperty("Y", this::getYButton, null);
+    builder.addBooleanProperty("LeftBumper", this::getLeftBumperButton, null);
+    builder.addBooleanProperty("RightBumper", this::getRightBumperButton, null);
+    builder.addBooleanProperty("Back", this::getBackButton, null);
+    builder.addBooleanProperty("Start", this::getStartButton, null);
+    builder.addBooleanProperty("LeftStick", this::getLeftStickButton, null);
+    builder.addBooleanProperty("RightStick", this::getRightStickButton, null);
+  }
 }