diff --git a/wpilibc/wpilibC++Devices/src/DriverStation.cpp b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
index e1ca182761..7a77f115e7 100644
--- a/wpilibc/wpilibC++Devices/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
@@ -194,7 +194,10 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
 
 	if (axis >= m_joystickAxes[stick].count)
 	{
-		wpi_setWPIError(BadJoystickAxis);
+		if (axis >= kMaxJoystickAxes)
+			wpi_setWPIError(BadJoystickAxis);
+		else
+			ReportError("WARNING: Joystick Axis missing, check if all controllers are plugged in\n");
 		return 0.0f;
 	}
 
@@ -224,7 +227,10 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
 
 	if (pov >= m_joystickPOVs[stick].count)
 	{
-		wpi_setWPIError(BadJoystickAxis);
+		if (pov >= kMaxJoystickPOVs)
+			wpi_setWPIError(BadJoystickAxis);
+		else
+			ReportError("WARNING: Joystick POV missing, check if all controllers are plugged in\n");
 		return 0;
 	}
 
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index bbabd8d6b3..dc4d463a3e 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -223,13 +223,18 @@ public class DriverStation implements RobotState.Interface {
      */
     public double getStickAxis(int stick, int axis) {
         if(stick < 0 || stick >= kJoystickPorts) {
-            throw new RuntimeException("Joystick index is out of range, should be 0-3");
+            throw new RuntimeException("Joystick index is out of range, should be 0-5");
         }
 
-        if (axis < 0 || axis >= m_joystickAxes[stick].length) {
+        if (axis < 0 || axis >= FRCNetworkCommunicationsLibrary.kMaxJoystickAxes) {
             throw new RuntimeException("Joystick axis is out of range");
         }
 
+        if (axis >= m_joystickAxes[stick].length) {
+			reportError("WARNING: Joystick axis " + axis + " on port " + stick + " not available, check if controller is plugged in\n", false);
+            return 0.0;
+        }
+
         byte value = (byte)m_joystickAxes[stick][axis];
 
         if(value < 0) {
@@ -246,13 +251,18 @@ public class DriverStation implements RobotState.Interface {
      */
     public int getStickPOV(int stick, int pov) {
         if(stick < 0 || stick >= kJoystickPorts) {
-            throw new RuntimeException("Joystick index is out of range, should be 0-3");
+            throw new RuntimeException("Joystick index is out of range, should be 0-5");
         }
 
-        if (pov < 0 || pov >= m_joystickPOVs[stick].length) {
+        if (pov < 0 || pov >= FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs) {
             throw new RuntimeException("Joystick POV is out of range");
         }
 
+        if (pov >= m_joystickPOVs[stick].length) {
+			reportError("WARNING: Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in\n", false);
+            return 0;
+        }
+
         return m_joystickPOVs[stick][pov];
     }