diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandDualSenseEdgeController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandDualSenseEdgeController.java
new file mode 100644
index 0000000000..086238b8fc
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandDualSenseEdgeController.java
@@ -0,0 +1,784 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.DualSenseEdgeController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link DualSenseEdgeController} with {@link Trigger} factories for command-based.
+ *
+ * @see DualSenseEdgeController
+ */
+@SuppressWarnings("MethodName")
+public class CommandDualSenseEdgeController {
+  private final CommandGenericHID m_hid;
+  private final DualSenseEdgeController m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandDualSenseEdgeController(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new DualSenseEdgeController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a DualSenseEdgeController object.
+   *
+   * @param controller The DualSenseEdgeController object to use for this controller.
+   */
+  public CommandDualSenseEdgeController(DualSenseEdgeController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided DualSenseEdgeController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public DualSenseEdgeController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(DualSenseEdgeController.Button, EventLoop)
+   */
+  public Trigger button(DualSenseEdgeController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(DualSenseEdgeController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(DualSenseEdgeController.Button.CROSS, loop);
+  }
+
+  /**
+   * 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 button(DualSenseEdgeController.Button.CIRCLE, loop);
+  }
+
+  /**
+   * 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 button(DualSenseEdgeController.Button.SQUARE, loop);
+  }
+
+  /**
+   * 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 button(DualSenseEdgeController.Button.TRIANGLE, loop);
+  }
+
+  /**
+   * 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 button(DualSenseEdgeController.Button.CREATE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @return a Trigger instance representing the PS 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 PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.PS, loop);
+  }
+
+  /**
+   * 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 button(DualSenseEdgeController.Button.OPTIONS, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 3 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 L 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.L3, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 3 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 R 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.R3, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 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 L 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.L1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 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 R 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.R1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Microphone button's digital signal.
+   *
+   * @return a Trigger instance representing the Microphone button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #microphone(EventLoop)
+   */
+  public Trigger microphone() {
+    return microphone(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Microphone button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Microphone button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger microphone(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.MICROPHONE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightPaddle1(EventLoop)
+   */
+  public Trigger rightPaddle1() {
+    return rightPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightPaddle1(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.RIGHT_PADDLE_1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftPaddle1(EventLoop)
+   */
+  public Trigger leftPaddle1() {
+    return leftPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftPaddle1(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.LEFT_PADDLE_1, loop);
+  }
+
+  /**
+   * 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 button(DualSenseEdgeController.Button.TOUCHPAD, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Function button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Function button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftFunction(EventLoop)
+   */
+  public Trigger leftFunction() {
+    return leftFunction(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Function button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Function button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftFunction(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.LEFT_FUNCTION, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Function button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Function button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightFunction(EventLoop)
+   */
+  public Trigger rightFunction() {
+    return rightFunction(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Function button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Function button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightFunction(EventLoop loop) {
+    return button(DualSenseEdgeController.Button.RIGHT_FUNCTION, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger L2(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        DualSenseEdgeController.Axis.L2, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger L2(double threshold) {
+    return L2(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the L 2 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger L2() {
+    return L2(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger R2(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        DualSenseEdgeController.Axis.R2, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger R2(double threshold) {
+    return R2(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the R 2 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger R2() {
+    return R2(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(DualSenseEdgeController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      DualSenseEdgeController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(DualSenseEdgeController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      DualSenseEdgeController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      DualSenseEdgeController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(DualSenseEdgeController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(DualSenseEdgeController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getL2() {
+    return m_controller.getL2();
+  }
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getR2() {
+    return m_controller.getR2();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandDualShock4Controller.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandDualShock4Controller.java
new file mode 100644
index 0000000000..6c4d13b587
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandDualShock4Controller.java
@@ -0,0 +1,674 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.DualShock4Controller;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link DualShock4Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see DualShock4Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandDualShock4Controller {
+  private final CommandGenericHID m_hid;
+  private final DualShock4Controller m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandDualShock4Controller(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new DualShock4Controller(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a DualShock4Controller object.
+   *
+   * @param controller The DualShock4Controller object to use for this controller.
+   */
+  public CommandDualShock4Controller(DualShock4Controller controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided DualShock4Controller cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public DualShock4Controller getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(DualShock4Controller.Button, EventLoop)
+   */
+  public Trigger button(DualShock4Controller.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(DualShock4Controller.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(DualShock4Controller.Button.CROSS, loop);
+  }
+
+  /**
+   * 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 button(DualShock4Controller.Button.CIRCLE, loop);
+  }
+
+  /**
+   * 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 button(DualShock4Controller.Button.SQUARE, loop);
+  }
+
+  /**
+   * 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 button(DualShock4Controller.Button.TRIANGLE, loop);
+  }
+
+  /**
+   * 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 button(DualShock4Controller.Button.SHARE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @return a Trigger instance representing the PS 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 PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return button(DualShock4Controller.Button.PS, loop);
+  }
+
+  /**
+   * 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 button(DualShock4Controller.Button.OPTIONS, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 3 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 L 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return button(DualShock4Controller.Button.L3, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 3 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 R 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return button(DualShock4Controller.Button.R3, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 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 L 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return button(DualShock4Controller.Button.L1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 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 R 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return button(DualShock4Controller.Button.R1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(DualShock4Controller.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(DualShock4Controller.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(DualShock4Controller.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(DualShock4Controller.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * 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 button(DualShock4Controller.Button.TOUCHPAD, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger L2(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        DualShock4Controller.Axis.L2, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger L2(double threshold) {
+    return L2(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the L 2 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger L2() {
+    return L2(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger R2(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        DualShock4Controller.Axis.R2, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger R2(double threshold) {
+    return R2(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the R 2 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger R2() {
+    return R2(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(DualShock4Controller.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      DualShock4Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(DualShock4Controller.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      DualShock4Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      DualShock4Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(DualShock4Controller.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(DualShock4Controller.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getL2() {
+    return m_controller.getL2();
+  }
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getR2() {
+    return m_controller.getR2();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandGameCubeController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandGameCubeController.java
new file mode 100644
index 0000000000..992c68fa66
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandGameCubeController.java
@@ -0,0 +1,586 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.GameCubeController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link GameCubeController} with {@link Trigger} factories for command-based.
+ *
+ * @see GameCubeController
+ */
+@SuppressWarnings("MethodName")
+public class CommandGameCubeController {
+  private final CommandGenericHID m_hid;
+  private final GameCubeController m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandGameCubeController(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new GameCubeController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a GameCubeController object.
+   *
+   * @param controller The GameCubeController object to use for this controller.
+   */
+  public CommandGameCubeController(GameCubeController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided GameCubeController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public GameCubeController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(GameCubeController.Button, EventLoop)
+   */
+  public Trigger button(GameCubeController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(GameCubeController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(GameCubeController.Button.A, loop);
+  }
+
+  /**
+   * 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 button(GameCubeController.Button.X, loop);
+  }
+
+  /**
+   * 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 button(GameCubeController.Button.B, loop);
+  }
+
+  /**
+   * 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 button(GameCubeController.Button.Y, loop);
+  }
+
+  /**
+   * 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 button(GameCubeController.Button.START, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #Z(EventLoop)
+   */
+  public Trigger Z() {
+    return Z(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger Z(EventLoop loop) {
+    return button(GameCubeController.Button.Z, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(GameCubeController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(GameCubeController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(GameCubeController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(GameCubeController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return button(GameCubeController.Button.L, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return button(GameCubeController.Button.R, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger LTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        GameCubeController.Axis.L_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger LTrigger(double threshold) {
+    return LTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger LTrigger() {
+    return LTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger RTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        GameCubeController.Axis.R_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger RTrigger(double threshold) {
+    return RTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger RTrigger() {
+    return RTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(GameCubeController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      GameCubeController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(GameCubeController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      GameCubeController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      GameCubeController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(GameCubeController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(GameCubeController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickX() {
+    return m_controller.getCStickX();
+  }
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickY() {
+    return m_controller.getCStickY();
+  }
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLTrigger() {
+    return m_controller.getLTrigger();
+  }
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRTrigger() {
+    return m_controller.getRTrigger();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandLogitechF310Controller.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandLogitechF310Controller.java
new file mode 100644
index 0000000000..2077ad19cd
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandLogitechF310Controller.java
@@ -0,0 +1,652 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.LogitechF310Controller;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link LogitechF310Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see LogitechF310Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandLogitechF310Controller {
+  private final CommandGenericHID m_hid;
+  private final LogitechF310Controller m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandLogitechF310Controller(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new LogitechF310Controller(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a LogitechF310Controller object.
+   *
+   * @param controller The LogitechF310Controller object to use for this controller.
+   */
+  public CommandLogitechF310Controller(LogitechF310Controller controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided LogitechF310Controller cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public LogitechF310Controller getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(LogitechF310Controller.Button, EventLoop)
+   */
+  public Trigger button(LogitechF310Controller.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(LogitechF310Controller.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.A, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.B, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.X, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.Y, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.BACK, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Logitech button's digital signal.
+   *
+   * @return a Trigger instance representing the Logitech button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #logitech(EventLoop)
+   */
+  public Trigger logitech() {
+    return logitech(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Logitech button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Logitech button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger logitech(EventLoop loop) {
+    return button(LogitechF310Controller.Button.LOGITECH, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.START, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.LEFT_BUMPER, loop);
+  }
+
+  /**
+   * 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 button(LogitechF310Controller.Button.RIGHT_BUMPER, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(LogitechF310Controller.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(LogitechF310Controller.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(LogitechF310Controller.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(LogitechF310Controller.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger leftTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        LogitechF310Controller.Axis.LEFT_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * 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 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 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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger rightTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        LogitechF310Controller.Axis.RIGHT_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * 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 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 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(LogitechF310Controller.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      LogitechF310Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(LogitechF310Controller.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      LogitechF310Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      LogitechF310Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(LogitechF310Controller.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(LogitechF310Controller.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftTrigger() {
+    return m_controller.getLeftTrigger();
+  }
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightTrigger() {
+    return m_controller.getRightTrigger();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSteamController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSteamController.java
new file mode 100644
index 0000000000..37cc17c13e
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSteamController.java
@@ -0,0 +1,894 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.SteamController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link SteamController} with {@link Trigger} factories for command-based.
+ *
+ * @see SteamController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSteamController {
+  private final CommandGenericHID m_hid;
+  private final SteamController m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSteamController(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new SteamController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a SteamController object.
+   *
+   * @param controller The SteamController object to use for this controller.
+   */
+  public CommandSteamController(SteamController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided SteamController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public SteamController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(SteamController.Button, EventLoop)
+   */
+  public Trigger button(SteamController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(SteamController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.A, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.B, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.X, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.Y, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Menu button's digital signal.
+   *
+   * @return a Trigger instance representing the Menu button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #menu(EventLoop)
+   */
+  public Trigger menu() {
+    return menu(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Menu button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Menu button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger menu(EventLoop loop) {
+    return button(SteamController.Button.MENU, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Steam button's digital signal.
+   *
+   * @return a Trigger instance representing the Steam button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #steam(EventLoop)
+   */
+  public Trigger steam() {
+    return steam(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Steam button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Steam button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger steam(EventLoop loop) {
+    return button(SteamController.Button.STEAM, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the View button's digital signal.
+   *
+   * @return a Trigger instance representing the View button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #view(EventLoop)
+   */
+  public Trigger view() {
+    return view(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the View button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the View button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger view(EventLoop loop) {
+    return button(SteamController.Button.VIEW, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.LEFT_BUMPER, loop);
+  }
+
+  /**
+   * 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 button(SteamController.Button.RIGHT_BUMPER, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(SteamController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(SteamController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(SteamController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(SteamController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the QAM button's digital signal.
+   *
+   * @return a Trigger instance representing the QAM button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #QAM(EventLoop)
+   */
+  public Trigger QAM() {
+    return QAM(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the QAM button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the QAM button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger QAM(EventLoop loop) {
+    return button(SteamController.Button.QAM, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightPaddle1(EventLoop)
+   */
+  public Trigger rightPaddle1() {
+    return rightPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightPaddle1(EventLoop loop) {
+    return button(SteamController.Button.RIGHT_PADDLE_1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftPaddle1(EventLoop)
+   */
+  public Trigger leftPaddle1() {
+    return leftPaddle1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftPaddle1(EventLoop loop) {
+    return button(SteamController.Button.LEFT_PADDLE_1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Paddle 2 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightPaddle2(EventLoop)
+   */
+  public Trigger rightPaddle2() {
+    return rightPaddle2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Paddle 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightPaddle2(EventLoop loop) {
+    return button(SteamController.Button.RIGHT_PADDLE_2, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Paddle 2 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftPaddle2(EventLoop)
+   */
+  public Trigger leftPaddle2() {
+    return leftPaddle2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Paddle 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftPaddle2(EventLoop loop) {
+    return button(SteamController.Button.LEFT_PADDLE_2, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Touchpad button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Touchpad button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftTouchpad(EventLoop)
+   */
+  public Trigger leftTouchpad() {
+    return leftTouchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Touchpad button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftTouchpad(EventLoop loop) {
+    return button(SteamController.Button.LEFT_TOUCHPAD, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Touchpad button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Touchpad button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightTouchpad(EventLoop)
+   */
+  public Trigger rightTouchpad() {
+    return rightTouchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Touchpad button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightTouchpad(EventLoop loop) {
+    return button(SteamController.Button.RIGHT_TOUCHPAD, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Stick Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Stick Touch button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftStickTouch(EventLoop)
+   */
+  public Trigger leftStickTouch() {
+    return leftStickTouch(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Stick Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Stick Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftStickTouch(EventLoop loop) {
+    return button(SteamController.Button.LEFT_STICK_TOUCH, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Stick Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Stick Touch button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightStickTouch(EventLoop)
+   */
+  public Trigger rightStickTouch() {
+    return rightStickTouch(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Stick Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Stick Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightStickTouch(EventLoop loop) {
+    return button(SteamController.Button.RIGHT_STICK_TOUCH, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Grip Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Grip Touch button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftGripTouch(EventLoop)
+   */
+  public Trigger leftGripTouch() {
+    return leftGripTouch(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Grip Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Grip Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftGripTouch(EventLoop loop) {
+    return button(SteamController.Button.LEFT_GRIP_TOUCH, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Grip Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Grip Touch button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightGripTouch(EventLoop)
+   */
+  public Trigger rightGripTouch() {
+    return rightGripTouch(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Grip Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Grip Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightGripTouch(EventLoop loop) {
+    return button(SteamController.Button.RIGHT_GRIP_TOUCH, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger leftTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        SteamController.Axis.LEFT_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * 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 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 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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger rightTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        SteamController.Axis.RIGHT_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * 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 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 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(SteamController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      SteamController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(SteamController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      SteamController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      SteamController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(SteamController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(SteamController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftTrigger() {
+    return m_controller.getLeftTrigger();
+  }
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightTrigger() {
+    return m_controller.getRightTrigger();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitch2GCController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitch2GCController.java
new file mode 100644
index 0000000000..f0691798b5
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitch2GCController.java
@@ -0,0 +1,674 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.Switch2GCController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link Switch2GCController} with {@link Trigger} factories for command-based.
+ *
+ * @see Switch2GCController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitch2GCController {
+  private final CommandGenericHID m_hid;
+  private final Switch2GCController m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitch2GCController(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new Switch2GCController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a Switch2GCController object.
+   *
+   * @param controller The Switch2GCController object to use for this controller.
+   */
+  public CommandSwitch2GCController(Switch2GCController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided Switch2GCController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public Switch2GCController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(Switch2GCController.Button, EventLoop)
+   */
+  public Trigger button(Switch2GCController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(Switch2GCController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(Switch2GCController.Button.A, loop);
+  }
+
+  /**
+   * 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 button(Switch2GCController.Button.X, loop);
+  }
+
+  /**
+   * 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 button(Switch2GCController.Button.B, loop);
+  }
+
+  /**
+   * 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 button(Switch2GCController.Button.Y, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return button(Switch2GCController.Button.HOME, loop);
+  }
+
+  /**
+   * 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 button(Switch2GCController.Button.START, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the ZL button's digital signal.
+   *
+   * @return a Trigger instance representing the ZL button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #ZL(EventLoop)
+   */
+  public Trigger ZL() {
+    return ZL(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the ZL button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the ZL button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger ZL(EventLoop loop) {
+    return button(Switch2GCController.Button.ZL, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #Z(EventLoop)
+   */
+  public Trigger Z() {
+    return Z(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger Z(EventLoop loop) {
+    return button(Switch2GCController.Button.Z, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(Switch2GCController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(Switch2GCController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(Switch2GCController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(Switch2GCController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return button(Switch2GCController.Button.CAPTURE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #C(EventLoop)
+   */
+  public Trigger C() {
+    return C(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger C(EventLoop loop) {
+    return button(Switch2GCController.Button.C, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return button(Switch2GCController.Button.L, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return button(Switch2GCController.Button.R, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger LTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        Switch2GCController.Axis.L_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger LTrigger(double threshold) {
+    return LTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger LTrigger() {
+    return LTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger RTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        Switch2GCController.Axis.R_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger RTrigger(double threshold) {
+    return RTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger RTrigger() {
+    return RTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(Switch2GCController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      Switch2GCController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(Switch2GCController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      Switch2GCController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      Switch2GCController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(Switch2GCController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(Switch2GCController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickX() {
+    return m_controller.getCStickX();
+  }
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickY() {
+    return m_controller.getCStickY();
+  }
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLTrigger() {
+    return m_controller.getLTrigger();
+  }
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRTrigger() {
+    return m_controller.getRTrigger();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitch2ProController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitch2ProController.java
new file mode 100644
index 0000000000..be7bdb07fd
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitch2ProController.java
@@ -0,0 +1,740 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.Switch2ProController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link Switch2ProController} with {@link Trigger} factories for command-based.
+ *
+ * @see Switch2ProController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitch2ProController {
+  private final CommandGenericHID m_hid;
+  private final Switch2ProController m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitch2ProController(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new Switch2ProController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a Switch2ProController object.
+   *
+   * @param controller The Switch2ProController object to use for this controller.
+   */
+  public CommandSwitch2ProController(Switch2ProController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided Switch2ProController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public Switch2ProController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(Switch2ProController.Button, EventLoop)
+   */
+  public Trigger button(Switch2ProController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(Switch2ProController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(Switch2ProController.Button.B, loop);
+  }
+
+  /**
+   * 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 button(Switch2ProController.Button.A, loop);
+  }
+
+  /**
+   * 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 button(Switch2ProController.Button.Y, loop);
+  }
+
+  /**
+   * 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 button(Switch2ProController.Button.X, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #minus(EventLoop)
+   */
+  public Trigger minus() {
+    return minus(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger minus(EventLoop loop) {
+    return button(Switch2ProController.Button.MINUS, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return button(Switch2ProController.Button.HOME, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #plus(EventLoop)
+   */
+  public Trigger plus() {
+    return plus(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger plus(EventLoop loop) {
+    return button(Switch2ProController.Button.PLUS, loop);
+  }
+
+  /**
+   * 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 button(Switch2ProController.Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * 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 button(Switch2ProController.Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return button(Switch2ProController.Button.L, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return button(Switch2ProController.Button.R, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(Switch2ProController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(Switch2ProController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(Switch2ProController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(Switch2ProController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return button(Switch2ProController.Button.CAPTURE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the GR button's digital signal.
+   *
+   * @return a Trigger instance representing the GR button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #GR(EventLoop)
+   */
+  public Trigger GR() {
+    return GR(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the GR button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the GR button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger GR(EventLoop loop) {
+    return button(Switch2ProController.Button.GR, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the GL button's digital signal.
+   *
+   * @return a Trigger instance representing the GL button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #GL(EventLoop)
+   */
+  public Trigger GL() {
+    return GL(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the GL button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the GL button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger GL(EventLoop loop) {
+    return button(Switch2ProController.Button.GL, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #C(EventLoop)
+   */
+  public Trigger C() {
+    return C(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger C(EventLoop loop) {
+    return button(Switch2ProController.Button.C, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZL(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        Switch2ProController.Axis.ZL, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger ZL(double threshold) {
+    return ZL(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZL axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger ZL() {
+    return ZL(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZR(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        Switch2ProController.Axis.ZR, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger ZR(double threshold) {
+    return ZR(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZR axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger ZR() {
+    return ZR(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(Switch2ProController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      Switch2ProController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(Switch2ProController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      Switch2ProController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      Switch2ProController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(Switch2ProController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(Switch2ProController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZL() {
+    return m_controller.getZL();
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return m_controller.getZR();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitchN64Controller.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitchN64Controller.java
new file mode 100644
index 0000000000..f1d5758e14
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitchN64Controller.java
@@ -0,0 +1,591 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.SwitchN64Controller;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link SwitchN64Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see SwitchN64Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitchN64Controller {
+  private final CommandGenericHID m_hid;
+  private final SwitchN64Controller m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitchN64Controller(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new SwitchN64Controller(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a SwitchN64Controller object.
+   *
+   * @param controller The SwitchN64Controller object to use for this controller.
+   */
+  public CommandSwitchN64Controller(SwitchN64Controller controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided SwitchN64Controller cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public SwitchN64Controller getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(SwitchN64Controller.Button, EventLoop)
+   */
+  public Trigger button(SwitchN64Controller.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(SwitchN64Controller.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(SwitchN64Controller.Button.A, loop);
+  }
+
+  /**
+   * 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 button(SwitchN64Controller.Button.B, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Left button's digital signal.
+   *
+   * @return a Trigger instance representing the C Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #CLeft(EventLoop)
+   */
+  public Trigger CLeft() {
+    return CLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CLeft(EventLoop loop) {
+    return button(SwitchN64Controller.Button.C_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Up button's digital signal.
+   *
+   * @return a Trigger instance representing the C Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #CUp(EventLoop)
+   */
+  public Trigger CUp() {
+    return CUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CUp(EventLoop loop) {
+    return button(SwitchN64Controller.Button.C_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return button(SwitchN64Controller.Button.CAPTURE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return button(SwitchN64Controller.Button.HOME, loop);
+  }
+
+  /**
+   * 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 button(SwitchN64Controller.Button.START, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Down button's digital signal.
+   *
+   * @return a Trigger instance representing the C Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #CDown(EventLoop)
+   */
+  public Trigger CDown() {
+    return CDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CDown(EventLoop loop) {
+    return button(SwitchN64Controller.Button.C_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return button(SwitchN64Controller.Button.L, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return button(SwitchN64Controller.Button.R, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(SwitchN64Controller.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(SwitchN64Controller.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(SwitchN64Controller.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(SwitchN64Controller.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Right button's digital signal.
+   *
+   * @return a Trigger instance representing the C Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #CRight(EventLoop)
+   */
+  public Trigger CRight() {
+    return CRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CRight(EventLoop loop) {
+    return button(SwitchN64Controller.Button.C_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZR(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        SwitchN64Controller.Axis.ZR, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger ZR(double threshold) {
+    return ZR(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZR axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger ZR() {
+    return ZR(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(SwitchN64Controller.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      SwitchN64Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(SwitchN64Controller.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      SwitchN64Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      SwitchN64Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(SwitchN64Controller.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(SwitchN64Controller.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Z Axis value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZAxis() {
+    return m_controller.getZAxis();
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return m_controller.getZR();
+  }
+}
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitchProController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitchProController.java
new file mode 100644
index 0000000000..c9eb181f12
--- /dev/null
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandSwitchProController.java
@@ -0,0 +1,674 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.SwitchProController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link SwitchProController} with {@link Trigger} factories for command-based.
+ *
+ * @see SwitchProController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitchProController {
+  private final CommandGenericHID m_hid;
+  private final SwitchProController m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitchProController(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new SwitchProController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a SwitchProController object.
+   *
+   * @param controller The SwitchProController object to use for this controller.
+   */
+  public CommandSwitchProController(SwitchProController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided SwitchProController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public SwitchProController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(SwitchProController.Button, EventLoop)
+   */
+  public Trigger button(SwitchProController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public Trigger button(SwitchProController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * 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 button(SwitchProController.Button.B, loop);
+  }
+
+  /**
+   * 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 button(SwitchProController.Button.A, loop);
+  }
+
+  /**
+   * 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 button(SwitchProController.Button.Y, loop);
+  }
+
+  /**
+   * 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 button(SwitchProController.Button.X, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #minus(EventLoop)
+   */
+  public Trigger minus() {
+    return minus(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger minus(EventLoop loop) {
+    return button(SwitchProController.Button.MINUS, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return button(SwitchProController.Button.HOME, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #plus(EventLoop)
+   */
+  public Trigger plus() {
+    return plus(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger plus(EventLoop loop) {
+    return button(SwitchProController.Button.PLUS, loop);
+  }
+
+  /**
+   * 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 button(SwitchProController.Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * 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 button(SwitchProController.Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return button(SwitchProController.Button.L, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return button(SwitchProController.Button.R, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(SwitchProController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(SwitchProController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(SwitchProController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(SwitchProController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return button(SwitchProController.Button.CAPTURE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZL(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        SwitchProController.Axis.ZL, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger ZL(double threshold) {
+    return ZL(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZL axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger ZL() {
+    return ZL(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZR(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        SwitchProController.Axis.ZR, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger ZR(double threshold) {
+    return ZR(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZR axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger ZR() {
+    return ZR(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(SwitchProController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      SwitchProController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(SwitchProController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      SwitchProController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      SwitchProController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(SwitchProController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(SwitchProController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZL() {
+    return m_controller.getZL();
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return m_controller.getZR();
+  }
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandDualSenseEdgeController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandDualSenseEdgeController.cpp
new file mode 100644
index 0000000000..7eb5511682
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandDualSenseEdgeController.cpp
@@ -0,0 +1,226 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandDualSenseEdgeController.hpp"
+
+using namespace wpi::cmd;
+
+CommandDualSenseEdgeController::CommandDualSenseEdgeController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::DualSenseEdgeController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandDualSenseEdgeController::CommandDualSenseEdgeController(
+    wpi::DualSenseEdgeController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandDualSenseEdgeController::GetHID() {
+  return *m_hid;
+}
+
+wpi::DualSenseEdgeController&
+CommandDualSenseEdgeController::GetController() {
+  return *m_controller;
+}
+
+const wpi::DualSenseEdgeController&
+CommandDualSenseEdgeController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandDualSenseEdgeController::Button(
+    enum wpi::DualSenseEdgeController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandDualSenseEdgeController::Cross(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::CROSS,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::Circle(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::CIRCLE,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::Square(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::SQUARE,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::Triangle(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::TRIANGLE,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::Create(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::CREATE,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::PS(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::PS,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::Options(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::OPTIONS,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::L3(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::L3,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::R3(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::R3,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::L1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::L1,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::R1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::R1,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::Microphone(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::MICROPHONE,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::RightPaddle1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::RIGHT_PADDLE_1,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::LeftPaddle1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::LEFT_PADDLE_1,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::Touchpad(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::TOUCHPAD,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::LeftFunction(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::LEFT_FUNCTION,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::RightFunction(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseEdgeController::Button::RIGHT_FUNCTION,
+                loop);
+}
+
+Trigger CommandDualSenseEdgeController::L2(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::DualSenseEdgeController::Axis::L2,
+      threshold, loop);
+}
+
+Trigger CommandDualSenseEdgeController::R2(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::DualSenseEdgeController::Axis::R2,
+      threshold, loop);
+}
+
+Trigger CommandDualSenseEdgeController::AxisLessThan(
+    wpi::DualSenseEdgeController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandDualSenseEdgeController::AxisGreaterThan(
+    wpi::DualSenseEdgeController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandDualSenseEdgeController::AxisMagnitudeGreaterThan(
+    wpi::DualSenseEdgeController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandDualSenseEdgeController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandDualSenseEdgeController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandDualSenseEdgeController::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandDualSenseEdgeController::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandDualSenseEdgeController::GetL2() const {
+  return m_controller->GetL2();
+}
+
+double CommandDualSenseEdgeController::GetR2() const {
+  return m_controller->GetR2();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandDualShock4Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandDualShock4Controller.cpp
new file mode 100644
index 0000000000..891fd9b171
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandDualShock4Controller.cpp
@@ -0,0 +1,196 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandDualShock4Controller.hpp"
+
+using namespace wpi::cmd;
+
+CommandDualShock4Controller::CommandDualShock4Controller(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::DualShock4Controller>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandDualShock4Controller::CommandDualShock4Controller(
+    wpi::DualShock4Controller* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandDualShock4Controller::GetHID() {
+  return *m_hid;
+}
+
+wpi::DualShock4Controller&
+CommandDualShock4Controller::GetController() {
+  return *m_controller;
+}
+
+const wpi::DualShock4Controller&
+CommandDualShock4Controller::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandDualShock4Controller::Button(
+    enum wpi::DualShock4Controller::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandDualShock4Controller::Cross(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::CROSS,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::Circle(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::CIRCLE,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::Square(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::SQUARE,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::Triangle(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::TRIANGLE,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::Share(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::SHARE,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::PS(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::PS,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::Options(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::OPTIONS,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::L3(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::L3,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::R3(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::R3,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::L1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::L1,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::R1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::R1,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::Touchpad(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualShock4Controller::Button::TOUCHPAD,
+                loop);
+}
+
+Trigger CommandDualShock4Controller::L2(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::DualShock4Controller::Axis::L2,
+      threshold, loop);
+}
+
+Trigger CommandDualShock4Controller::R2(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::DualShock4Controller::Axis::R2,
+      threshold, loop);
+}
+
+Trigger CommandDualShock4Controller::AxisLessThan(
+    wpi::DualShock4Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandDualShock4Controller::AxisGreaterThan(
+    wpi::DualShock4Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandDualShock4Controller::AxisMagnitudeGreaterThan(
+    wpi::DualShock4Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandDualShock4Controller::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandDualShock4Controller::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandDualShock4Controller::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandDualShock4Controller::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandDualShock4Controller::GetL2() const {
+  return m_controller->GetL2();
+}
+
+double CommandDualShock4Controller::GetR2() const {
+  return m_controller->GetR2();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandGameCubeController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandGameCubeController.cpp
new file mode 100644
index 0000000000..4108a39669
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandGameCubeController.cpp
@@ -0,0 +1,172 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandGameCubeController.hpp"
+
+using namespace wpi::cmd;
+
+CommandGameCubeController::CommandGameCubeController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::GameCubeController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandGameCubeController::CommandGameCubeController(
+    wpi::GameCubeController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandGameCubeController::GetHID() {
+  return *m_hid;
+}
+
+wpi::GameCubeController&
+CommandGameCubeController::GetController() {
+  return *m_controller;
+}
+
+const wpi::GameCubeController&
+CommandGameCubeController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandGameCubeController::Button(
+    enum wpi::GameCubeController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandGameCubeController::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::A,
+                loop);
+}
+
+Trigger CommandGameCubeController::X(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::X,
+                loop);
+}
+
+Trigger CommandGameCubeController::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::B,
+                loop);
+}
+
+Trigger CommandGameCubeController::Y(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::Y,
+                loop);
+}
+
+Trigger CommandGameCubeController::Start(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::START,
+                loop);
+}
+
+Trigger CommandGameCubeController::Z(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::Z,
+                loop);
+}
+
+Trigger CommandGameCubeController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandGameCubeController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandGameCubeController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandGameCubeController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandGameCubeController::L(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::L,
+                loop);
+}
+
+Trigger CommandGameCubeController::R(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::GameCubeController::Button::R,
+                loop);
+}
+
+Trigger CommandGameCubeController::LTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::GameCubeController::Axis::L_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandGameCubeController::RTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::GameCubeController::Axis::R_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandGameCubeController::AxisLessThan(
+    wpi::GameCubeController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandGameCubeController::AxisGreaterThan(
+    wpi::GameCubeController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandGameCubeController::AxisMagnitudeGreaterThan(
+    wpi::GameCubeController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandGameCubeController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandGameCubeController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandGameCubeController::GetCStickX() const {
+  return m_controller->GetCStickX();
+}
+
+double CommandGameCubeController::GetCStickY() const {
+  return m_controller->GetCStickY();
+}
+
+double CommandGameCubeController::GetLTrigger() const {
+  return m_controller->GetLTrigger();
+}
+
+double CommandGameCubeController::GetRTrigger() const {
+  return m_controller->GetRTrigger();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandLogitechF310Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandLogitechF310Controller.cpp
new file mode 100644
index 0000000000..a7e64c68a6
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandLogitechF310Controller.cpp
@@ -0,0 +1,190 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandLogitechF310Controller.hpp"
+
+using namespace wpi::cmd;
+
+CommandLogitechF310Controller::CommandLogitechF310Controller(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::LogitechF310Controller>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandLogitechF310Controller::CommandLogitechF310Controller(
+    wpi::LogitechF310Controller* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandLogitechF310Controller::GetHID() {
+  return *m_hid;
+}
+
+wpi::LogitechF310Controller&
+CommandLogitechF310Controller::GetController() {
+  return *m_controller;
+}
+
+const wpi::LogitechF310Controller&
+CommandLogitechF310Controller::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandLogitechF310Controller::Button(
+    enum wpi::LogitechF310Controller::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandLogitechF310Controller::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::A,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::B,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::X(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::X,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::Y(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::Y,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::Back(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::BACK,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::Logitech(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::LOGITECH,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::Start(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::START,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::LeftStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::LEFT_STICK,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::RightStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::RIGHT_STICK,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::LeftBumper(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::LEFT_BUMPER,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::RightBumper(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::RIGHT_BUMPER,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::LogitechF310Controller::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandLogitechF310Controller::LeftTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::LogitechF310Controller::Axis::LEFT_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandLogitechF310Controller::RightTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::LogitechF310Controller::Axis::RIGHT_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandLogitechF310Controller::AxisLessThan(
+    wpi::LogitechF310Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandLogitechF310Controller::AxisGreaterThan(
+    wpi::LogitechF310Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandLogitechF310Controller::AxisMagnitudeGreaterThan(
+    wpi::LogitechF310Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandLogitechF310Controller::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandLogitechF310Controller::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandLogitechF310Controller::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandLogitechF310Controller::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandLogitechF310Controller::GetLeftTrigger() const {
+  return m_controller->GetLeftTrigger();
+}
+
+double CommandLogitechF310Controller::GetRightTrigger() const {
+  return m_controller->GetRightTrigger();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSteamController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSteamController.cpp
new file mode 100644
index 0000000000..30c64c3c13
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSteamController.cpp
@@ -0,0 +1,256 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandSteamController.hpp"
+
+using namespace wpi::cmd;
+
+CommandSteamController::CommandSteamController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::SteamController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandSteamController::CommandSteamController(
+    wpi::SteamController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandSteamController::GetHID() {
+  return *m_hid;
+}
+
+wpi::SteamController&
+CommandSteamController::GetController() {
+  return *m_controller;
+}
+
+const wpi::SteamController&
+CommandSteamController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandSteamController::Button(
+    enum wpi::SteamController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandSteamController::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::A,
+                loop);
+}
+
+Trigger CommandSteamController::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::B,
+                loop);
+}
+
+Trigger CommandSteamController::X(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::X,
+                loop);
+}
+
+Trigger CommandSteamController::Y(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::Y,
+                loop);
+}
+
+Trigger CommandSteamController::Menu(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::MENU,
+                loop);
+}
+
+Trigger CommandSteamController::Steam(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::STEAM,
+                loop);
+}
+
+Trigger CommandSteamController::View(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::VIEW,
+                loop);
+}
+
+Trigger CommandSteamController::LeftStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::LEFT_STICK,
+                loop);
+}
+
+Trigger CommandSteamController::RightStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::RIGHT_STICK,
+                loop);
+}
+
+Trigger CommandSteamController::LeftBumper(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::LEFT_BUMPER,
+                loop);
+}
+
+Trigger CommandSteamController::RightBumper(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::RIGHT_BUMPER,
+                loop);
+}
+
+Trigger CommandSteamController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandSteamController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandSteamController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandSteamController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandSteamController::QAM(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::QAM,
+                loop);
+}
+
+Trigger CommandSteamController::RightPaddle1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::RIGHT_PADDLE_1,
+                loop);
+}
+
+Trigger CommandSteamController::LeftPaddle1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::LEFT_PADDLE_1,
+                loop);
+}
+
+Trigger CommandSteamController::RightPaddle2(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::RIGHT_PADDLE_2,
+                loop);
+}
+
+Trigger CommandSteamController::LeftPaddle2(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::LEFT_PADDLE_2,
+                loop);
+}
+
+Trigger CommandSteamController::LeftTouchpad(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::LEFT_TOUCHPAD,
+                loop);
+}
+
+Trigger CommandSteamController::RightTouchpad(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::RIGHT_TOUCHPAD,
+                loop);
+}
+
+Trigger CommandSteamController::LeftStickTouch(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::LEFT_STICK_TOUCH,
+                loop);
+}
+
+Trigger CommandSteamController::RightStickTouch(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::RIGHT_STICK_TOUCH,
+                loop);
+}
+
+Trigger CommandSteamController::LeftGripTouch(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::LEFT_GRIP_TOUCH,
+                loop);
+}
+
+Trigger CommandSteamController::RightGripTouch(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SteamController::Button::RIGHT_GRIP_TOUCH,
+                loop);
+}
+
+Trigger CommandSteamController::LeftTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::SteamController::Axis::LEFT_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandSteamController::RightTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::SteamController::Axis::RIGHT_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandSteamController::AxisLessThan(
+    wpi::SteamController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSteamController::AxisGreaterThan(
+    wpi::SteamController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSteamController::AxisMagnitudeGreaterThan(
+    wpi::SteamController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandSteamController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandSteamController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandSteamController::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandSteamController::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandSteamController::GetLeftTrigger() const {
+  return m_controller->GetLeftTrigger();
+}
+
+double CommandSteamController::GetRightTrigger() const {
+  return m_controller->GetRightTrigger();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitch2GCController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitch2GCController.cpp
new file mode 100644
index 0000000000..8ab9746d2a
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitch2GCController.cpp
@@ -0,0 +1,196 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandSwitch2GCController.hpp"
+
+using namespace wpi::cmd;
+
+CommandSwitch2GCController::CommandSwitch2GCController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::Switch2GCController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandSwitch2GCController::CommandSwitch2GCController(
+    wpi::Switch2GCController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandSwitch2GCController::GetHID() {
+  return *m_hid;
+}
+
+wpi::Switch2GCController&
+CommandSwitch2GCController::GetController() {
+  return *m_controller;
+}
+
+const wpi::Switch2GCController&
+CommandSwitch2GCController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandSwitch2GCController::Button(
+    enum wpi::Switch2GCController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandSwitch2GCController::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::A,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::X(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::X,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::B,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::Y(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::Y,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::Home(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::HOME,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::Start(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::START,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::ZL(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::ZL,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::Z(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::Z,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::Capture(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::CAPTURE,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::C(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::C,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::L(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::L,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::R(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2GCController::Button::R,
+                loop);
+}
+
+Trigger CommandSwitch2GCController::LTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::Switch2GCController::Axis::L_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandSwitch2GCController::RTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::Switch2GCController::Axis::R_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandSwitch2GCController::AxisLessThan(
+    wpi::Switch2GCController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitch2GCController::AxisGreaterThan(
+    wpi::Switch2GCController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitch2GCController::AxisMagnitudeGreaterThan(
+    wpi::Switch2GCController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandSwitch2GCController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandSwitch2GCController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandSwitch2GCController::GetCStickX() const {
+  return m_controller->GetCStickX();
+}
+
+double CommandSwitch2GCController::GetCStickY() const {
+  return m_controller->GetCStickY();
+}
+
+double CommandSwitch2GCController::GetLTrigger() const {
+  return m_controller->GetLTrigger();
+}
+
+double CommandSwitch2GCController::GetRTrigger() const {
+  return m_controller->GetRTrigger();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitch2ProController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitch2ProController.cpp
new file mode 100644
index 0000000000..469d835a67
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitch2ProController.cpp
@@ -0,0 +1,214 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandSwitch2ProController.hpp"
+
+using namespace wpi::cmd;
+
+CommandSwitch2ProController::CommandSwitch2ProController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::Switch2ProController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandSwitch2ProController::CommandSwitch2ProController(
+    wpi::Switch2ProController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandSwitch2ProController::GetHID() {
+  return *m_hid;
+}
+
+wpi::Switch2ProController&
+CommandSwitch2ProController::GetController() {
+  return *m_controller;
+}
+
+const wpi::Switch2ProController&
+CommandSwitch2ProController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandSwitch2ProController::Button(
+    enum wpi::Switch2ProController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandSwitch2ProController::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::B,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::A,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::Y(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::Y,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::X(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::X,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::Minus(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::MINUS,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::Home(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::HOME,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::Plus(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::PLUS,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::LeftStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::LEFT_STICK,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::RightStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::RIGHT_STICK,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::L(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::L,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::R(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::R,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::Capture(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::CAPTURE,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::GR(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::GR,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::GL(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::GL,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::C(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::Switch2ProController::Button::C,
+                loop);
+}
+
+Trigger CommandSwitch2ProController::ZL(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::Switch2ProController::Axis::ZL,
+      threshold, loop);
+}
+
+Trigger CommandSwitch2ProController::ZR(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::Switch2ProController::Axis::ZR,
+      threshold, loop);
+}
+
+Trigger CommandSwitch2ProController::AxisLessThan(
+    wpi::Switch2ProController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitch2ProController::AxisGreaterThan(
+    wpi::Switch2ProController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitch2ProController::AxisMagnitudeGreaterThan(
+    wpi::Switch2ProController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandSwitch2ProController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandSwitch2ProController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandSwitch2ProController::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandSwitch2ProController::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandSwitch2ProController::GetZL() const {
+  return m_controller->GetZL();
+}
+
+double CommandSwitch2ProController::GetZR() const {
+  return m_controller->GetZR();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitchN64Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitchN64Controller.cpp
new file mode 100644
index 0000000000..67fd4007ac
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitchN64Controller.cpp
@@ -0,0 +1,175 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandSwitchN64Controller.hpp"
+
+using namespace wpi::cmd;
+
+CommandSwitchN64Controller::CommandSwitchN64Controller(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::SwitchN64Controller>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandSwitchN64Controller::CommandSwitchN64Controller(
+    wpi::SwitchN64Controller* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandSwitchN64Controller::GetHID() {
+  return *m_hid;
+}
+
+wpi::SwitchN64Controller&
+CommandSwitchN64Controller::GetController() {
+  return *m_controller;
+}
+
+const wpi::SwitchN64Controller&
+CommandSwitchN64Controller::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandSwitchN64Controller::Button(
+    enum wpi::SwitchN64Controller::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandSwitchN64Controller::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::A,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::B,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::CLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::C_LEFT,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::CUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::C_UP,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::Capture(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::CAPTURE,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::Home(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::HOME,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::Start(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::START,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::CDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::C_DOWN,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::L(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::L,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::R(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::R,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::CRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchN64Controller::Button::C_RIGHT,
+                loop);
+}
+
+Trigger CommandSwitchN64Controller::ZR(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::SwitchN64Controller::Axis::ZR,
+      threshold, loop);
+}
+
+Trigger CommandSwitchN64Controller::AxisLessThan(
+    wpi::SwitchN64Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitchN64Controller::AxisGreaterThan(
+    wpi::SwitchN64Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitchN64Controller::AxisMagnitudeGreaterThan(
+    wpi::SwitchN64Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandSwitchN64Controller::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandSwitchN64Controller::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandSwitchN64Controller::GetZAxis() const {
+  return m_controller->GetZAxis();
+}
+
+double CommandSwitchN64Controller::GetZR() const {
+  return m_controller->GetZR();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitchProController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitchProController.cpp
new file mode 100644
index 0000000000..bf1f3a2295
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandSwitchProController.cpp
@@ -0,0 +1,196 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandSwitchProController.hpp"
+
+using namespace wpi::cmd;
+
+CommandSwitchProController::CommandSwitchProController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::SwitchProController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandSwitchProController::CommandSwitchProController(
+    wpi::SwitchProController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandSwitchProController::GetHID() {
+  return *m_hid;
+}
+
+wpi::SwitchProController&
+CommandSwitchProController::GetController() {
+  return *m_controller;
+}
+
+const wpi::SwitchProController&
+CommandSwitchProController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandSwitchProController::Button(
+    enum wpi::SwitchProController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandSwitchProController::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::B,
+                loop);
+}
+
+Trigger CommandSwitchProController::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::A,
+                loop);
+}
+
+Trigger CommandSwitchProController::Y(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::Y,
+                loop);
+}
+
+Trigger CommandSwitchProController::X(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::X,
+                loop);
+}
+
+Trigger CommandSwitchProController::Minus(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::MINUS,
+                loop);
+}
+
+Trigger CommandSwitchProController::Home(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::HOME,
+                loop);
+}
+
+Trigger CommandSwitchProController::Plus(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::PLUS,
+                loop);
+}
+
+Trigger CommandSwitchProController::LeftStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::LEFT_STICK,
+                loop);
+}
+
+Trigger CommandSwitchProController::RightStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::RIGHT_STICK,
+                loop);
+}
+
+Trigger CommandSwitchProController::L(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::L,
+                loop);
+}
+
+Trigger CommandSwitchProController::R(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::R,
+                loop);
+}
+
+Trigger CommandSwitchProController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandSwitchProController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandSwitchProController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandSwitchProController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandSwitchProController::Capture(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::SwitchProController::Button::CAPTURE,
+                loop);
+}
+
+Trigger CommandSwitchProController::ZL(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::SwitchProController::Axis::ZL,
+      threshold, loop);
+}
+
+Trigger CommandSwitchProController::ZR(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::SwitchProController::Axis::ZR,
+      threshold, loop);
+}
+
+Trigger CommandSwitchProController::AxisLessThan(
+    wpi::SwitchProController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitchProController::AxisGreaterThan(
+    wpi::SwitchProController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandSwitchProController::AxisMagnitudeGreaterThan(
+    wpi::SwitchProController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandSwitchProController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandSwitchProController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandSwitchProController::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandSwitchProController::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandSwitchProController::GetZL() const {
+  return m_controller->GetZL();
+}
+
+double CommandSwitchProController::GetZR() const {
+  return m_controller->GetZR();
+}
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandDualSenseEdgeController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandDualSenseEdgeController.hpp
new file mode 100644
index 0000000000..86fcfb0807
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandDualSenseEdgeController.hpp
@@ -0,0 +1,484 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/DualSenseEdgeController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::DualSenseEdgeController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::DualSenseEdgeController
+ */
+class CommandDualSenseEdgeController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandDualSenseEdgeController(int port);
+
+  /**
+   * Construct an instance of a controller with a DualSenseEdgeController object.
+   *
+   * @param controller The DualSenseEdgeController object to use for this controller.
+   */
+  explicit CommandDualSenseEdgeController(wpi::DualSenseEdgeController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::DualSenseEdgeController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::DualSenseEdgeController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::DualSenseEdgeController::Button button,
+                 wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the PS button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the PS button's
+   * digital signal attached to the given loop.
+   */
+  Trigger PS(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 3 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 L 3 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L3(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 3 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 R 3 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R3(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 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 L 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 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 R 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Microphone 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 Microphone button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Microphone(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 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 Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightPaddle1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 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 Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftPaddle1(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Function 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 Function button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftFunction(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Function 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 Function button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightFunction(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * L 2. The returned Trigger will be true when the axis value
+   * is greater than 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 L 2 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger L2(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * R 2. The returned Trigger will be true when the axis value
+   * is greater than 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 R 2 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger R2(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::DualSenseEdgeController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::DualSenseEdgeController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::DualSenseEdgeController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetL2() const;
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetR2() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::DualSenseEdgeController> m_ownedController;
+  wpi::DualSenseEdgeController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandDualShock4Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandDualShock4Controller.hpp
new file mode 100644
index 0000000000..d1bb7af3a8
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandDualShock4Controller.hpp
@@ -0,0 +1,419 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/DualShock4Controller.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::DualShock4Controller} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::DualShock4Controller
+ */
+class CommandDualShock4Controller {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandDualShock4Controller(int port);
+
+  /**
+   * Construct an instance of a controller with a DualShock4Controller object.
+   *
+   * @param controller The DualShock4Controller object to use for this controller.
+   */
+  explicit CommandDualShock4Controller(wpi::DualShock4Controller* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::DualShock4Controller& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::DualShock4Controller& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::DualShock4Controller::Button button,
+                 wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the PS button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the PS button's
+   * digital signal attached to the given loop.
+   */
+  Trigger PS(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 3 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 L 3 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L3(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 3 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 R 3 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R3(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 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 L 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 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 R 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * L 2. The returned Trigger will be true when the axis value
+   * is greater than 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 L 2 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger L2(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * R 2. The returned Trigger will be true when the axis value
+   * is greater than 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 R 2 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger R2(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::DualShock4Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::DualShock4Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::DualShock4Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetL2() const;
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetR2() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::DualShock4Controller> m_ownedController;
+  wpi::DualShock4Controller* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandGameCubeController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandGameCubeController.hpp
new file mode 100644
index 0000000000..29fe3eb543
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandGameCubeController.hpp
@@ -0,0 +1,367 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/GameCubeController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::GameCubeController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::GameCubeController
+ */
+class CommandGameCubeController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandGameCubeController(int port);
+
+  /**
+   * Construct an instance of a controller with a GameCubeController object.
+   *
+   * @param controller The GameCubeController object to use for this controller.
+   */
+  explicit CommandGameCubeController(wpi::GameCubeController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::GameCubeController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::GameCubeController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::GameCubeController::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Z 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 Z button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Z(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 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 L button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 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 R button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * L Trigger. The returned Trigger will be true when the axis value
+   * is greater than 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 L Trigger axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger LTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * R Trigger. The returned Trigger will be true when the axis value
+   * is greater than 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 R Trigger axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger RTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::GameCubeController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::GameCubeController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::GameCubeController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickX() const;
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickY() const;
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLTrigger() const;
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRTrigger() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::GameCubeController> m_ownedController;
+  wpi::GameCubeController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandLogitechF310Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandLogitechF310Controller.hpp
new file mode 100644
index 0000000000..4fd9a32b4e
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandLogitechF310Controller.hpp
@@ -0,0 +1,406 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/LogitechF310Controller.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::LogitechF310Controller} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::LogitechF310Controller
+ */
+class CommandLogitechF310Controller {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandLogitechF310Controller(int port);
+
+  /**
+   * Construct an instance of a controller with a LogitechF310Controller object.
+   *
+   * @param controller The LogitechF310Controller object to use for this controller.
+   */
+  explicit CommandLogitechF310Controller(wpi::LogitechF310Controller* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::LogitechF310Controller& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::LogitechF310Controller& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::LogitechF310Controller::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Logitech 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 Logitech button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Logitech(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::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 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 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger LeftTrigger(
+      double threshold = 0.5,
+      wpi::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 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 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger RightTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::LogitechF310Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::LogitechF310Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::LogitechF310Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftTrigger() const;
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightTrigger() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::LogitechF310Controller> m_ownedController;
+  wpi::LogitechF310Controller* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSteamController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSteamController.hpp
new file mode 100644
index 0000000000..49993c91a0
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSteamController.hpp
@@ -0,0 +1,549 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/SteamController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::SteamController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::SteamController
+ */
+class CommandSteamController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandSteamController(int port);
+
+  /**
+   * Construct an instance of a controller with a SteamController object.
+   *
+   * @param controller The SteamController object to use for this controller.
+   */
+  explicit CommandSteamController(wpi::SteamController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::SteamController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::SteamController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::SteamController::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Menu 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 Menu button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Menu(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Steam 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 Steam button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Steam(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the View 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 View button's
+   * digital signal attached to the given loop.
+   */
+  Trigger View(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the QAM 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 QAM button's
+   * digital signal attached to the given loop.
+   */
+  Trigger QAM(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 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 Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightPaddle1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 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 Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftPaddle1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 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 Paddle 2 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightPaddle2(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 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 Paddle 2 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftPaddle2(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left 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 Left Touchpad button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftTouchpad(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right 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 Right Touchpad button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightTouchpad(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Stick Touch 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 Touch button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftStickTouch(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Stick Touch 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 Touch button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightStickTouch(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Grip Touch 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 Grip Touch button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftGripTouch(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Grip Touch 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 Grip Touch button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightGripTouch(
+      wpi::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 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 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger LeftTrigger(
+      double threshold = 0.5,
+      wpi::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 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 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger RightTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::SteamController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::SteamController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::SteamController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftTrigger() const;
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightTrigger() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::SteamController> m_ownedController;
+  wpi::SteamController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitch2GCController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitch2GCController.hpp
new file mode 100644
index 0000000000..01243ad1b2
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitch2GCController.hpp
@@ -0,0 +1,419 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/Switch2GCController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::Switch2GCController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::Switch2GCController
+ */
+class CommandSwitch2GCController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandSwitch2GCController(int port);
+
+  /**
+   * Construct an instance of a controller with a Switch2GCController object.
+   *
+   * @param controller The Switch2GCController object to use for this controller.
+   */
+  explicit CommandSwitch2GCController(wpi::Switch2GCController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::Switch2GCController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::Switch2GCController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::Switch2GCController::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Home 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 Home button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Home(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the ZL 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 ZL button's
+   * digital signal attached to the given loop.
+   */
+  Trigger ZL(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Z 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 Z button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Z(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Capture 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 Capture button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Capture(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the C 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 C button's
+   * digital signal attached to the given loop.
+   */
+  Trigger C(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 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 L button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 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 R button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * L Trigger. The returned Trigger will be true when the axis value
+   * is greater than 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 L Trigger axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger LTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * R Trigger. The returned Trigger will be true when the axis value
+   * is greater than 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 R Trigger axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger RTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::Switch2GCController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::Switch2GCController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::Switch2GCController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickX() const;
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickY() const;
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLTrigger() const;
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRTrigger() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::Switch2GCController> m_ownedController;
+  wpi::Switch2GCController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitch2ProController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitch2ProController.hpp
new file mode 100644
index 0000000000..c4b07bd744
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitch2ProController.hpp
@@ -0,0 +1,458 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/Switch2ProController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::Switch2ProController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::Switch2ProController
+ */
+class CommandSwitch2ProController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandSwitch2ProController(int port);
+
+  /**
+   * Construct an instance of a controller with a Switch2ProController object.
+   *
+   * @param controller The Switch2ProController object to use for this controller.
+   */
+  explicit CommandSwitch2ProController(wpi::Switch2ProController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::Switch2ProController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::Switch2ProController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::Switch2ProController::Button button,
+                 wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Minus 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 Minus button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Minus(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Home 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 Home button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Home(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Plus 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 Plus button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Plus(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 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 L button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 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 R button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Capture 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 Capture button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Capture(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the GR 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 GR button's
+   * digital signal attached to the given loop.
+   */
+  Trigger GR(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the GL 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 GL button's
+   * digital signal attached to the given loop.
+   */
+  Trigger GL(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the C 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 C button's
+   * digital signal attached to the given loop.
+   */
+  Trigger C(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * ZL. The returned Trigger will be true when the axis value
+   * is greater than 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 ZL axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger ZL(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * ZR. The returned Trigger will be true when the axis value
+   * is greater than 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 ZR axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger ZR(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::Switch2ProController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::Switch2ProController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::Switch2ProController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZL() const;
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZR() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::Switch2ProController> m_ownedController;
+  wpi::Switch2ProController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitchN64Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitchN64Controller.hpp
new file mode 100644
index 0000000000..3fa74b5a4b
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitchN64Controller.hpp
@@ -0,0 +1,374 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/SwitchN64Controller.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::SwitchN64Controller} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::SwitchN64Controller
+ */
+class CommandSwitchN64Controller {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandSwitchN64Controller(int port);
+
+  /**
+   * Construct an instance of a controller with a SwitchN64Controller object.
+   *
+   * @param controller The SwitchN64Controller object to use for this controller.
+   */
+  explicit CommandSwitchN64Controller(wpi::SwitchN64Controller* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::SwitchN64Controller& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::SwitchN64Controller& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::SwitchN64Controller::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the C Left 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 C Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger CLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the C Up 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 C Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger CUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Capture 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 Capture button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Capture(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Home 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 Home button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Home(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the C Down 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 C Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger CDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 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 L button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 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 R button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the C Right 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 C Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger CRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * ZR. The returned Trigger will be true when the axis value
+   * is greater than 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 ZR axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger ZR(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::SwitchN64Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::SwitchN64Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::SwitchN64Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Z Axis value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZAxis() const;
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZR() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::SwitchN64Controller> m_ownedController;
+  wpi::SwitchN64Controller* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitchProController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitchProController.hpp
new file mode 100644
index 0000000000..b8e4d5e2cf
--- /dev/null
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandSwitchProController.hpp
@@ -0,0 +1,419 @@
+// 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 ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/SwitchProController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::SwitchProController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::SwitchProController
+ */
+class CommandSwitchProController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandSwitchProController(int port);
+
+  /**
+   * Construct an instance of a controller with a SwitchProController object.
+   *
+   * @param controller The SwitchProController object to use for this controller.
+   */
+  explicit CommandSwitchProController(wpi::SwitchProController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::SwitchProController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::SwitchProController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(enum wpi::SwitchProController::Button button,
+                 wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * 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(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Minus 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 Minus button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Minus(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Home 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 Home button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Home(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Plus 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 Plus button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Plus(
+      wpi::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(
+      wpi::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(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 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 L button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 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 R button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up 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 Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down 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 Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left 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 Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right 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 Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Capture 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 Capture button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Capture(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * ZL. The returned Trigger will be true when the axis value
+   * is greater than 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 ZL axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger ZL(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * ZR. The returned Trigger will be true when the axis value
+   * is greater than 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 ZR axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger ZR(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::SwitchProController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::SwitchProController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::SwitchProController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZL() const;
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZR() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::SwitchProController> m_ownedController;
+  wpi::SwitchProController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd
diff --git a/commandsv2/src/main/python/commands2/button/__init__.py b/commandsv2/src/main/python/commands2/button/__init__.py
index dd6d31a581..7c82fe37d7 100644
--- a/commandsv2/src/main/python/commands2/button/__init__.py
+++ b/commandsv2/src/main/python/commands2/button/__init__.py
@@ -1,9 +1,18 @@
 from .commandgenerichid import CommandGenericHID
 from .commanddualsensecontroller import CommandDualSenseController
+from .commanddualsenseedgecontroller import CommandDualSenseEdgeController
+from .commanddualshock4controller import CommandDualShock4Controller
 from .commandgamepad import CommandGamepad
+from .commandgamecubecontroller import CommandGameCubeController
 from .commandjoystick import CommandJoystick
+from .commandlogitechf310controller import CommandLogitechF310Controller
 from .commandnidsps4controller import CommandNiDsPS4Controller
 from .commandnidsxboxcontroller import CommandNiDsXboxController
+from .commandsteamcontroller import CommandSteamController
+from .commandswitch2gccontroller import CommandSwitch2GCController
+from .commandswitch2procontroller import CommandSwitch2ProController
+from .commandswitchn64controller import CommandSwitchN64Controller
+from .commandswitchprocontroller import CommandSwitchProController
 from .commandxboxcontroller import CommandXboxController
 from .joystickbutton import JoystickButton
 from .networkbutton import NetworkButton
@@ -13,11 +22,20 @@ from .trigger import Trigger
 __all__ = [
     "Trigger",
     "CommandDualSenseController",
+    "CommandDualSenseEdgeController",
+    "CommandDualShock4Controller",
     "CommandGenericHID",
     "CommandGamepad",
+    "CommandGameCubeController",
     "CommandJoystick",
+    "CommandLogitechF310Controller",
     "CommandNiDsPS4Controller",
     "CommandNiDsXboxController",
+    "CommandSteamController",
+    "CommandSwitch2GCController",
+    "CommandSwitch2ProController",
+    "CommandSwitchN64Controller",
+    "CommandSwitchProController",
     "CommandXboxController",
     "JoystickButton",
     "NetworkButton",
diff --git a/commandsv2/src/main/python/commands2/button/commanddualsenseedgecontroller.py b/commandsv2/src/main/python/commands2/button/commanddualsenseedgecontroller.py
new file mode 100644
index 0000000000..4237d2978c
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commanddualsenseedgecontroller.py
@@ -0,0 +1,471 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, DualSenseEdgeController
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandDualSenseEdgeController:
+    """
+    A version of :class:`wpilib.DualSenseEdgeController` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: DualSenseEdgeController
+
+    def __init__(self, hid: Union[int, DualSenseEdgeController]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the DualSenseEdgeController object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = DualSenseEdgeController(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> DualSenseEdgeController:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: DualSenseEdgeController.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.DualSenseEdgeController.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def cross(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Cross button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Cross button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.CROSS, loop)
+
+    def circle(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Circle button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Circle button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.CIRCLE, loop)
+
+    def square(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Square button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Square button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.SQUARE, loop)
+
+    def triangle(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Triangle button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Triangle button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.TRIANGLE, loop)
+
+    def create(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Create button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Create button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.CREATE, loop)
+
+    def PS(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the PS button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the PS button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.PS, loop)
+
+    def options(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Options button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Options button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.OPTIONS, loop)
+
+    def L3(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 3 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L 3 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.L3, loop)
+
+    def R3(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 3 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R 3 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.R3, loop)
+
+    def L1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.L1, loop)
+
+    def R1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.R1, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.DPAD_RIGHT, loop)
+
+    def microphone(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Microphone button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Microphone button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.MICROPHONE, loop)
+
+    def rightPaddle1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Paddle 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.RIGHT_PADDLE_1, loop)
+
+    def leftPaddle1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Paddle 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.LEFT_PADDLE_1, loop)
+
+    def touchpad(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Touchpad button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Touchpad button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.TOUCHPAD, loop)
+
+    def leftFunction(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Function button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Function button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.LEFT_FUNCTION, loop)
+
+    def rightFunction(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Function button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Function button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualSenseEdgeController.Button.RIGHT_FUNCTION, loop)
+
+    def L2(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 2 axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the L 2 axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            DualSenseEdgeController.Axis.L2,
+            threshold,
+            loop,
+        )
+
+    def R2(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 2 axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the R 2 axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            DualSenseEdgeController.Axis.R2,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: DualSenseEdgeController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.DualSenseEdgeController.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: DualSenseEdgeController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.DualSenseEdgeController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: DualSenseEdgeController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.DualSenseEdgeController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: DualSenseEdgeController.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.DualSenseEdgeController.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getRightX(self) -> float:
+        """
+        Get the Right X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightX()
+
+    def getRightY(self) -> float:
+        """
+        Get the Right Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightY()
+
+    def getL2(self) -> float:
+        """
+        Get the L 2 value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getL2()
+
+    def getR2(self) -> float:
+        """
+        Get the R 2 value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getR2()
diff --git a/commandsv2/src/main/python/commands2/button/commanddualshock4controller.py b/commandsv2/src/main/python/commands2/button/commanddualshock4controller.py
new file mode 100644
index 0000000000..f242b574e5
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commanddualshock4controller.py
@@ -0,0 +1,411 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, DualShock4Controller
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandDualShock4Controller:
+    """
+    A version of :class:`wpilib.DualShock4Controller` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: DualShock4Controller
+
+    def __init__(self, hid: Union[int, DualShock4Controller]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the DualShock4Controller object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = DualShock4Controller(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> DualShock4Controller:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: DualShock4Controller.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.DualShock4Controller.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def cross(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Cross button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Cross button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.CROSS, loop)
+
+    def circle(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Circle button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Circle button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.CIRCLE, loop)
+
+    def square(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Square button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Square button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.SQUARE, loop)
+
+    def triangle(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Triangle button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Triangle button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.TRIANGLE, loop)
+
+    def share(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Share button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Share button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.SHARE, loop)
+
+    def PS(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the PS button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the PS button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.PS, loop)
+
+    def options(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Options button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Options button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.OPTIONS, loop)
+
+    def L3(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 3 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L 3 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.L3, loop)
+
+    def R3(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 3 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R 3 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.R3, loop)
+
+    def L1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.L1, loop)
+
+    def R1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.R1, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.DPAD_RIGHT, loop)
+
+    def touchpad(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Touchpad button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Touchpad button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(DualShock4Controller.Button.TOUCHPAD, loop)
+
+    def L2(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the L 2 axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the L 2 axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            DualShock4Controller.Axis.L2,
+            threshold,
+            loop,
+        )
+
+    def R2(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the R 2 axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the R 2 axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            DualShock4Controller.Axis.R2,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: DualShock4Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.DualShock4Controller.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: DualShock4Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.DualShock4Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: DualShock4Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.DualShock4Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: DualShock4Controller.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.DualShock4Controller.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getRightX(self) -> float:
+        """
+        Get the Right X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightX()
+
+    def getRightY(self) -> float:
+        """
+        Get the Right Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightY()
+
+    def getL2(self) -> float:
+        """
+        Get the L 2 value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getL2()
+
+    def getR2(self) -> float:
+        """
+        Get the R 2 value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getR2()
diff --git a/commandsv2/src/main/python/commands2/button/commandgamecubecontroller.py b/commandsv2/src/main/python/commands2/button/commandgamecubecontroller.py
new file mode 100644
index 0000000000..db862f6765
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commandgamecubecontroller.py
@@ -0,0 +1,363 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, GameCubeController
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandGameCubeController:
+    """
+    A version of :class:`wpilib.GameCubeController` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: GameCubeController
+
+    def __init__(self, hid: Union[int, GameCubeController]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the GameCubeController object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = GameCubeController(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> GameCubeController:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: GameCubeController.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.GameCubeController.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def a(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the A button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the A button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.A, loop)
+
+    def x(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the X button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the X button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.X, loop)
+
+    def b(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the B button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the B button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.B, loop)
+
+    def y(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Y button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Y button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.Y, loop)
+
+    def start(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Start button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Start button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.START, loop)
+
+    def Z(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Z button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Z button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.Z, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.DPAD_RIGHT, loop)
+
+    def L(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.L, loop)
+
+    def R(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(GameCubeController.Button.R, loop)
+
+    def LTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the L Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the L Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            GameCubeController.Axis.L_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def RTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the R Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the R Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            GameCubeController.Axis.R_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: GameCubeController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.GameCubeController.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: GameCubeController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.GameCubeController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: GameCubeController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.GameCubeController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: GameCubeController.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.GameCubeController.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getCStickX(self) -> float:
+        """
+        Get the C Stick X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getCStickX()
+
+    def getCStickY(self) -> float:
+        """
+        Get the C Stick Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getCStickY()
+
+    def getLTrigger(self) -> float:
+        """
+        Get the L Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLTrigger()
+
+    def getRTrigger(self) -> float:
+        """
+        Get the R Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRTrigger()
diff --git a/commandsv2/src/main/python/commands2/button/commandlogitechf310controller.py b/commandsv2/src/main/python/commands2/button/commandlogitechf310controller.py
new file mode 100644
index 0000000000..196ae286b4
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commandlogitechf310controller.py
@@ -0,0 +1,399 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, LogitechF310Controller
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandLogitechF310Controller:
+    """
+    A version of :class:`wpilib.LogitechF310Controller` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: LogitechF310Controller
+
+    def __init__(self, hid: Union[int, LogitechF310Controller]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the LogitechF310Controller object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = LogitechF310Controller(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> LogitechF310Controller:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: LogitechF310Controller.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.LogitechF310Controller.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def a(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the A button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the A button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.A, loop)
+
+    def b(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the B button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the B button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.B, loop)
+
+    def x(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the X button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the X button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.X, loop)
+
+    def y(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Y button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Y button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.Y, loop)
+
+    def back(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Back button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Back button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.BACK, loop)
+
+    def logitech(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Logitech button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Logitech button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.LOGITECH, loop)
+
+    def start(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Start button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Start button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.START, loop)
+
+    def leftStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.LEFT_STICK, loop)
+
+    def rightStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.RIGHT_STICK, loop)
+
+    def leftBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Bumper button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Bumper button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.LEFT_BUMPER, loop)
+
+    def rightBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Bumper button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Bumper button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.RIGHT_BUMPER, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(LogitechF310Controller.Button.DPAD_RIGHT, loop)
+
+    def leftTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the Left Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            LogitechF310Controller.Axis.LEFT_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def rightTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the Right Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            LogitechF310Controller.Axis.RIGHT_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: LogitechF310Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.LogitechF310Controller.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: LogitechF310Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.LogitechF310Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: LogitechF310Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.LogitechF310Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: LogitechF310Controller.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.LogitechF310Controller.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getRightX(self) -> float:
+        """
+        Get the Right X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightX()
+
+    def getRightY(self) -> float:
+        """
+        Get the Right Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightY()
+
+    def getLeftTrigger(self) -> float:
+        """
+        Get the Left Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftTrigger()
+
+    def getRightTrigger(self) -> float:
+        """
+        Get the Right Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightTrigger()
diff --git a/commandsv2/src/main/python/commands2/button/commandsteamcontroller.py b/commandsv2/src/main/python/commands2/button/commandsteamcontroller.py
new file mode 100644
index 0000000000..2e20f26122
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commandsteamcontroller.py
@@ -0,0 +1,531 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, SteamController
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandSteamController:
+    """
+    A version of :class:`wpilib.SteamController` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: SteamController
+
+    def __init__(self, hid: Union[int, SteamController]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the SteamController object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = SteamController(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> SteamController:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: SteamController.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.SteamController.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def a(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the A button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the A button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.A, loop)
+
+    def b(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the B button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the B button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.B, loop)
+
+    def x(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the X button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the X button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.X, loop)
+
+    def y(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Y button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Y button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.Y, loop)
+
+    def menu(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Menu button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Menu button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.MENU, loop)
+
+    def steam(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Steam button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Steam button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.STEAM, loop)
+
+    def view(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the View button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the View button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.VIEW, loop)
+
+    def leftStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.LEFT_STICK, loop)
+
+    def rightStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.RIGHT_STICK, loop)
+
+    def leftBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Bumper button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Bumper button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.LEFT_BUMPER, loop)
+
+    def rightBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Bumper button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Bumper button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.RIGHT_BUMPER, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.DPAD_RIGHT, loop)
+
+    def QAM(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the QAM button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the QAM button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.QAM, loop)
+
+    def rightPaddle1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Paddle 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.RIGHT_PADDLE_1, loop)
+
+    def leftPaddle1(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Paddle 1 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.LEFT_PADDLE_1, loop)
+
+    def rightPaddle2(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Paddle 2 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.RIGHT_PADDLE_2, loop)
+
+    def leftPaddle2(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Paddle 2 button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.LEFT_PADDLE_2, loop)
+
+    def leftTouchpad(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Touchpad button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Touchpad button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.LEFT_TOUCHPAD, loop)
+
+    def rightTouchpad(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Touchpad button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Touchpad button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.RIGHT_TOUCHPAD, loop)
+
+    def leftStickTouch(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Stick Touch button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Stick Touch button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.LEFT_STICK_TOUCH, loop)
+
+    def rightStickTouch(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Stick Touch button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Stick Touch button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.RIGHT_STICK_TOUCH, loop)
+
+    def leftGripTouch(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Grip Touch button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Grip Touch button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.LEFT_GRIP_TOUCH, loop)
+
+    def rightGripTouch(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Grip Touch button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Grip Touch button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SteamController.Button.RIGHT_GRIP_TOUCH, loop)
+
+    def leftTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the Left Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            SteamController.Axis.LEFT_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def rightTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the Right Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            SteamController.Axis.RIGHT_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: SteamController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SteamController.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: SteamController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SteamController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: SteamController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SteamController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: SteamController.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.SteamController.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getRightX(self) -> float:
+        """
+        Get the Right X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightX()
+
+    def getRightY(self) -> float:
+        """
+        Get the Right Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightY()
+
+    def getLeftTrigger(self) -> float:
+        """
+        Get the Left Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftTrigger()
+
+    def getRightTrigger(self) -> float:
+        """
+        Get the Right Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightTrigger()
diff --git a/commandsv2/src/main/python/commands2/button/commandswitch2gccontroller.py b/commandsv2/src/main/python/commands2/button/commandswitch2gccontroller.py
new file mode 100644
index 0000000000..3ca93bd9e7
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commandswitch2gccontroller.py
@@ -0,0 +1,411 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, Switch2GCController
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandSwitch2GCController:
+    """
+    A version of :class:`wpilib.Switch2GCController` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: Switch2GCController
+
+    def __init__(self, hid: Union[int, Switch2GCController]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the Switch2GCController object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = Switch2GCController(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> Switch2GCController:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: Switch2GCController.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.Switch2GCController.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def a(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the A button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the A button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.A, loop)
+
+    def x(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the X button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the X button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.X, loop)
+
+    def b(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the B button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the B button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.B, loop)
+
+    def y(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Y button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Y button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.Y, loop)
+
+    def home(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Home button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Home button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.HOME, loop)
+
+    def start(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Start button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Start button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.START, loop)
+
+    def ZL(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the ZL button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the ZL button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.ZL, loop)
+
+    def Z(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Z button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Z button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.Z, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.DPAD_RIGHT, loop)
+
+    def capture(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Capture button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Capture button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.CAPTURE, loop)
+
+    def C(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the C button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the C button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.C, loop)
+
+    def L(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.L, loop)
+
+    def R(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2GCController.Button.R, loop)
+
+    def LTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the L Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the L Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            Switch2GCController.Axis.L_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def RTrigger(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the R Trigger axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the R Trigger axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            Switch2GCController.Axis.R_TRIGGER,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: Switch2GCController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.Switch2GCController.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: Switch2GCController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.Switch2GCController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: Switch2GCController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.Switch2GCController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: Switch2GCController.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.Switch2GCController.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getCStickX(self) -> float:
+        """
+        Get the C Stick X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getCStickX()
+
+    def getCStickY(self) -> float:
+        """
+        Get the C Stick Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getCStickY()
+
+    def getLTrigger(self) -> float:
+        """
+        Get the L Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLTrigger()
+
+    def getRTrigger(self) -> float:
+        """
+        Get the R Trigger value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRTrigger()
diff --git a/commandsv2/src/main/python/commands2/button/commandswitch2procontroller.py b/commandsv2/src/main/python/commands2/button/commandswitch2procontroller.py
new file mode 100644
index 0000000000..ac985477d6
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commandswitch2procontroller.py
@@ -0,0 +1,447 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, Switch2ProController
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandSwitch2ProController:
+    """
+    A version of :class:`wpilib.Switch2ProController` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: Switch2ProController
+
+    def __init__(self, hid: Union[int, Switch2ProController]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the Switch2ProController object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = Switch2ProController(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> Switch2ProController:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: Switch2ProController.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.Switch2ProController.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def b(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the B button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the B button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.B, loop)
+
+    def a(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the A button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the A button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.A, loop)
+
+    def y(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Y button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Y button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.Y, loop)
+
+    def x(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the X button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the X button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.X, loop)
+
+    def minus(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Minus button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Minus button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.MINUS, loop)
+
+    def home(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Home button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Home button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.HOME, loop)
+
+    def plus(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Plus button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Plus button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.PLUS, loop)
+
+    def leftStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.LEFT_STICK, loop)
+
+    def rightStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.RIGHT_STICK, loop)
+
+    def L(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.L, loop)
+
+    def R(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.R, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.DPAD_RIGHT, loop)
+
+    def capture(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Capture button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Capture button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.CAPTURE, loop)
+
+    def GR(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the GR button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the GR button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.GR, loop)
+
+    def GL(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the GL button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the GL button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.GL, loop)
+
+    def C(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the C button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the C button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(Switch2ProController.Button.C, loop)
+
+    def ZL(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the ZL axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the ZL axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            Switch2ProController.Axis.ZL,
+            threshold,
+            loop,
+        )
+
+    def ZR(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the ZR axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the ZR axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            Switch2ProController.Axis.ZR,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: Switch2ProController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.Switch2ProController.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: Switch2ProController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.Switch2ProController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: Switch2ProController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.Switch2ProController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: Switch2ProController.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.Switch2ProController.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getRightX(self) -> float:
+        """
+        Get the Right X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightX()
+
+    def getRightY(self) -> float:
+        """
+        Get the Right Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightY()
+
+    def getZL(self) -> float:
+        """
+        Get the ZL value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getZL()
+
+    def getZR(self) -> float:
+        """
+        Get the ZR value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getZR()
diff --git a/commandsv2/src/main/python/commands2/button/commandswitchn64controller.py b/commandsv2/src/main/python/commands2/button/commandswitchn64controller.py
new file mode 100644
index 0000000000..01538fa3a7
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commandswitchn64controller.py
@@ -0,0 +1,360 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, SwitchN64Controller
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandSwitchN64Controller:
+    """
+    A version of :class:`wpilib.SwitchN64Controller` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: SwitchN64Controller
+
+    def __init__(self, hid: Union[int, SwitchN64Controller]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the SwitchN64Controller object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = SwitchN64Controller(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> SwitchN64Controller:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: SwitchN64Controller.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.SwitchN64Controller.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def a(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the A button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the A button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.A, loop)
+
+    def b(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the B button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the B button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.B, loop)
+
+    def CLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the C Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the C Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.C_LEFT, loop)
+
+    def CUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the C Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the C Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.C_UP, loop)
+
+    def capture(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Capture button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Capture button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.CAPTURE, loop)
+
+    def home(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Home button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Home button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.HOME, loop)
+
+    def start(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Start button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Start button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.START, loop)
+
+    def CDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the C Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the C Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.C_DOWN, loop)
+
+    def L(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.L, loop)
+
+    def R(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.R, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.DPAD_RIGHT, loop)
+
+    def CRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the C Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the C Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchN64Controller.Button.C_RIGHT, loop)
+
+    def ZR(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the ZR axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the ZR axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            SwitchN64Controller.Axis.ZR,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: SwitchN64Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SwitchN64Controller.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: SwitchN64Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SwitchN64Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: SwitchN64Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SwitchN64Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: SwitchN64Controller.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.SwitchN64Controller.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getZAxis(self) -> float:
+        """
+        Get the Z Axis value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getZAxis()
+
+    def getZR(self) -> float:
+        """
+        Get the ZR value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getZR()
diff --git a/commandsv2/src/main/python/commands2/button/commandswitchprocontroller.py b/commandsv2/src/main/python/commands2/button/commandswitchprocontroller.py
new file mode 100644
index 0000000000..940c6f83be
--- /dev/null
+++ b/commandsv2/src/main/python/commands2/button/commandswitchprocontroller.py
@@ -0,0 +1,411 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, SwitchProController
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class CommandSwitchProController:
+    """
+    A version of :class:`wpilib.SwitchProController` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: SwitchProController
+
+    def __init__(self, hid: Union[int, SwitchProController]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the SwitchProController object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = SwitchProController(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> SwitchProController:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: SwitchProController.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.SwitchProController.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+
+    def b(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the B button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the B button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.B, loop)
+
+    def a(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the A button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the A button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.A, loop)
+
+    def y(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Y button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Y button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.Y, loop)
+
+    def x(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the X button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the X button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.X, loop)
+
+    def minus(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Minus button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Minus button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.MINUS, loop)
+
+    def home(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Home button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Home button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.HOME, loop)
+
+    def plus(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Plus button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Plus button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.PLUS, loop)
+
+    def leftStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Left Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Left Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.LEFT_STICK, loop)
+
+    def rightStick(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Right Stick button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Right Stick button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.RIGHT_STICK, loop)
+
+    def L(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the L button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the L button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.L, loop)
+
+    def R(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the R button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the R button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.R, loop)
+
+    def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Up button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Up button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.DPAD_UP, loop)
+
+    def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Down button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Down button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.DPAD_DOWN, loop)
+
+    def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Left button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Left button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.DPAD_LEFT, loop)
+
+    def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Dpad Right button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Dpad Right button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.DPAD_RIGHT, loop)
+
+    def capture(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the Capture button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the Capture button's digital signal
+                  attached to the given loop.
+        """
+        return self.button(SwitchProController.Button.CAPTURE, loop)
+
+    def ZL(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the ZL axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the ZL axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            SwitchProController.Axis.ZL,
+            threshold,
+            loop,
+        )
+
+    def ZR(
+        self,
+        threshold: float = 0.5,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the ZR axis value. The returned
+        Trigger will be true when the axis value is greater than ``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.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the ZR axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            SwitchProController.Axis.ZR,
+            threshold,
+            loop,
+        )
+
+    def axisLessThan(
+        self,
+        axis: SwitchProController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SwitchProController.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: SwitchProController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SwitchProController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: SwitchProController.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.SwitchProController.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: SwitchProController.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.SwitchProController.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+
+    def getLeftX(self) -> float:
+        """
+        Get the Left X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftX()
+
+    def getLeftY(self) -> float:
+        """
+        Get the Left Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getLeftY()
+
+    def getRightX(self) -> float:
+        """
+        Get the Right X value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightX()
+
+    def getRightY(self) -> float:
+        """
+        Get the Right Y value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getRightY()
+
+    def getZL(self) -> float:
+        """
+        Get the ZL value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getZL()
+
+    def getZR(self) -> float:
+        """
+        Get the ZR value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.getZR()
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandDualSenseEdgeController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandDualSenseEdgeController.java
new file mode 100644
index 0000000000..63a5ae098c
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandDualSenseEdgeController.java
@@ -0,0 +1,733 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.DualSenseEdgeController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link DualSenseEdgeController} with {@link Trigger} factories for command-based.
+ *
+ * @see DualSenseEdgeController
+ */
+@SuppressWarnings("MethodName")
+public class CommandDualSenseEdgeController {
+  private final CommandGenericHID m_hid;
+  private final DualSenseEdgeController m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandDualSenseEdgeController(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The DualSenseEdgeController object to use for this controller.
+   */
+  public CommandDualSenseEdgeController(DualSenseEdgeController controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandDualSenseEdgeController(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new DualSenseEdgeController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The DualSenseEdgeController object to use for this controller.
+   */
+  public CommandDualSenseEdgeController(Scheduler scheduler, DualSenseEdgeController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided DualSenseEdgeController cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public DualSenseEdgeController getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #cross(EventLoop)
+   */
+  public Trigger cross() {
+    return cross(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualSenseEdgeController.Button.CROSS.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #circle(EventLoop)
+   */
+  public Trigger circle() {
+    return circle(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualSenseEdgeController.Button.CIRCLE.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #square(EventLoop)
+   */
+  public Trigger square() {
+    return square(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualSenseEdgeController.Button.SQUARE.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #triangle(EventLoop)
+   */
+  public Trigger triangle() {
+    return triangle(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualSenseEdgeController.Button.TRIANGLE.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #create(EventLoop)
+   */
+  public Trigger create() {
+    return create(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualSenseEdgeController.Button.CREATE.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #PS(EventLoop)
+   */
+  public Trigger PS() {
+    return PS(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.PS.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #options(EventLoop)
+   */
+  public Trigger options() {
+    return options(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualSenseEdgeController.Button.OPTIONS.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L3(EventLoop)
+   */
+  public Trigger L3() {
+    return L3(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.L3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R3(EventLoop)
+   */
+  public Trigger R3() {
+    return R3(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.R3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L1(EventLoop)
+   */
+  public Trigger L1() {
+    return L1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.L1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R1(EventLoop)
+   */
+  public Trigger R1() {
+    return R1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.R1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Microphone button's digital signal.
+   *
+   * @return a Trigger instance representing the Microphone button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #microphone(EventLoop)
+   */
+  public Trigger microphone() {
+    return microphone(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Microphone button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Microphone button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger microphone(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.MICROPHONE.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightPaddle1(EventLoop)
+   */
+  public Trigger rightPaddle1() {
+    return rightPaddle1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightPaddle1(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.RIGHT_PADDLE_1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftPaddle1(EventLoop)
+   */
+  public Trigger leftPaddle1() {
+    return leftPaddle1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftPaddle1(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.LEFT_PADDLE_1.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #touchpad(EventLoop)
+   */
+  public Trigger touchpad() {
+    return touchpad(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualSenseEdgeController.Button.TOUCHPAD.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Function button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Function button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftFunction(EventLoop)
+   */
+  public Trigger leftFunction() {
+    return leftFunction(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Function button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Function button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftFunction(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.LEFT_FUNCTION.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Function button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Function button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightFunction(EventLoop)
+   */
+  public Trigger rightFunction() {
+    return rightFunction(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Function button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Function button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightFunction(EventLoop loop) {
+    return m_hid.button(DualSenseEdgeController.Button.RIGHT_FUNCTION.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger L2(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        DualSenseEdgeController.Axis.L2.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger L2(double threshold) {
+    return L2(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the L 2 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger L2() {
+    return L2(0.5);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger R2(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        DualSenseEdgeController.Axis.R2.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger R2(double threshold) {
+    return R2(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the R 2 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger R2() {
+    return R2(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getL2() {
+    return m_controller.getL2();
+  }
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getR2() {
+    return m_controller.getR2();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandDualShock4Controller.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandDualShock4Controller.java
new file mode 100644
index 0000000000..e3464b5a55
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandDualShock4Controller.java
@@ -0,0 +1,613 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.DualShock4Controller;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link DualShock4Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see DualShock4Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandDualShock4Controller {
+  private final CommandGenericHID m_hid;
+  private final DualShock4Controller m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandDualShock4Controller(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The DualShock4Controller object to use for this controller.
+   */
+  public CommandDualShock4Controller(DualShock4Controller controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandDualShock4Controller(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new DualShock4Controller(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The DualShock4Controller object to use for this controller.
+   */
+  public CommandDualShock4Controller(Scheduler scheduler, DualShock4Controller controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided DualShock4Controller cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public DualShock4Controller getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #cross(EventLoop)
+   */
+  public Trigger cross() {
+    return cross(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualShock4Controller.Button.CROSS.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #circle(EventLoop)
+   */
+  public Trigger circle() {
+    return circle(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualShock4Controller.Button.CIRCLE.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #square(EventLoop)
+   */
+  public Trigger square() {
+    return square(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualShock4Controller.Button.SQUARE.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #triangle(EventLoop)
+   */
+  public Trigger triangle() {
+    return triangle(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualShock4Controller.Button.TRIANGLE.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #share(EventLoop)
+   */
+  public Trigger share() {
+    return share(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualShock4Controller.Button.SHARE.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #PS(EventLoop)
+   */
+  public Trigger PS() {
+    return PS(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.PS.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #options(EventLoop)
+   */
+  public Trigger options() {
+    return options(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualShock4Controller.Button.OPTIONS.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L3(EventLoop)
+   */
+  public Trigger L3() {
+    return L3(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.L3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R3(EventLoop)
+   */
+  public Trigger R3() {
+    return R3(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.R3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L1(EventLoop)
+   */
+  public Trigger L1() {
+    return L1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.L1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R1(EventLoop)
+   */
+  public Trigger R1() {
+    return R1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.R1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(DualShock4Controller.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #touchpad(EventLoop)
+   */
+  public Trigger touchpad() {
+    return touchpad(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(DualShock4Controller.Button.TOUCHPAD.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger L2(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        DualShock4Controller.Axis.L2.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. 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 L 2 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger L2(double threshold) {
+    return L2(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the L 2 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger L2() {
+    return L2(0.5);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger R2(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        DualShock4Controller.Axis.R2.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. 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 R 2 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger R2(double threshold) {
+    return R2(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the R 2 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger R2() {
+    return R2(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getL2() {
+    return m_controller.getL2();
+  }
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getR2() {
+    return m_controller.getR2();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandGameCubeController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandGameCubeController.java
new file mode 100644
index 0000000000..c5b0e52571
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandGameCubeController.java
@@ -0,0 +1,517 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.GameCubeController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link GameCubeController} with {@link Trigger} factories for command-based.
+ *
+ * @see GameCubeController
+ */
+@SuppressWarnings("MethodName")
+public class CommandGameCubeController {
+  private final CommandGenericHID m_hid;
+  private final GameCubeController m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandGameCubeController(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The GameCubeController object to use for this controller.
+   */
+  public CommandGameCubeController(GameCubeController controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandGameCubeController(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new GameCubeController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The GameCubeController object to use for this controller.
+   */
+  public CommandGameCubeController(Scheduler scheduler, GameCubeController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided GameCubeController cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public GameCubeController getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(GameCubeController.Button.A.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(GameCubeController.Button.X.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(GameCubeController.Button.B.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(GameCubeController.Button.Y.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #start(EventLoop)
+   */
+  public Trigger start() {
+    return start(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(GameCubeController.Button.START.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #Z(EventLoop)
+   */
+  public Trigger Z() {
+    return Z(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger Z(EventLoop loop) {
+    return m_hid.button(GameCubeController.Button.Z.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(GameCubeController.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(GameCubeController.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(GameCubeController.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(GameCubeController.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return m_hid.button(GameCubeController.Button.L.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return m_hid.button(GameCubeController.Button.R.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger LTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        GameCubeController.Axis.L_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger LTrigger(double threshold) {
+    return LTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger LTrigger() {
+    return LTrigger(0.5);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger RTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        GameCubeController.Axis.R_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger RTrigger(double threshold) {
+    return RTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger RTrigger() {
+    return RTrigger(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickX() {
+    return m_controller.getCStickX();
+  }
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickY() {
+    return m_controller.getCStickY();
+  }
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLTrigger() {
+    return m_controller.getLTrigger();
+  }
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRTrigger() {
+    return m_controller.getRTrigger();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandLogitechF310Controller.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandLogitechF310Controller.java
new file mode 100644
index 0000000000..7d29f38588
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandLogitechF310Controller.java
@@ -0,0 +1,589 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.LogitechF310Controller;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link LogitechF310Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see LogitechF310Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandLogitechF310Controller {
+  private final CommandGenericHID m_hid;
+  private final LogitechF310Controller m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandLogitechF310Controller(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The LogitechF310Controller object to use for this controller.
+   */
+  public CommandLogitechF310Controller(LogitechF310Controller controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandLogitechF310Controller(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new LogitechF310Controller(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The LogitechF310Controller object to use for this controller.
+   */
+  public CommandLogitechF310Controller(Scheduler scheduler, LogitechF310Controller controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided LogitechF310Controller cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public LogitechF310Controller getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.A.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.B.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.X.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.Y.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #back(EventLoop)
+   */
+  public Trigger back() {
+    return back(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.BACK.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Logitech button's digital signal.
+   *
+   * @return a Trigger instance representing the Logitech button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #logitech(EventLoop)
+   */
+  public Trigger logitech() {
+    return logitech(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Logitech button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Logitech button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger logitech(EventLoop loop) {
+    return m_hid.button(LogitechF310Controller.Button.LOGITECH.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #start(EventLoop)
+   */
+  public Trigger start() {
+    return start(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.START.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.LEFT_STICK.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.RIGHT_STICK.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftBumper(EventLoop)
+   */
+  public Trigger leftBumper() {
+    return leftBumper(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.LEFT_BUMPER.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(LogitechF310Controller.Button.RIGHT_BUMPER.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(LogitechF310Controller.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(LogitechF310Controller.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(LogitechF310Controller.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(LogitechF310Controller.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger leftTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        LogitechF310Controller.Axis.LEFT_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger leftTrigger(double threshold) {
+    return leftTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * 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 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger rightTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        LogitechF310Controller.Axis.RIGHT_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger rightTrigger(double threshold) {
+    return rightTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * 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 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftTrigger() {
+    return m_controller.getLeftTrigger();
+  }
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightTrigger() {
+    return m_controller.getRightTrigger();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSteamController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSteamController.java
new file mode 100644
index 0000000000..ab95ce327a
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSteamController.java
@@ -0,0 +1,853 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.SteamController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link SteamController} with {@link Trigger} factories for command-based.
+ *
+ * @see SteamController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSteamController {
+  private final CommandGenericHID m_hid;
+  private final SteamController m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSteamController(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The SteamController object to use for this controller.
+   */
+  public CommandSteamController(SteamController controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSteamController(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new SteamController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The SteamController object to use for this controller.
+   */
+  public CommandSteamController(Scheduler scheduler, SteamController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided SteamController cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public SteamController getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.A.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.B.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.X.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.Y.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Menu button's digital signal.
+   *
+   * @return a Trigger instance representing the Menu button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #menu(EventLoop)
+   */
+  public Trigger menu() {
+    return menu(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Menu button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Menu button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger menu(EventLoop loop) {
+    return m_hid.button(SteamController.Button.MENU.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Steam button's digital signal.
+   *
+   * @return a Trigger instance representing the Steam button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #steam(EventLoop)
+   */
+  public Trigger steam() {
+    return steam(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Steam button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Steam button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger steam(EventLoop loop) {
+    return m_hid.button(SteamController.Button.STEAM.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the View button's digital signal.
+   *
+   * @return a Trigger instance representing the View button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #view(EventLoop)
+   */
+  public Trigger view() {
+    return view(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the View button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the View button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger view(EventLoop loop) {
+    return m_hid.button(SteamController.Button.VIEW.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.LEFT_STICK.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.RIGHT_STICK.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftBumper(EventLoop)
+   */
+  public Trigger leftBumper() {
+    return leftBumper(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.LEFT_BUMPER.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SteamController.Button.RIGHT_BUMPER.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(SteamController.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(SteamController.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(SteamController.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(SteamController.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the QAM button's digital signal.
+   *
+   * @return a Trigger instance representing the QAM button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #QAM(EventLoop)
+   */
+  public Trigger QAM() {
+    return QAM(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the QAM button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the QAM button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger QAM(EventLoop loop) {
+    return m_hid.button(SteamController.Button.QAM.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightPaddle1(EventLoop)
+   */
+  public Trigger rightPaddle1() {
+    return rightPaddle1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightPaddle1(EventLoop loop) {
+    return m_hid.button(SteamController.Button.RIGHT_PADDLE_1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftPaddle1(EventLoop)
+   */
+  public Trigger leftPaddle1() {
+    return leftPaddle1(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Paddle 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftPaddle1(EventLoop loop) {
+    return m_hid.button(SteamController.Button.LEFT_PADDLE_1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Paddle 2 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightPaddle2(EventLoop)
+   */
+  public Trigger rightPaddle2() {
+    return rightPaddle2(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Paddle 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Paddle 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightPaddle2(EventLoop loop) {
+    return m_hid.button(SteamController.Button.RIGHT_PADDLE_2.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Paddle 2 button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftPaddle2(EventLoop)
+   */
+  public Trigger leftPaddle2() {
+    return leftPaddle2(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Paddle 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Paddle 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftPaddle2(EventLoop loop) {
+    return m_hid.button(SteamController.Button.LEFT_PADDLE_2.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Touchpad button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Touchpad button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftTouchpad(EventLoop)
+   */
+  public Trigger leftTouchpad() {
+    return leftTouchpad(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Touchpad button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftTouchpad(EventLoop loop) {
+    return m_hid.button(SteamController.Button.LEFT_TOUCHPAD.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Touchpad button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Touchpad button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightTouchpad(EventLoop)
+   */
+  public Trigger rightTouchpad() {
+    return rightTouchpad(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Touchpad button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightTouchpad(EventLoop loop) {
+    return m_hid.button(SteamController.Button.RIGHT_TOUCHPAD.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Stick Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Stick Touch button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftStickTouch(EventLoop)
+   */
+  public Trigger leftStickTouch() {
+    return leftStickTouch(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Stick Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Stick Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftStickTouch(EventLoop loop) {
+    return m_hid.button(SteamController.Button.LEFT_STICK_TOUCH.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Stick Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Stick Touch button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightStickTouch(EventLoop)
+   */
+  public Trigger rightStickTouch() {
+    return rightStickTouch(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Stick Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Stick Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightStickTouch(EventLoop loop) {
+    return m_hid.button(SteamController.Button.RIGHT_STICK_TOUCH.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Grip Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Grip Touch button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftGripTouch(EventLoop)
+   */
+  public Trigger leftGripTouch() {
+    return leftGripTouch(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Grip Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Grip Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftGripTouch(EventLoop loop) {
+    return m_hid.button(SteamController.Button.LEFT_GRIP_TOUCH.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Grip Touch button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Grip Touch button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightGripTouch(EventLoop)
+   */
+  public Trigger rightGripTouch() {
+    return rightGripTouch(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Grip Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Grip Touch button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightGripTouch(EventLoop loop) {
+    return m_hid.button(SteamController.Button.RIGHT_GRIP_TOUCH.value, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger leftTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        SteamController.Axis.LEFT_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger leftTrigger(double threshold) {
+    return leftTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * 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 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  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 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger rightTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        SteamController.Axis.RIGHT_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * 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 axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger rightTrigger(double threshold) {
+    return rightTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * 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 axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftTrigger() {
+    return m_controller.getLeftTrigger();
+  }
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightTrigger() {
+    return m_controller.getRightTrigger();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitch2GCController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitch2GCController.java
new file mode 100644
index 0000000000..f543914528
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitch2GCController.java
@@ -0,0 +1,613 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.Switch2GCController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link Switch2GCController} with {@link Trigger} factories for command-based.
+ *
+ * @see Switch2GCController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitch2GCController {
+  private final CommandGenericHID m_hid;
+  private final Switch2GCController m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitch2GCController(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The Switch2GCController object to use for this controller.
+   */
+  public CommandSwitch2GCController(Switch2GCController controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitch2GCController(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new Switch2GCController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The Switch2GCController object to use for this controller.
+   */
+  public CommandSwitch2GCController(Scheduler scheduler, Switch2GCController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided Switch2GCController cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public Switch2GCController getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2GCController.Button.A.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2GCController.Button.X.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2GCController.Button.B.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2GCController.Button.Y.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.HOME.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #start(EventLoop)
+   */
+  public Trigger start() {
+    return start(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2GCController.Button.START.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the ZL button's digital signal.
+   *
+   * @return a Trigger instance representing the ZL button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #ZL(EventLoop)
+   */
+  public Trigger ZL() {
+    return ZL(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the ZL button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the ZL button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger ZL(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.ZL.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #Z(EventLoop)
+   */
+  public Trigger Z() {
+    return Z(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Z button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Z button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger Z(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.Z.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.CAPTURE.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #C(EventLoop)
+   */
+  public Trigger C() {
+    return C(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger C(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.C.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.L.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return m_hid.button(Switch2GCController.Button.R.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger LTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        Switch2GCController.Axis.L_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger LTrigger(double threshold) {
+    return LTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 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 L Trigger axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger LTrigger() {
+    return LTrigger(0.5);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger RTrigger(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        Switch2GCController.Axis.R_TRIGGER.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger RTrigger(double threshold) {
+    return RTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 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 R Trigger axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger RTrigger() {
+    return RTrigger(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickX() {
+    return m_controller.getCStickX();
+  }
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickY() {
+    return m_controller.getCStickY();
+  }
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLTrigger() {
+    return m_controller.getLTrigger();
+  }
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRTrigger() {
+    return m_controller.getRTrigger();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitch2ProController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitch2ProController.java
new file mode 100644
index 0000000000..7bd9c1d4bb
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitch2ProController.java
@@ -0,0 +1,685 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.Switch2ProController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link Switch2ProController} with {@link Trigger} factories for command-based.
+ *
+ * @see Switch2ProController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitch2ProController {
+  private final CommandGenericHID m_hid;
+  private final Switch2ProController m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitch2ProController(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The Switch2ProController object to use for this controller.
+   */
+  public CommandSwitch2ProController(Switch2ProController controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitch2ProController(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new Switch2ProController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The Switch2ProController object to use for this controller.
+   */
+  public CommandSwitch2ProController(Scheduler scheduler, Switch2ProController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided Switch2ProController cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public Switch2ProController getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2ProController.Button.B.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2ProController.Button.A.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2ProController.Button.Y.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2ProController.Button.X.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #minus(EventLoop)
+   */
+  public Trigger minus() {
+    return minus(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger minus(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.MINUS.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.HOME.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #plus(EventLoop)
+   */
+  public Trigger plus() {
+    return plus(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger plus(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.PLUS.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2ProController.Button.LEFT_STICK.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(Switch2ProController.Button.RIGHT_STICK.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.L.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.R.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.CAPTURE.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the GR button's digital signal.
+   *
+   * @return a Trigger instance representing the GR button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #GR(EventLoop)
+   */
+  public Trigger GR() {
+    return GR(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the GR button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the GR button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger GR(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.GR.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the GL button's digital signal.
+   *
+   * @return a Trigger instance representing the GL button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #GL(EventLoop)
+   */
+  public Trigger GL() {
+    return GL(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the GL button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the GL button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger GL(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.GL.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #C(EventLoop)
+   */
+  public Trigger C() {
+    return C(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger C(EventLoop loop) {
+    return m_hid.button(Switch2ProController.Button.C.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZL(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        Switch2ProController.Axis.ZL.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZL(double threshold) {
+    return ZL(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZL axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZL() {
+    return ZL(0.5);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZR(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        Switch2ProController.Axis.ZR.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZR(double threshold) {
+    return ZR(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZR axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZR() {
+    return ZR(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZL() {
+    return m_controller.getZL();
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return m_controller.getZR();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitchN64Controller.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitchN64Controller.java
new file mode 100644
index 0000000000..28be9e6c49
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitchN64Controller.java
@@ -0,0 +1,527 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.SwitchN64Controller;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link SwitchN64Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see SwitchN64Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitchN64Controller {
+  private final CommandGenericHID m_hid;
+  private final SwitchN64Controller m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitchN64Controller(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The SwitchN64Controller object to use for this controller.
+   */
+  public CommandSwitchN64Controller(SwitchN64Controller controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitchN64Controller(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new SwitchN64Controller(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The SwitchN64Controller object to use for this controller.
+   */
+  public CommandSwitchN64Controller(Scheduler scheduler, SwitchN64Controller controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided SwitchN64Controller cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public SwitchN64Controller getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchN64Controller.Button.A.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchN64Controller.Button.B.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Left button's digital signal.
+   *
+   * @return a Trigger instance representing the C Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #CLeft(EventLoop)
+   */
+  public Trigger CLeft() {
+    return CLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CLeft(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.C_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Up button's digital signal.
+   *
+   * @return a Trigger instance representing the C Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #CUp(EventLoop)
+   */
+  public Trigger CUp() {
+    return CUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CUp(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.C_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.CAPTURE.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.HOME.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #start(EventLoop)
+   */
+  public Trigger start() {
+    return start(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchN64Controller.Button.START.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Down button's digital signal.
+   *
+   * @return a Trigger instance representing the C Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #CDown(EventLoop)
+   */
+  public Trigger CDown() {
+    return CDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CDown(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.C_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.L.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.R.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Right button's digital signal.
+   *
+   * @return a Trigger instance representing the C Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #CRight(EventLoop)
+   */
+  public Trigger CRight() {
+    return CRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the C Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the C Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger CRight(EventLoop loop) {
+    return m_hid.button(SwitchN64Controller.Button.C_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZR(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        SwitchN64Controller.Axis.ZR.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZR(double threshold) {
+    return ZR(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZR axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZR() {
+    return ZR(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Z Axis value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZAxis() {
+    return m_controller.getZAxis();
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return m_controller.getZR();
+  }
+}
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitchProController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitchProController.java
new file mode 100644
index 0000000000..ecd2ba0afa
--- /dev/null
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandSwitchProController.java
@@ -0,0 +1,613 @@
+// 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 ./commandsv3/generate_files.py. DO NOT MODIFY
+
+package org.wpilib.command3.button;
+
+import java.util.Objects;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.command3.Trigger;
+import org.wpilib.driverstation.SwitchProController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link SwitchProController} with {@link Trigger} factories for command-based.
+ *
+ * @see SwitchProController
+ */
+@SuppressWarnings("MethodName")
+public class CommandSwitchProController {
+  private final CommandGenericHID m_hid;
+  private final SwitchProController m_controller;
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitchProController(int port) {
+    this(Scheduler.getDefault(), port);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
+   *
+   * @param controller The SwitchProController object to use for this controller.
+   */
+  public CommandSwitchProController(SwitchProController controller) {
+    this(Scheduler.getDefault(), controller);
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandSwitchProController(Scheduler scheduler, int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(scheduler, port);
+    m_controller = new SwitchProController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller. Commands bound to buttons on the controller will be
+   * scheduled on the given scheduler using its default event loop.
+   *
+   * @param scheduler The scheduler that should execute the triggered commands.
+   * @param controller The SwitchProController object to use for this controller.
+   */
+  public CommandSwitchProController(Scheduler scheduler, SwitchProController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided SwitchProController cannot be null");
+    m_hid = new CommandGenericHID(scheduler, m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public SwitchProController getController() {
+    return m_controller;
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchProController.Button.B.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchProController.Button.A.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchProController.Button.Y.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchProController.Button.X.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #minus(EventLoop)
+   */
+  public Trigger minus() {
+    return minus(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Minus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Minus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger minus(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.MINUS.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #home(EventLoop)
+   */
+  public Trigger home() {
+    return home(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Home button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger home(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.HOME.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #plus(EventLoop)
+   */
+  public Trigger plus() {
+    return plus(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Plus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Plus button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger plus(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.PLUS.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchProController.Button.LEFT_STICK.value, loop);
+  }
+
+  /**
+   * 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 Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * 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.button(SwitchProController.Button.RIGHT_STICK.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #L(EventLoop)
+   */
+  public Trigger L() {
+    return L(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.L.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #R(EventLoop)
+   */
+  public Trigger R() {
+    return R(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.R.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.DPAD_UP.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.DPAD_DOWN.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.DPAD_LEFT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.DPAD_RIGHT.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   * @see #capture(EventLoop)
+   */
+  public Trigger capture() {
+    return capture(m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Capture button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger capture(EventLoop loop) {
+    return m_hid.button(SwitchProController.Button.CAPTURE.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZL(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        SwitchProController.Axis.ZL.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. 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 ZL axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZL(double threshold) {
+    return ZL(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZL. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZL axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZL() {
+    return ZL(0.5);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger ZR(double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(
+        SwitchProController.Axis.ZR.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. 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 ZR axis exceeds the provided
+   *     threshold, attached to the {@link Scheduler#getDefaultEventLoop() default scheduler event
+   *     loop} on the scheduler passed to the controller's constructor, or the {@link
+   *     Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZR(double threshold) {
+    return ZR(threshold, m_hid.getScheduler().getDefaultEventLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the ZR. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the ZR axis exceeds 0.5, attached to
+   *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the
+   *     scheduler passed to the controller's constructor, or the {@link Scheduler#getDefault
+   *     default scheduler} if a scheduler was not explicitly provided.
+   */
+  public Trigger ZR() {
+    return ZR(0.5);
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZL() {
+    return m_controller.getZL();
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return m_controller.getZR();
+  }
+}
diff --git a/wpilibc/robotpy_pybind_build_info.bzl b/wpilibc/robotpy_pybind_build_info.bzl
index 9549542acd..44b0417830 100644
--- a/wpilibc/robotpy_pybind_build_info.bzl
+++ b/wpilibc/robotpy_pybind_build_info.bzl
@@ -241,6 +241,26 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
                 ("wpi::Joystick", "wpi__Joystick.hpp"),
             ],
         ),
+        struct(
+            class_name = "GameCubeController",
+            yml_file = "semiwrap/GameCubeController.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/GameCubeController.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::GameCubeController", "wpi__GameCubeController.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "DualSenseEdgeController",
+            yml_file = "semiwrap/DualSenseEdgeController.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/DualSenseEdgeController.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::DualSenseEdgeController", "wpi__DualSenseEdgeController.hpp"),
+            ],
+        ),
         struct(
             class_name = "DualSenseController",
             yml_file = "semiwrap/DualSenseController.yml",
@@ -251,6 +271,76 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
                 ("wpi::DualSenseController", "wpi__DualSenseController.hpp"),
             ],
         ),
+        struct(
+            class_name = "DualShock4Controller",
+            yml_file = "semiwrap/DualShock4Controller.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/DualShock4Controller.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::DualShock4Controller", "wpi__DualShock4Controller.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "LogitechF310Controller",
+            yml_file = "semiwrap/LogitechF310Controller.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/LogitechF310Controller.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::LogitechF310Controller", "wpi__LogitechF310Controller.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "SteamController",
+            yml_file = "semiwrap/SteamController.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/SteamController.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::SteamController", "wpi__SteamController.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "Switch2GCController",
+            yml_file = "semiwrap/Switch2GCController.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/Switch2GCController.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::Switch2GCController", "wpi__Switch2GCController.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "Switch2ProController",
+            yml_file = "semiwrap/Switch2ProController.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/Switch2ProController.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::Switch2ProController", "wpi__Switch2ProController.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "SwitchN64Controller",
+            yml_file = "semiwrap/SwitchN64Controller.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/SwitchN64Controller.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::SwitchN64Controller", "wpi__SwitchN64Controller.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "SwitchProController",
+            yml_file = "semiwrap/SwitchProController.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/SwitchProController.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::SwitchProController", "wpi__SwitchProController.hpp"),
+            ],
+        ),
         struct(
             class_name = "XboxController",
             yml_file = "semiwrap/XboxController.yml",
@@ -1480,6 +1570,26 @@ def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs =
                 ("wpi::sim::LinearSystemSim", "wpi__sim__LinearSystemSim.hpp"),
             ],
         ),
+        struct(
+            class_name = "GameCubeControllerSim",
+            yml_file = "semiwrap/simulation/GameCubeControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/GameCubeControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::GameCubeControllerSim", "wpi__sim__GameCubeControllerSim.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "DualSenseEdgeControllerSim",
+            yml_file = "semiwrap/simulation/DualSenseEdgeControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/DualSenseEdgeControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::DualSenseEdgeControllerSim", "wpi__sim__DualSenseEdgeControllerSim.hpp"),
+            ],
+        ),
         struct(
             class_name = "DualSenseControllerSim",
             yml_file = "semiwrap/simulation/DualSenseControllerSim.yml",
@@ -1490,6 +1600,76 @@ def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs =
                 ("wpi::sim::DualSenseControllerSim", "wpi__sim__DualSenseControllerSim.hpp"),
             ],
         ),
+        struct(
+            class_name = "DualShock4ControllerSim",
+            yml_file = "semiwrap/simulation/DualShock4ControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/DualShock4ControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::DualShock4ControllerSim", "wpi__sim__DualShock4ControllerSim.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "LogitechF310ControllerSim",
+            yml_file = "semiwrap/simulation/LogitechF310ControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/LogitechF310ControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::LogitechF310ControllerSim", "wpi__sim__LogitechF310ControllerSim.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "SteamControllerSim",
+            yml_file = "semiwrap/simulation/SteamControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/SteamControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::SteamControllerSim", "wpi__sim__SteamControllerSim.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "Switch2GCControllerSim",
+            yml_file = "semiwrap/simulation/Switch2GCControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/Switch2GCControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::Switch2GCControllerSim", "wpi__sim__Switch2GCControllerSim.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "Switch2ProControllerSim",
+            yml_file = "semiwrap/simulation/Switch2ProControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/Switch2ProControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::Switch2ProControllerSim", "wpi__sim__Switch2ProControllerSim.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "SwitchN64ControllerSim",
+            yml_file = "semiwrap/simulation/SwitchN64ControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/SwitchN64ControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::SwitchN64ControllerSim", "wpi__sim__SwitchN64ControllerSim.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "SwitchProControllerSim",
+            yml_file = "semiwrap/simulation/SwitchProControllerSim.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/SwitchProControllerSim.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::sim::SwitchProControllerSim", "wpi__sim__SwitchProControllerSim.hpp"),
+            ],
+        ),
         struct(
             class_name = "XboxControllerSim",
             yml_file = "semiwrap/simulation/XboxControllerSim.yml",
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/DualSenseEdgeController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/DualSenseEdgeController.cpp
new file mode 100644
index 0000000000..eff9945173
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/DualSenseEdgeController.cpp
@@ -0,0 +1,479 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/DualSenseEdgeController.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+DualSenseEdgeController::DualSenseEdgeController(int port)
+    : DualSenseEdgeController{DriverStation::GetGenericHID(port)} {}
+
+DualSenseEdgeController::DualSenseEdgeController(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "DualSenseEdgeController");
+}
+
+GenericHID& DualSenseEdgeController::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& DualSenseEdgeController::GetHID() const {
+  return *m_hid;
+}
+
+int DualSenseEdgeController::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool DualSenseEdgeController::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double DualSenseEdgeController::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double DualSenseEdgeController::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double DualSenseEdgeController::GetRightX() const {
+  return GetAxis(Axis::RIGHT_X);
+}
+
+double DualSenseEdgeController::GetRightY() const {
+  return GetAxis(Axis::RIGHT_Y);
+}
+
+double DualSenseEdgeController::GetL2() const {
+  return GetAxis(Axis::L2);
+}
+
+double DualSenseEdgeController::GetR2() const {
+  return GetAxis(Axis::R2);
+}
+
+double DualSenseEdgeController::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent DualSenseEdgeController::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent DualSenseEdgeController::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool DualSenseEdgeController::GetCrossButton() const {
+  return GetButton(Button::CROSS);
+}
+
+bool DualSenseEdgeController::GetCrossButtonPressed() {
+  return GetButtonPressed(Button::CROSS);
+}
+
+bool DualSenseEdgeController::GetCrossButtonReleased() {
+  return GetButtonReleased(Button::CROSS);
+}
+
+BooleanEvent DualSenseEdgeController::Cross(EventLoop* loop) const {
+  return ButtonEvent(Button::CROSS, loop);
+}
+
+bool DualSenseEdgeController::GetCircleButton() const {
+  return GetButton(Button::CIRCLE);
+}
+
+bool DualSenseEdgeController::GetCircleButtonPressed() {
+  return GetButtonPressed(Button::CIRCLE);
+}
+
+bool DualSenseEdgeController::GetCircleButtonReleased() {
+  return GetButtonReleased(Button::CIRCLE);
+}
+
+BooleanEvent DualSenseEdgeController::Circle(EventLoop* loop) const {
+  return ButtonEvent(Button::CIRCLE, loop);
+}
+
+bool DualSenseEdgeController::GetSquareButton() const {
+  return GetButton(Button::SQUARE);
+}
+
+bool DualSenseEdgeController::GetSquareButtonPressed() {
+  return GetButtonPressed(Button::SQUARE);
+}
+
+bool DualSenseEdgeController::GetSquareButtonReleased() {
+  return GetButtonReleased(Button::SQUARE);
+}
+
+BooleanEvent DualSenseEdgeController::Square(EventLoop* loop) const {
+  return ButtonEvent(Button::SQUARE, loop);
+}
+
+bool DualSenseEdgeController::GetTriangleButton() const {
+  return GetButton(Button::TRIANGLE);
+}
+
+bool DualSenseEdgeController::GetTriangleButtonPressed() {
+  return GetButtonPressed(Button::TRIANGLE);
+}
+
+bool DualSenseEdgeController::GetTriangleButtonReleased() {
+  return GetButtonReleased(Button::TRIANGLE);
+}
+
+BooleanEvent DualSenseEdgeController::Triangle(EventLoop* loop) const {
+  return ButtonEvent(Button::TRIANGLE, loop);
+}
+
+bool DualSenseEdgeController::GetCreateButton() const {
+  return GetButton(Button::CREATE);
+}
+
+bool DualSenseEdgeController::GetCreateButtonPressed() {
+  return GetButtonPressed(Button::CREATE);
+}
+
+bool DualSenseEdgeController::GetCreateButtonReleased() {
+  return GetButtonReleased(Button::CREATE);
+}
+
+BooleanEvent DualSenseEdgeController::Create(EventLoop* loop) const {
+  return ButtonEvent(Button::CREATE, loop);
+}
+
+bool DualSenseEdgeController::GetPSButton() const {
+  return GetButton(Button::PS);
+}
+
+bool DualSenseEdgeController::GetPSButtonPressed() {
+  return GetButtonPressed(Button::PS);
+}
+
+bool DualSenseEdgeController::GetPSButtonReleased() {
+  return GetButtonReleased(Button::PS);
+}
+
+BooleanEvent DualSenseEdgeController::PS(EventLoop* loop) const {
+  return ButtonEvent(Button::PS, loop);
+}
+
+bool DualSenseEdgeController::GetOptionsButton() const {
+  return GetButton(Button::OPTIONS);
+}
+
+bool DualSenseEdgeController::GetOptionsButtonPressed() {
+  return GetButtonPressed(Button::OPTIONS);
+}
+
+bool DualSenseEdgeController::GetOptionsButtonReleased() {
+  return GetButtonReleased(Button::OPTIONS);
+}
+
+BooleanEvent DualSenseEdgeController::Options(EventLoop* loop) const {
+  return ButtonEvent(Button::OPTIONS, loop);
+}
+
+bool DualSenseEdgeController::GetL3Button() const {
+  return GetButton(Button::L3);
+}
+
+bool DualSenseEdgeController::GetL3ButtonPressed() {
+  return GetButtonPressed(Button::L3);
+}
+
+bool DualSenseEdgeController::GetL3ButtonReleased() {
+  return GetButtonReleased(Button::L3);
+}
+
+BooleanEvent DualSenseEdgeController::L3(EventLoop* loop) const {
+  return ButtonEvent(Button::L3, loop);
+}
+
+bool DualSenseEdgeController::GetR3Button() const {
+  return GetButton(Button::R3);
+}
+
+bool DualSenseEdgeController::GetR3ButtonPressed() {
+  return GetButtonPressed(Button::R3);
+}
+
+bool DualSenseEdgeController::GetR3ButtonReleased() {
+  return GetButtonReleased(Button::R3);
+}
+
+BooleanEvent DualSenseEdgeController::R3(EventLoop* loop) const {
+  return ButtonEvent(Button::R3, loop);
+}
+
+bool DualSenseEdgeController::GetL1Button() const {
+  return GetButton(Button::L1);
+}
+
+bool DualSenseEdgeController::GetL1ButtonPressed() {
+  return GetButtonPressed(Button::L1);
+}
+
+bool DualSenseEdgeController::GetL1ButtonReleased() {
+  return GetButtonReleased(Button::L1);
+}
+
+BooleanEvent DualSenseEdgeController::L1(EventLoop* loop) const {
+  return ButtonEvent(Button::L1, loop);
+}
+
+bool DualSenseEdgeController::GetR1Button() const {
+  return GetButton(Button::R1);
+}
+
+bool DualSenseEdgeController::GetR1ButtonPressed() {
+  return GetButtonPressed(Button::R1);
+}
+
+bool DualSenseEdgeController::GetR1ButtonReleased() {
+  return GetButtonReleased(Button::R1);
+}
+
+BooleanEvent DualSenseEdgeController::R1(EventLoop* loop) const {
+  return ButtonEvent(Button::R1, loop);
+}
+
+bool DualSenseEdgeController::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool DualSenseEdgeController::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool DualSenseEdgeController::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent DualSenseEdgeController::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool DualSenseEdgeController::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool DualSenseEdgeController::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool DualSenseEdgeController::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent DualSenseEdgeController::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool DualSenseEdgeController::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool DualSenseEdgeController::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool DualSenseEdgeController::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent DualSenseEdgeController::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool DualSenseEdgeController::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool DualSenseEdgeController::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool DualSenseEdgeController::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent DualSenseEdgeController::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool DualSenseEdgeController::GetMicrophoneButton() const {
+  return GetButton(Button::MICROPHONE);
+}
+
+bool DualSenseEdgeController::GetMicrophoneButtonPressed() {
+  return GetButtonPressed(Button::MICROPHONE);
+}
+
+bool DualSenseEdgeController::GetMicrophoneButtonReleased() {
+  return GetButtonReleased(Button::MICROPHONE);
+}
+
+BooleanEvent DualSenseEdgeController::Microphone(EventLoop* loop) const {
+  return ButtonEvent(Button::MICROPHONE, loop);
+}
+
+bool DualSenseEdgeController::GetRightPaddle1Button() const {
+  return GetButton(Button::RIGHT_PADDLE_1);
+}
+
+bool DualSenseEdgeController::GetRightPaddle1ButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_PADDLE_1);
+}
+
+bool DualSenseEdgeController::GetRightPaddle1ButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_PADDLE_1);
+}
+
+BooleanEvent DualSenseEdgeController::RightPaddle1(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_PADDLE_1, loop);
+}
+
+bool DualSenseEdgeController::GetLeftPaddle1Button() const {
+  return GetButton(Button::LEFT_PADDLE_1);
+}
+
+bool DualSenseEdgeController::GetLeftPaddle1ButtonPressed() {
+  return GetButtonPressed(Button::LEFT_PADDLE_1);
+}
+
+bool DualSenseEdgeController::GetLeftPaddle1ButtonReleased() {
+  return GetButtonReleased(Button::LEFT_PADDLE_1);
+}
+
+BooleanEvent DualSenseEdgeController::LeftPaddle1(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_PADDLE_1, loop);
+}
+
+bool DualSenseEdgeController::GetTouchpadButton() const {
+  return GetButton(Button::TOUCHPAD);
+}
+
+bool DualSenseEdgeController::GetTouchpadButtonPressed() {
+  return GetButtonPressed(Button::TOUCHPAD);
+}
+
+bool DualSenseEdgeController::GetTouchpadButtonReleased() {
+  return GetButtonReleased(Button::TOUCHPAD);
+}
+
+BooleanEvent DualSenseEdgeController::Touchpad(EventLoop* loop) const {
+  return ButtonEvent(Button::TOUCHPAD, loop);
+}
+
+bool DualSenseEdgeController::GetLeftFunctionButton() const {
+  return GetButton(Button::LEFT_FUNCTION);
+}
+
+bool DualSenseEdgeController::GetLeftFunctionButtonPressed() {
+  return GetButtonPressed(Button::LEFT_FUNCTION);
+}
+
+bool DualSenseEdgeController::GetLeftFunctionButtonReleased() {
+  return GetButtonReleased(Button::LEFT_FUNCTION);
+}
+
+BooleanEvent DualSenseEdgeController::LeftFunction(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_FUNCTION, loop);
+}
+
+bool DualSenseEdgeController::GetRightFunctionButton() const {
+  return GetButton(Button::RIGHT_FUNCTION);
+}
+
+bool DualSenseEdgeController::GetRightFunctionButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_FUNCTION);
+}
+
+bool DualSenseEdgeController::GetRightFunctionButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_FUNCTION);
+}
+
+BooleanEvent DualSenseEdgeController::RightFunction(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_FUNCTION, loop);
+}
+
+bool DualSenseEdgeController::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool DualSenseEdgeController::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool DualSenseEdgeController::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent DualSenseEdgeController::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void DualSenseEdgeController::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void DualSenseEdgeController::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+bool DualSenseEdgeController::GetTouchpadFingerAvailable(int finger) const {
+  return m_hid->GetTouchpadFingerAvailable(0, finger);
+}
+
+TouchpadFinger DualSenseEdgeController::GetTouchpadFinger(int finger) const {
+  return m_hid->GetTouchpadFinger(0, finger);
+}
+
+
+void DualSenseEdgeController::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "DualSenseEdge");
+  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.AddDoubleProperty("L2", [this] { return GetL2(); }, nullptr);
+  builder.AddDoubleProperty("R2", [this] { return GetR2(); }, nullptr);
+  builder.AddBooleanProperty("Cross", [this] { return GetCrossButton(); }, nullptr);
+  builder.AddBooleanProperty("Circle", [this] { return GetCircleButton(); }, nullptr);
+  builder.AddBooleanProperty("Square", [this] { return GetSquareButton(); }, nullptr);
+  builder.AddBooleanProperty("Triangle", [this] { return GetTriangleButton(); }, nullptr);
+  builder.AddBooleanProperty("Create", [this] { return GetCreateButton(); }, nullptr);
+  builder.AddBooleanProperty("PS", [this] { return GetPSButton(); }, nullptr);
+  builder.AddBooleanProperty("Options", [this] { return GetOptionsButton(); }, nullptr);
+  builder.AddBooleanProperty("L3", [this] { return GetL3Button(); }, nullptr);
+  builder.AddBooleanProperty("R3", [this] { return GetR3Button(); }, nullptr);
+  builder.AddBooleanProperty("L1", [this] { return GetL1Button(); }, nullptr);
+  builder.AddBooleanProperty("R1", [this] { return GetR1Button(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("Microphone", [this] { return GetMicrophoneButton(); }, nullptr);
+  builder.AddBooleanProperty("RightPaddle1", [this] { return GetRightPaddle1Button(); }, nullptr);
+  builder.AddBooleanProperty("LeftPaddle1", [this] { return GetLeftPaddle1Button(); }, nullptr);
+  builder.AddBooleanProperty("Touchpad", [this] { return GetTouchpadButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftFunction", [this] { return GetLeftFunctionButton(); }, nullptr);
+  builder.AddBooleanProperty("RightFunction", [this] { return GetRightFunctionButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/DualShock4Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/DualShock4Controller.cpp
new file mode 100644
index 0000000000..919612452d
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/DualShock4Controller.cpp
@@ -0,0 +1,394 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/DualShock4Controller.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+DualShock4Controller::DualShock4Controller(int port)
+    : DualShock4Controller{DriverStation::GetGenericHID(port)} {}
+
+DualShock4Controller::DualShock4Controller(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "DualShock4Controller");
+}
+
+GenericHID& DualShock4Controller::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& DualShock4Controller::GetHID() const {
+  return *m_hid;
+}
+
+int DualShock4Controller::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool DualShock4Controller::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double DualShock4Controller::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double DualShock4Controller::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double DualShock4Controller::GetRightX() const {
+  return GetAxis(Axis::RIGHT_X);
+}
+
+double DualShock4Controller::GetRightY() const {
+  return GetAxis(Axis::RIGHT_Y);
+}
+
+double DualShock4Controller::GetL2() const {
+  return GetAxis(Axis::L2);
+}
+
+double DualShock4Controller::GetR2() const {
+  return GetAxis(Axis::R2);
+}
+
+double DualShock4Controller::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent DualShock4Controller::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent DualShock4Controller::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool DualShock4Controller::GetCrossButton() const {
+  return GetButton(Button::CROSS);
+}
+
+bool DualShock4Controller::GetCrossButtonPressed() {
+  return GetButtonPressed(Button::CROSS);
+}
+
+bool DualShock4Controller::GetCrossButtonReleased() {
+  return GetButtonReleased(Button::CROSS);
+}
+
+BooleanEvent DualShock4Controller::Cross(EventLoop* loop) const {
+  return ButtonEvent(Button::CROSS, loop);
+}
+
+bool DualShock4Controller::GetCircleButton() const {
+  return GetButton(Button::CIRCLE);
+}
+
+bool DualShock4Controller::GetCircleButtonPressed() {
+  return GetButtonPressed(Button::CIRCLE);
+}
+
+bool DualShock4Controller::GetCircleButtonReleased() {
+  return GetButtonReleased(Button::CIRCLE);
+}
+
+BooleanEvent DualShock4Controller::Circle(EventLoop* loop) const {
+  return ButtonEvent(Button::CIRCLE, loop);
+}
+
+bool DualShock4Controller::GetSquareButton() const {
+  return GetButton(Button::SQUARE);
+}
+
+bool DualShock4Controller::GetSquareButtonPressed() {
+  return GetButtonPressed(Button::SQUARE);
+}
+
+bool DualShock4Controller::GetSquareButtonReleased() {
+  return GetButtonReleased(Button::SQUARE);
+}
+
+BooleanEvent DualShock4Controller::Square(EventLoop* loop) const {
+  return ButtonEvent(Button::SQUARE, loop);
+}
+
+bool DualShock4Controller::GetTriangleButton() const {
+  return GetButton(Button::TRIANGLE);
+}
+
+bool DualShock4Controller::GetTriangleButtonPressed() {
+  return GetButtonPressed(Button::TRIANGLE);
+}
+
+bool DualShock4Controller::GetTriangleButtonReleased() {
+  return GetButtonReleased(Button::TRIANGLE);
+}
+
+BooleanEvent DualShock4Controller::Triangle(EventLoop* loop) const {
+  return ButtonEvent(Button::TRIANGLE, loop);
+}
+
+bool DualShock4Controller::GetShareButton() const {
+  return GetButton(Button::SHARE);
+}
+
+bool DualShock4Controller::GetShareButtonPressed() {
+  return GetButtonPressed(Button::SHARE);
+}
+
+bool DualShock4Controller::GetShareButtonReleased() {
+  return GetButtonReleased(Button::SHARE);
+}
+
+BooleanEvent DualShock4Controller::Share(EventLoop* loop) const {
+  return ButtonEvent(Button::SHARE, loop);
+}
+
+bool DualShock4Controller::GetPSButton() const {
+  return GetButton(Button::PS);
+}
+
+bool DualShock4Controller::GetPSButtonPressed() {
+  return GetButtonPressed(Button::PS);
+}
+
+bool DualShock4Controller::GetPSButtonReleased() {
+  return GetButtonReleased(Button::PS);
+}
+
+BooleanEvent DualShock4Controller::PS(EventLoop* loop) const {
+  return ButtonEvent(Button::PS, loop);
+}
+
+bool DualShock4Controller::GetOptionsButton() const {
+  return GetButton(Button::OPTIONS);
+}
+
+bool DualShock4Controller::GetOptionsButtonPressed() {
+  return GetButtonPressed(Button::OPTIONS);
+}
+
+bool DualShock4Controller::GetOptionsButtonReleased() {
+  return GetButtonReleased(Button::OPTIONS);
+}
+
+BooleanEvent DualShock4Controller::Options(EventLoop* loop) const {
+  return ButtonEvent(Button::OPTIONS, loop);
+}
+
+bool DualShock4Controller::GetL3Button() const {
+  return GetButton(Button::L3);
+}
+
+bool DualShock4Controller::GetL3ButtonPressed() {
+  return GetButtonPressed(Button::L3);
+}
+
+bool DualShock4Controller::GetL3ButtonReleased() {
+  return GetButtonReleased(Button::L3);
+}
+
+BooleanEvent DualShock4Controller::L3(EventLoop* loop) const {
+  return ButtonEvent(Button::L3, loop);
+}
+
+bool DualShock4Controller::GetR3Button() const {
+  return GetButton(Button::R3);
+}
+
+bool DualShock4Controller::GetR3ButtonPressed() {
+  return GetButtonPressed(Button::R3);
+}
+
+bool DualShock4Controller::GetR3ButtonReleased() {
+  return GetButtonReleased(Button::R3);
+}
+
+BooleanEvent DualShock4Controller::R3(EventLoop* loop) const {
+  return ButtonEvent(Button::R3, loop);
+}
+
+bool DualShock4Controller::GetL1Button() const {
+  return GetButton(Button::L1);
+}
+
+bool DualShock4Controller::GetL1ButtonPressed() {
+  return GetButtonPressed(Button::L1);
+}
+
+bool DualShock4Controller::GetL1ButtonReleased() {
+  return GetButtonReleased(Button::L1);
+}
+
+BooleanEvent DualShock4Controller::L1(EventLoop* loop) const {
+  return ButtonEvent(Button::L1, loop);
+}
+
+bool DualShock4Controller::GetR1Button() const {
+  return GetButton(Button::R1);
+}
+
+bool DualShock4Controller::GetR1ButtonPressed() {
+  return GetButtonPressed(Button::R1);
+}
+
+bool DualShock4Controller::GetR1ButtonReleased() {
+  return GetButtonReleased(Button::R1);
+}
+
+BooleanEvent DualShock4Controller::R1(EventLoop* loop) const {
+  return ButtonEvent(Button::R1, loop);
+}
+
+bool DualShock4Controller::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool DualShock4Controller::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool DualShock4Controller::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent DualShock4Controller::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool DualShock4Controller::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool DualShock4Controller::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool DualShock4Controller::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent DualShock4Controller::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool DualShock4Controller::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool DualShock4Controller::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool DualShock4Controller::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent DualShock4Controller::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool DualShock4Controller::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool DualShock4Controller::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool DualShock4Controller::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent DualShock4Controller::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool DualShock4Controller::GetTouchpadButton() const {
+  return GetButton(Button::TOUCHPAD);
+}
+
+bool DualShock4Controller::GetTouchpadButtonPressed() {
+  return GetButtonPressed(Button::TOUCHPAD);
+}
+
+bool DualShock4Controller::GetTouchpadButtonReleased() {
+  return GetButtonReleased(Button::TOUCHPAD);
+}
+
+BooleanEvent DualShock4Controller::Touchpad(EventLoop* loop) const {
+  return ButtonEvent(Button::TOUCHPAD, loop);
+}
+
+bool DualShock4Controller::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool DualShock4Controller::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool DualShock4Controller::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent DualShock4Controller::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void DualShock4Controller::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void DualShock4Controller::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+bool DualShock4Controller::GetTouchpadFingerAvailable(int finger) const {
+  return m_hid->GetTouchpadFingerAvailable(0, finger);
+}
+
+TouchpadFinger DualShock4Controller::GetTouchpadFinger(int finger) const {
+  return m_hid->GetTouchpadFinger(0, finger);
+}
+
+
+void DualShock4Controller::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "DualShock4");
+  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.AddDoubleProperty("L2", [this] { return GetL2(); }, nullptr);
+  builder.AddDoubleProperty("R2", [this] { return GetR2(); }, nullptr);
+  builder.AddBooleanProperty("Cross", [this] { return GetCrossButton(); }, nullptr);
+  builder.AddBooleanProperty("Circle", [this] { return GetCircleButton(); }, nullptr);
+  builder.AddBooleanProperty("Square", [this] { return GetSquareButton(); }, nullptr);
+  builder.AddBooleanProperty("Triangle", [this] { return GetTriangleButton(); }, nullptr);
+  builder.AddBooleanProperty("Share", [this] { return GetShareButton(); }, nullptr);
+  builder.AddBooleanProperty("PS", [this] { return GetPSButton(); }, nullptr);
+  builder.AddBooleanProperty("Options", [this] { return GetOptionsButton(); }, nullptr);
+  builder.AddBooleanProperty("L3", [this] { return GetL3Button(); }, nullptr);
+  builder.AddBooleanProperty("R3", [this] { return GetR3Button(); }, nullptr);
+  builder.AddBooleanProperty("L1", [this] { return GetL1Button(); }, nullptr);
+  builder.AddBooleanProperty("R1", [this] { return GetR1Button(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("Touchpad", [this] { return GetTouchpadButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/GameCubeController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/GameCubeController.cpp
new file mode 100644
index 0000000000..a0ff505dc5
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/GameCubeController.cpp
@@ -0,0 +1,318 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/GameCubeController.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+GameCubeController::GameCubeController(int port)
+    : GameCubeController{DriverStation::GetGenericHID(port)} {}
+
+GameCubeController::GameCubeController(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "GameCubeController");
+}
+
+GenericHID& GameCubeController::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& GameCubeController::GetHID() const {
+  return *m_hid;
+}
+
+int GameCubeController::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool GameCubeController::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double GameCubeController::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double GameCubeController::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double GameCubeController::GetCStickX() const {
+  return GetAxis(Axis::C_STICK_X);
+}
+
+double GameCubeController::GetCStickY() const {
+  return GetAxis(Axis::C_STICK_Y);
+}
+
+double GameCubeController::GetLTrigger() const {
+  return GetAxis(Axis::L_TRIGGER);
+}
+
+double GameCubeController::GetRTrigger() const {
+  return GetAxis(Axis::R_TRIGGER);
+}
+
+double GameCubeController::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent GameCubeController::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent GameCubeController::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool GameCubeController::GetAButton() const {
+  return GetButton(Button::A);
+}
+
+bool GameCubeController::GetAButtonPressed() {
+  return GetButtonPressed(Button::A);
+}
+
+bool GameCubeController::GetAButtonReleased() {
+  return GetButtonReleased(Button::A);
+}
+
+BooleanEvent GameCubeController::A(EventLoop* loop) const {
+  return ButtonEvent(Button::A, loop);
+}
+
+bool GameCubeController::GetXButton() const {
+  return GetButton(Button::X);
+}
+
+bool GameCubeController::GetXButtonPressed() {
+  return GetButtonPressed(Button::X);
+}
+
+bool GameCubeController::GetXButtonReleased() {
+  return GetButtonReleased(Button::X);
+}
+
+BooleanEvent GameCubeController::X(EventLoop* loop) const {
+  return ButtonEvent(Button::X, loop);
+}
+
+bool GameCubeController::GetBButton() const {
+  return GetButton(Button::B);
+}
+
+bool GameCubeController::GetBButtonPressed() {
+  return GetButtonPressed(Button::B);
+}
+
+bool GameCubeController::GetBButtonReleased() {
+  return GetButtonReleased(Button::B);
+}
+
+BooleanEvent GameCubeController::B(EventLoop* loop) const {
+  return ButtonEvent(Button::B, loop);
+}
+
+bool GameCubeController::GetYButton() const {
+  return GetButton(Button::Y);
+}
+
+bool GameCubeController::GetYButtonPressed() {
+  return GetButtonPressed(Button::Y);
+}
+
+bool GameCubeController::GetYButtonReleased() {
+  return GetButtonReleased(Button::Y);
+}
+
+BooleanEvent GameCubeController::Y(EventLoop* loop) const {
+  return ButtonEvent(Button::Y, loop);
+}
+
+bool GameCubeController::GetStartButton() const {
+  return GetButton(Button::START);
+}
+
+bool GameCubeController::GetStartButtonPressed() {
+  return GetButtonPressed(Button::START);
+}
+
+bool GameCubeController::GetStartButtonReleased() {
+  return GetButtonReleased(Button::START);
+}
+
+BooleanEvent GameCubeController::Start(EventLoop* loop) const {
+  return ButtonEvent(Button::START, loop);
+}
+
+bool GameCubeController::GetZButton() const {
+  return GetButton(Button::Z);
+}
+
+bool GameCubeController::GetZButtonPressed() {
+  return GetButtonPressed(Button::Z);
+}
+
+bool GameCubeController::GetZButtonReleased() {
+  return GetButtonReleased(Button::Z);
+}
+
+BooleanEvent GameCubeController::Z(EventLoop* loop) const {
+  return ButtonEvent(Button::Z, loop);
+}
+
+bool GameCubeController::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool GameCubeController::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool GameCubeController::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent GameCubeController::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool GameCubeController::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool GameCubeController::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool GameCubeController::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent GameCubeController::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool GameCubeController::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool GameCubeController::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool GameCubeController::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent GameCubeController::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool GameCubeController::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool GameCubeController::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool GameCubeController::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent GameCubeController::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool GameCubeController::GetLButton() const {
+  return GetButton(Button::L);
+}
+
+bool GameCubeController::GetLButtonPressed() {
+  return GetButtonPressed(Button::L);
+}
+
+bool GameCubeController::GetLButtonReleased() {
+  return GetButtonReleased(Button::L);
+}
+
+BooleanEvent GameCubeController::L(EventLoop* loop) const {
+  return ButtonEvent(Button::L, loop);
+}
+
+bool GameCubeController::GetRButton() const {
+  return GetButton(Button::R);
+}
+
+bool GameCubeController::GetRButtonPressed() {
+  return GetButtonPressed(Button::R);
+}
+
+bool GameCubeController::GetRButtonReleased() {
+  return GetButtonReleased(Button::R);
+}
+
+BooleanEvent GameCubeController::R(EventLoop* loop) const {
+  return ButtonEvent(Button::R, loop);
+}
+
+bool GameCubeController::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool GameCubeController::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool GameCubeController::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent GameCubeController::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void GameCubeController::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void GameCubeController::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+
+void GameCubeController::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "GameCube");
+  builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
+  builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
+  builder.AddDoubleProperty("CStickX", [this] { return GetCStickX(); }, nullptr);
+  builder.AddDoubleProperty("CStickY", [this] { return GetCStickY(); }, nullptr);
+  builder.AddDoubleProperty("LTrigger", [this] { return GetLTrigger(); }, nullptr);
+  builder.AddDoubleProperty("RTrigger", [this] { return GetRTrigger(); }, nullptr);
+  builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
+  builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
+  builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
+  builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
+  builder.AddBooleanProperty("Start", [this] { return GetStartButton(); }, nullptr);
+  builder.AddBooleanProperty("Z", [this] { return GetZButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("L", [this] { return GetLButton(); }, nullptr);
+  builder.AddBooleanProperty("R", [this] { return GetRButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/LogitechF310Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/LogitechF310Controller.cpp
new file mode 100644
index 0000000000..ace5388ae9
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/LogitechF310Controller.cpp
@@ -0,0 +1,369 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/LogitechF310Controller.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+LogitechF310Controller::LogitechF310Controller(int port)
+    : LogitechF310Controller{DriverStation::GetGenericHID(port)} {}
+
+LogitechF310Controller::LogitechF310Controller(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "LogitechF310Controller");
+}
+
+GenericHID& LogitechF310Controller::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& LogitechF310Controller::GetHID() const {
+  return *m_hid;
+}
+
+int LogitechF310Controller::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool LogitechF310Controller::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double LogitechF310Controller::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double LogitechF310Controller::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double LogitechF310Controller::GetRightX() const {
+  return GetAxis(Axis::RIGHT_X);
+}
+
+double LogitechF310Controller::GetRightY() const {
+  return GetAxis(Axis::RIGHT_Y);
+}
+
+double LogitechF310Controller::GetLeftTrigger() const {
+  return GetAxis(Axis::LEFT_TRIGGER);
+}
+
+double LogitechF310Controller::GetRightTrigger() const {
+  return GetAxis(Axis::RIGHT_TRIGGER);
+}
+
+double LogitechF310Controller::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent LogitechF310Controller::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent LogitechF310Controller::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool LogitechF310Controller::GetAButton() const {
+  return GetButton(Button::A);
+}
+
+bool LogitechF310Controller::GetAButtonPressed() {
+  return GetButtonPressed(Button::A);
+}
+
+bool LogitechF310Controller::GetAButtonReleased() {
+  return GetButtonReleased(Button::A);
+}
+
+BooleanEvent LogitechF310Controller::A(EventLoop* loop) const {
+  return ButtonEvent(Button::A, loop);
+}
+
+bool LogitechF310Controller::GetBButton() const {
+  return GetButton(Button::B);
+}
+
+bool LogitechF310Controller::GetBButtonPressed() {
+  return GetButtonPressed(Button::B);
+}
+
+bool LogitechF310Controller::GetBButtonReleased() {
+  return GetButtonReleased(Button::B);
+}
+
+BooleanEvent LogitechF310Controller::B(EventLoop* loop) const {
+  return ButtonEvent(Button::B, loop);
+}
+
+bool LogitechF310Controller::GetXButton() const {
+  return GetButton(Button::X);
+}
+
+bool LogitechF310Controller::GetXButtonPressed() {
+  return GetButtonPressed(Button::X);
+}
+
+bool LogitechF310Controller::GetXButtonReleased() {
+  return GetButtonReleased(Button::X);
+}
+
+BooleanEvent LogitechF310Controller::X(EventLoop* loop) const {
+  return ButtonEvent(Button::X, loop);
+}
+
+bool LogitechF310Controller::GetYButton() const {
+  return GetButton(Button::Y);
+}
+
+bool LogitechF310Controller::GetYButtonPressed() {
+  return GetButtonPressed(Button::Y);
+}
+
+bool LogitechF310Controller::GetYButtonReleased() {
+  return GetButtonReleased(Button::Y);
+}
+
+BooleanEvent LogitechF310Controller::Y(EventLoop* loop) const {
+  return ButtonEvent(Button::Y, loop);
+}
+
+bool LogitechF310Controller::GetBackButton() const {
+  return GetButton(Button::BACK);
+}
+
+bool LogitechF310Controller::GetBackButtonPressed() {
+  return GetButtonPressed(Button::BACK);
+}
+
+bool LogitechF310Controller::GetBackButtonReleased() {
+  return GetButtonReleased(Button::BACK);
+}
+
+BooleanEvent LogitechF310Controller::Back(EventLoop* loop) const {
+  return ButtonEvent(Button::BACK, loop);
+}
+
+bool LogitechF310Controller::GetLogitechButton() const {
+  return GetButton(Button::LOGITECH);
+}
+
+bool LogitechF310Controller::GetLogitechButtonPressed() {
+  return GetButtonPressed(Button::LOGITECH);
+}
+
+bool LogitechF310Controller::GetLogitechButtonReleased() {
+  return GetButtonReleased(Button::LOGITECH);
+}
+
+BooleanEvent LogitechF310Controller::Logitech(EventLoop* loop) const {
+  return ButtonEvent(Button::LOGITECH, loop);
+}
+
+bool LogitechF310Controller::GetStartButton() const {
+  return GetButton(Button::START);
+}
+
+bool LogitechF310Controller::GetStartButtonPressed() {
+  return GetButtonPressed(Button::START);
+}
+
+bool LogitechF310Controller::GetStartButtonReleased() {
+  return GetButtonReleased(Button::START);
+}
+
+BooleanEvent LogitechF310Controller::Start(EventLoop* loop) const {
+  return ButtonEvent(Button::START, loop);
+}
+
+bool LogitechF310Controller::GetLeftStickButton() const {
+  return GetButton(Button::LEFT_STICK);
+}
+
+bool LogitechF310Controller::GetLeftStickButtonPressed() {
+  return GetButtonPressed(Button::LEFT_STICK);
+}
+
+bool LogitechF310Controller::GetLeftStickButtonReleased() {
+  return GetButtonReleased(Button::LEFT_STICK);
+}
+
+BooleanEvent LogitechF310Controller::LeftStick(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_STICK, loop);
+}
+
+bool LogitechF310Controller::GetRightStickButton() const {
+  return GetButton(Button::RIGHT_STICK);
+}
+
+bool LogitechF310Controller::GetRightStickButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_STICK);
+}
+
+bool LogitechF310Controller::GetRightStickButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_STICK);
+}
+
+BooleanEvent LogitechF310Controller::RightStick(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_STICK, loop);
+}
+
+bool LogitechF310Controller::GetLeftBumperButton() const {
+  return GetButton(Button::LEFT_BUMPER);
+}
+
+bool LogitechF310Controller::GetLeftBumperButtonPressed() {
+  return GetButtonPressed(Button::LEFT_BUMPER);
+}
+
+bool LogitechF310Controller::GetLeftBumperButtonReleased() {
+  return GetButtonReleased(Button::LEFT_BUMPER);
+}
+
+BooleanEvent LogitechF310Controller::LeftBumper(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_BUMPER, loop);
+}
+
+bool LogitechF310Controller::GetRightBumperButton() const {
+  return GetButton(Button::RIGHT_BUMPER);
+}
+
+bool LogitechF310Controller::GetRightBumperButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_BUMPER);
+}
+
+bool LogitechF310Controller::GetRightBumperButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_BUMPER);
+}
+
+BooleanEvent LogitechF310Controller::RightBumper(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_BUMPER, loop);
+}
+
+bool LogitechF310Controller::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool LogitechF310Controller::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool LogitechF310Controller::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent LogitechF310Controller::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool LogitechF310Controller::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool LogitechF310Controller::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool LogitechF310Controller::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent LogitechF310Controller::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool LogitechF310Controller::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool LogitechF310Controller::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool LogitechF310Controller::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent LogitechF310Controller::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool LogitechF310Controller::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool LogitechF310Controller::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool LogitechF310Controller::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent LogitechF310Controller::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool LogitechF310Controller::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool LogitechF310Controller::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool LogitechF310Controller::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent LogitechF310Controller::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void LogitechF310Controller::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void LogitechF310Controller::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+
+void LogitechF310Controller::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "LogitechF310");
+  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.AddDoubleProperty("LeftTrigger", [this] { return GetLeftTrigger(); }, nullptr);
+  builder.AddDoubleProperty("RightTrigger", [this] { return GetRightTrigger(); }, 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("Back", [this] { return GetBackButton(); }, nullptr);
+  builder.AddBooleanProperty("Logitech", [this] { return GetLogitechButton(); }, nullptr);
+  builder.AddBooleanProperty("Start", [this] { return GetStartButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
+  builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftBumper", [this] { return GetLeftBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("RightBumper", [this] { return GetRightBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/SteamController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/SteamController.cpp
new file mode 100644
index 0000000000..27f98ae9b8
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/SteamController.cpp
@@ -0,0 +1,566 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/SteamController.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+SteamController::SteamController(int port)
+    : SteamController{DriverStation::GetGenericHID(port)} {}
+
+SteamController::SteamController(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "SteamController");
+}
+
+GenericHID& SteamController::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& SteamController::GetHID() const {
+  return *m_hid;
+}
+
+int SteamController::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool SteamController::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double SteamController::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double SteamController::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double SteamController::GetRightX() const {
+  return GetAxis(Axis::RIGHT_X);
+}
+
+double SteamController::GetRightY() const {
+  return GetAxis(Axis::RIGHT_Y);
+}
+
+double SteamController::GetLeftTrigger() const {
+  return GetAxis(Axis::LEFT_TRIGGER);
+}
+
+double SteamController::GetRightTrigger() const {
+  return GetAxis(Axis::RIGHT_TRIGGER);
+}
+
+double SteamController::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent SteamController::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent SteamController::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool SteamController::GetAButton() const {
+  return GetButton(Button::A);
+}
+
+bool SteamController::GetAButtonPressed() {
+  return GetButtonPressed(Button::A);
+}
+
+bool SteamController::GetAButtonReleased() {
+  return GetButtonReleased(Button::A);
+}
+
+BooleanEvent SteamController::A(EventLoop* loop) const {
+  return ButtonEvent(Button::A, loop);
+}
+
+bool SteamController::GetBButton() const {
+  return GetButton(Button::B);
+}
+
+bool SteamController::GetBButtonPressed() {
+  return GetButtonPressed(Button::B);
+}
+
+bool SteamController::GetBButtonReleased() {
+  return GetButtonReleased(Button::B);
+}
+
+BooleanEvent SteamController::B(EventLoop* loop) const {
+  return ButtonEvent(Button::B, loop);
+}
+
+bool SteamController::GetXButton() const {
+  return GetButton(Button::X);
+}
+
+bool SteamController::GetXButtonPressed() {
+  return GetButtonPressed(Button::X);
+}
+
+bool SteamController::GetXButtonReleased() {
+  return GetButtonReleased(Button::X);
+}
+
+BooleanEvent SteamController::X(EventLoop* loop) const {
+  return ButtonEvent(Button::X, loop);
+}
+
+bool SteamController::GetYButton() const {
+  return GetButton(Button::Y);
+}
+
+bool SteamController::GetYButtonPressed() {
+  return GetButtonPressed(Button::Y);
+}
+
+bool SteamController::GetYButtonReleased() {
+  return GetButtonReleased(Button::Y);
+}
+
+BooleanEvent SteamController::Y(EventLoop* loop) const {
+  return ButtonEvent(Button::Y, loop);
+}
+
+bool SteamController::GetMenuButton() const {
+  return GetButton(Button::MENU);
+}
+
+bool SteamController::GetMenuButtonPressed() {
+  return GetButtonPressed(Button::MENU);
+}
+
+bool SteamController::GetMenuButtonReleased() {
+  return GetButtonReleased(Button::MENU);
+}
+
+BooleanEvent SteamController::Menu(EventLoop* loop) const {
+  return ButtonEvent(Button::MENU, loop);
+}
+
+bool SteamController::GetSteamButton() const {
+  return GetButton(Button::STEAM);
+}
+
+bool SteamController::GetSteamButtonPressed() {
+  return GetButtonPressed(Button::STEAM);
+}
+
+bool SteamController::GetSteamButtonReleased() {
+  return GetButtonReleased(Button::STEAM);
+}
+
+BooleanEvent SteamController::Steam(EventLoop* loop) const {
+  return ButtonEvent(Button::STEAM, loop);
+}
+
+bool SteamController::GetViewButton() const {
+  return GetButton(Button::VIEW);
+}
+
+bool SteamController::GetViewButtonPressed() {
+  return GetButtonPressed(Button::VIEW);
+}
+
+bool SteamController::GetViewButtonReleased() {
+  return GetButtonReleased(Button::VIEW);
+}
+
+BooleanEvent SteamController::View(EventLoop* loop) const {
+  return ButtonEvent(Button::VIEW, loop);
+}
+
+bool SteamController::GetLeftStickButton() const {
+  return GetButton(Button::LEFT_STICK);
+}
+
+bool SteamController::GetLeftStickButtonPressed() {
+  return GetButtonPressed(Button::LEFT_STICK);
+}
+
+bool SteamController::GetLeftStickButtonReleased() {
+  return GetButtonReleased(Button::LEFT_STICK);
+}
+
+BooleanEvent SteamController::LeftStick(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_STICK, loop);
+}
+
+bool SteamController::GetRightStickButton() const {
+  return GetButton(Button::RIGHT_STICK);
+}
+
+bool SteamController::GetRightStickButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_STICK);
+}
+
+bool SteamController::GetRightStickButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_STICK);
+}
+
+BooleanEvent SteamController::RightStick(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_STICK, loop);
+}
+
+bool SteamController::GetLeftBumperButton() const {
+  return GetButton(Button::LEFT_BUMPER);
+}
+
+bool SteamController::GetLeftBumperButtonPressed() {
+  return GetButtonPressed(Button::LEFT_BUMPER);
+}
+
+bool SteamController::GetLeftBumperButtonReleased() {
+  return GetButtonReleased(Button::LEFT_BUMPER);
+}
+
+BooleanEvent SteamController::LeftBumper(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_BUMPER, loop);
+}
+
+bool SteamController::GetRightBumperButton() const {
+  return GetButton(Button::RIGHT_BUMPER);
+}
+
+bool SteamController::GetRightBumperButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_BUMPER);
+}
+
+bool SteamController::GetRightBumperButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_BUMPER);
+}
+
+BooleanEvent SteamController::RightBumper(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_BUMPER, loop);
+}
+
+bool SteamController::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool SteamController::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool SteamController::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent SteamController::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool SteamController::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool SteamController::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool SteamController::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent SteamController::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool SteamController::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool SteamController::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool SteamController::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent SteamController::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool SteamController::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool SteamController::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool SteamController::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent SteamController::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool SteamController::GetQAMButton() const {
+  return GetButton(Button::QAM);
+}
+
+bool SteamController::GetQAMButtonPressed() {
+  return GetButtonPressed(Button::QAM);
+}
+
+bool SteamController::GetQAMButtonReleased() {
+  return GetButtonReleased(Button::QAM);
+}
+
+BooleanEvent SteamController::QAM(EventLoop* loop) const {
+  return ButtonEvent(Button::QAM, loop);
+}
+
+bool SteamController::GetRightPaddle1Button() const {
+  return GetButton(Button::RIGHT_PADDLE_1);
+}
+
+bool SteamController::GetRightPaddle1ButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_PADDLE_1);
+}
+
+bool SteamController::GetRightPaddle1ButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_PADDLE_1);
+}
+
+BooleanEvent SteamController::RightPaddle1(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_PADDLE_1, loop);
+}
+
+bool SteamController::GetLeftPaddle1Button() const {
+  return GetButton(Button::LEFT_PADDLE_1);
+}
+
+bool SteamController::GetLeftPaddle1ButtonPressed() {
+  return GetButtonPressed(Button::LEFT_PADDLE_1);
+}
+
+bool SteamController::GetLeftPaddle1ButtonReleased() {
+  return GetButtonReleased(Button::LEFT_PADDLE_1);
+}
+
+BooleanEvent SteamController::LeftPaddle1(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_PADDLE_1, loop);
+}
+
+bool SteamController::GetRightPaddle2Button() const {
+  return GetButton(Button::RIGHT_PADDLE_2);
+}
+
+bool SteamController::GetRightPaddle2ButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_PADDLE_2);
+}
+
+bool SteamController::GetRightPaddle2ButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_PADDLE_2);
+}
+
+BooleanEvent SteamController::RightPaddle2(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_PADDLE_2, loop);
+}
+
+bool SteamController::GetLeftPaddle2Button() const {
+  return GetButton(Button::LEFT_PADDLE_2);
+}
+
+bool SteamController::GetLeftPaddle2ButtonPressed() {
+  return GetButtonPressed(Button::LEFT_PADDLE_2);
+}
+
+bool SteamController::GetLeftPaddle2ButtonReleased() {
+  return GetButtonReleased(Button::LEFT_PADDLE_2);
+}
+
+BooleanEvent SteamController::LeftPaddle2(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_PADDLE_2, loop);
+}
+
+bool SteamController::GetLeftTouchpadButton() const {
+  return GetButton(Button::LEFT_TOUCHPAD);
+}
+
+bool SteamController::GetLeftTouchpadButtonPressed() {
+  return GetButtonPressed(Button::LEFT_TOUCHPAD);
+}
+
+bool SteamController::GetLeftTouchpadButtonReleased() {
+  return GetButtonReleased(Button::LEFT_TOUCHPAD);
+}
+
+BooleanEvent SteamController::LeftTouchpad(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_TOUCHPAD, loop);
+}
+
+bool SteamController::GetRightTouchpadButton() const {
+  return GetButton(Button::RIGHT_TOUCHPAD);
+}
+
+bool SteamController::GetRightTouchpadButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_TOUCHPAD);
+}
+
+bool SteamController::GetRightTouchpadButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_TOUCHPAD);
+}
+
+BooleanEvent SteamController::RightTouchpad(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_TOUCHPAD, loop);
+}
+
+bool SteamController::GetLeftStickTouchButton() const {
+  return GetButton(Button::LEFT_STICK_TOUCH);
+}
+
+bool SteamController::GetLeftStickTouchButtonPressed() {
+  return GetButtonPressed(Button::LEFT_STICK_TOUCH);
+}
+
+bool SteamController::GetLeftStickTouchButtonReleased() {
+  return GetButtonReleased(Button::LEFT_STICK_TOUCH);
+}
+
+BooleanEvent SteamController::LeftStickTouch(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_STICK_TOUCH, loop);
+}
+
+bool SteamController::GetRightStickTouchButton() const {
+  return GetButton(Button::RIGHT_STICK_TOUCH);
+}
+
+bool SteamController::GetRightStickTouchButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_STICK_TOUCH);
+}
+
+bool SteamController::GetRightStickTouchButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_STICK_TOUCH);
+}
+
+BooleanEvent SteamController::RightStickTouch(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_STICK_TOUCH, loop);
+}
+
+bool SteamController::GetLeftGripTouchButton() const {
+  return GetButton(Button::LEFT_GRIP_TOUCH);
+}
+
+bool SteamController::GetLeftGripTouchButtonPressed() {
+  return GetButtonPressed(Button::LEFT_GRIP_TOUCH);
+}
+
+bool SteamController::GetLeftGripTouchButtonReleased() {
+  return GetButtonReleased(Button::LEFT_GRIP_TOUCH);
+}
+
+BooleanEvent SteamController::LeftGripTouch(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_GRIP_TOUCH, loop);
+}
+
+bool SteamController::GetRightGripTouchButton() const {
+  return GetButton(Button::RIGHT_GRIP_TOUCH);
+}
+
+bool SteamController::GetRightGripTouchButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_GRIP_TOUCH);
+}
+
+bool SteamController::GetRightGripTouchButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_GRIP_TOUCH);
+}
+
+BooleanEvent SteamController::RightGripTouch(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_GRIP_TOUCH, loop);
+}
+
+bool SteamController::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool SteamController::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool SteamController::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent SteamController::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void SteamController::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void SteamController::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+bool SteamController::GetTouchpadFingerAvailable(int touchpad,
+                                                           int finger) const {
+  return m_hid->GetTouchpadFingerAvailable(touchpad, finger);
+}
+
+TouchpadFinger SteamController::GetTouchpadFinger(int touchpad,
+                                                            int finger) const {
+  return m_hid->GetTouchpadFinger(touchpad, finger);
+}
+
+
+void SteamController::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "Steam");
+  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.AddDoubleProperty("LeftTrigger", [this] { return GetLeftTrigger(); }, nullptr);
+  builder.AddDoubleProperty("RightTrigger", [this] { return GetRightTrigger(); }, 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("Menu", [this] { return GetMenuButton(); }, nullptr);
+  builder.AddBooleanProperty("Steam", [this] { return GetSteamButton(); }, nullptr);
+  builder.AddBooleanProperty("View", [this] { return GetViewButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
+  builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftBumper", [this] { return GetLeftBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("RightBumper", [this] { return GetRightBumperButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("QAM", [this] { return GetQAMButton(); }, nullptr);
+  builder.AddBooleanProperty("RightPaddle1", [this] { return GetRightPaddle1Button(); }, nullptr);
+  builder.AddBooleanProperty("LeftPaddle1", [this] { return GetLeftPaddle1Button(); }, nullptr);
+  builder.AddBooleanProperty("RightPaddle2", [this] { return GetRightPaddle2Button(); }, nullptr);
+  builder.AddBooleanProperty("LeftPaddle2", [this] { return GetLeftPaddle2Button(); }, nullptr);
+  builder.AddBooleanProperty("LeftTouchpad", [this] { return GetLeftTouchpadButton(); }, nullptr);
+  builder.AddBooleanProperty("RightTouchpad", [this] { return GetRightTouchpadButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftStickTouch", [this] { return GetLeftStickTouchButton(); }, nullptr);
+  builder.AddBooleanProperty("RightStickTouch", [this] { return GetRightStickTouchButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftGripTouch", [this] { return GetLeftGripTouchButton(); }, nullptr);
+  builder.AddBooleanProperty("RightGripTouch", [this] { return GetRightGripTouchButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/Switch2GCController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/Switch2GCController.cpp
new file mode 100644
index 0000000000..37241bee03
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/Switch2GCController.cpp
@@ -0,0 +1,386 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/Switch2GCController.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+Switch2GCController::Switch2GCController(int port)
+    : Switch2GCController{DriverStation::GetGenericHID(port)} {}
+
+Switch2GCController::Switch2GCController(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "Switch2GCController");
+}
+
+GenericHID& Switch2GCController::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& Switch2GCController::GetHID() const {
+  return *m_hid;
+}
+
+int Switch2GCController::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool Switch2GCController::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double Switch2GCController::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double Switch2GCController::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double Switch2GCController::GetCStickX() const {
+  return GetAxis(Axis::C_STICK_X);
+}
+
+double Switch2GCController::GetCStickY() const {
+  return GetAxis(Axis::C_STICK_Y);
+}
+
+double Switch2GCController::GetLTrigger() const {
+  return GetAxis(Axis::L_TRIGGER);
+}
+
+double Switch2GCController::GetRTrigger() const {
+  return GetAxis(Axis::R_TRIGGER);
+}
+
+double Switch2GCController::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent Switch2GCController::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent Switch2GCController::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool Switch2GCController::GetAButton() const {
+  return GetButton(Button::A);
+}
+
+bool Switch2GCController::GetAButtonPressed() {
+  return GetButtonPressed(Button::A);
+}
+
+bool Switch2GCController::GetAButtonReleased() {
+  return GetButtonReleased(Button::A);
+}
+
+BooleanEvent Switch2GCController::A(EventLoop* loop) const {
+  return ButtonEvent(Button::A, loop);
+}
+
+bool Switch2GCController::GetXButton() const {
+  return GetButton(Button::X);
+}
+
+bool Switch2GCController::GetXButtonPressed() {
+  return GetButtonPressed(Button::X);
+}
+
+bool Switch2GCController::GetXButtonReleased() {
+  return GetButtonReleased(Button::X);
+}
+
+BooleanEvent Switch2GCController::X(EventLoop* loop) const {
+  return ButtonEvent(Button::X, loop);
+}
+
+bool Switch2GCController::GetBButton() const {
+  return GetButton(Button::B);
+}
+
+bool Switch2GCController::GetBButtonPressed() {
+  return GetButtonPressed(Button::B);
+}
+
+bool Switch2GCController::GetBButtonReleased() {
+  return GetButtonReleased(Button::B);
+}
+
+BooleanEvent Switch2GCController::B(EventLoop* loop) const {
+  return ButtonEvent(Button::B, loop);
+}
+
+bool Switch2GCController::GetYButton() const {
+  return GetButton(Button::Y);
+}
+
+bool Switch2GCController::GetYButtonPressed() {
+  return GetButtonPressed(Button::Y);
+}
+
+bool Switch2GCController::GetYButtonReleased() {
+  return GetButtonReleased(Button::Y);
+}
+
+BooleanEvent Switch2GCController::Y(EventLoop* loop) const {
+  return ButtonEvent(Button::Y, loop);
+}
+
+bool Switch2GCController::GetHomeButton() const {
+  return GetButton(Button::HOME);
+}
+
+bool Switch2GCController::GetHomeButtonPressed() {
+  return GetButtonPressed(Button::HOME);
+}
+
+bool Switch2GCController::GetHomeButtonReleased() {
+  return GetButtonReleased(Button::HOME);
+}
+
+BooleanEvent Switch2GCController::Home(EventLoop* loop) const {
+  return ButtonEvent(Button::HOME, loop);
+}
+
+bool Switch2GCController::GetStartButton() const {
+  return GetButton(Button::START);
+}
+
+bool Switch2GCController::GetStartButtonPressed() {
+  return GetButtonPressed(Button::START);
+}
+
+bool Switch2GCController::GetStartButtonReleased() {
+  return GetButtonReleased(Button::START);
+}
+
+BooleanEvent Switch2GCController::Start(EventLoop* loop) const {
+  return ButtonEvent(Button::START, loop);
+}
+
+bool Switch2GCController::GetZLButton() const {
+  return GetButton(Button::ZL);
+}
+
+bool Switch2GCController::GetZLButtonPressed() {
+  return GetButtonPressed(Button::ZL);
+}
+
+bool Switch2GCController::GetZLButtonReleased() {
+  return GetButtonReleased(Button::ZL);
+}
+
+BooleanEvent Switch2GCController::ZL(EventLoop* loop) const {
+  return ButtonEvent(Button::ZL, loop);
+}
+
+bool Switch2GCController::GetZButton() const {
+  return GetButton(Button::Z);
+}
+
+bool Switch2GCController::GetZButtonPressed() {
+  return GetButtonPressed(Button::Z);
+}
+
+bool Switch2GCController::GetZButtonReleased() {
+  return GetButtonReleased(Button::Z);
+}
+
+BooleanEvent Switch2GCController::Z(EventLoop* loop) const {
+  return ButtonEvent(Button::Z, loop);
+}
+
+bool Switch2GCController::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool Switch2GCController::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool Switch2GCController::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent Switch2GCController::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool Switch2GCController::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool Switch2GCController::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool Switch2GCController::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent Switch2GCController::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool Switch2GCController::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool Switch2GCController::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool Switch2GCController::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent Switch2GCController::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool Switch2GCController::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool Switch2GCController::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool Switch2GCController::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent Switch2GCController::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool Switch2GCController::GetCaptureButton() const {
+  return GetButton(Button::CAPTURE);
+}
+
+bool Switch2GCController::GetCaptureButtonPressed() {
+  return GetButtonPressed(Button::CAPTURE);
+}
+
+bool Switch2GCController::GetCaptureButtonReleased() {
+  return GetButtonReleased(Button::CAPTURE);
+}
+
+BooleanEvent Switch2GCController::Capture(EventLoop* loop) const {
+  return ButtonEvent(Button::CAPTURE, loop);
+}
+
+bool Switch2GCController::GetCButton() const {
+  return GetButton(Button::C);
+}
+
+bool Switch2GCController::GetCButtonPressed() {
+  return GetButtonPressed(Button::C);
+}
+
+bool Switch2GCController::GetCButtonReleased() {
+  return GetButtonReleased(Button::C);
+}
+
+BooleanEvent Switch2GCController::C(EventLoop* loop) const {
+  return ButtonEvent(Button::C, loop);
+}
+
+bool Switch2GCController::GetLButton() const {
+  return GetButton(Button::L);
+}
+
+bool Switch2GCController::GetLButtonPressed() {
+  return GetButtonPressed(Button::L);
+}
+
+bool Switch2GCController::GetLButtonReleased() {
+  return GetButtonReleased(Button::L);
+}
+
+BooleanEvent Switch2GCController::L(EventLoop* loop) const {
+  return ButtonEvent(Button::L, loop);
+}
+
+bool Switch2GCController::GetRButton() const {
+  return GetButton(Button::R);
+}
+
+bool Switch2GCController::GetRButtonPressed() {
+  return GetButtonPressed(Button::R);
+}
+
+bool Switch2GCController::GetRButtonReleased() {
+  return GetButtonReleased(Button::R);
+}
+
+BooleanEvent Switch2GCController::R(EventLoop* loop) const {
+  return ButtonEvent(Button::R, loop);
+}
+
+bool Switch2GCController::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool Switch2GCController::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool Switch2GCController::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent Switch2GCController::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void Switch2GCController::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void Switch2GCController::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+
+void Switch2GCController::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "Switch2GC");
+  builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
+  builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
+  builder.AddDoubleProperty("CStickX", [this] { return GetCStickX(); }, nullptr);
+  builder.AddDoubleProperty("CStickY", [this] { return GetCStickY(); }, nullptr);
+  builder.AddDoubleProperty("LTrigger", [this] { return GetLTrigger(); }, nullptr);
+  builder.AddDoubleProperty("RTrigger", [this] { return GetRTrigger(); }, nullptr);
+  builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
+  builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
+  builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
+  builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
+  builder.AddBooleanProperty("Home", [this] { return GetHomeButton(); }, nullptr);
+  builder.AddBooleanProperty("Start", [this] { return GetStartButton(); }, nullptr);
+  builder.AddBooleanProperty("ZL", [this] { return GetZLButton(); }, nullptr);
+  builder.AddBooleanProperty("Z", [this] { return GetZButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("Capture", [this] { return GetCaptureButton(); }, nullptr);
+  builder.AddBooleanProperty("C", [this] { return GetCButton(); }, nullptr);
+  builder.AddBooleanProperty("L", [this] { return GetLButton(); }, nullptr);
+  builder.AddBooleanProperty("R", [this] { return GetRButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/Switch2ProController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/Switch2ProController.cpp
new file mode 100644
index 0000000000..7eb5282074
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/Switch2ProController.cpp
@@ -0,0 +1,437 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/Switch2ProController.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+Switch2ProController::Switch2ProController(int port)
+    : Switch2ProController{DriverStation::GetGenericHID(port)} {}
+
+Switch2ProController::Switch2ProController(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "Switch2ProController");
+}
+
+GenericHID& Switch2ProController::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& Switch2ProController::GetHID() const {
+  return *m_hid;
+}
+
+int Switch2ProController::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool Switch2ProController::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double Switch2ProController::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double Switch2ProController::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double Switch2ProController::GetRightX() const {
+  return GetAxis(Axis::RIGHT_X);
+}
+
+double Switch2ProController::GetRightY() const {
+  return GetAxis(Axis::RIGHT_Y);
+}
+
+double Switch2ProController::GetZL() const {
+  return GetAxis(Axis::ZL);
+}
+
+double Switch2ProController::GetZR() const {
+  return GetAxis(Axis::ZR);
+}
+
+double Switch2ProController::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent Switch2ProController::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent Switch2ProController::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool Switch2ProController::GetBButton() const {
+  return GetButton(Button::B);
+}
+
+bool Switch2ProController::GetBButtonPressed() {
+  return GetButtonPressed(Button::B);
+}
+
+bool Switch2ProController::GetBButtonReleased() {
+  return GetButtonReleased(Button::B);
+}
+
+BooleanEvent Switch2ProController::B(EventLoop* loop) const {
+  return ButtonEvent(Button::B, loop);
+}
+
+bool Switch2ProController::GetAButton() const {
+  return GetButton(Button::A);
+}
+
+bool Switch2ProController::GetAButtonPressed() {
+  return GetButtonPressed(Button::A);
+}
+
+bool Switch2ProController::GetAButtonReleased() {
+  return GetButtonReleased(Button::A);
+}
+
+BooleanEvent Switch2ProController::A(EventLoop* loop) const {
+  return ButtonEvent(Button::A, loop);
+}
+
+bool Switch2ProController::GetYButton() const {
+  return GetButton(Button::Y);
+}
+
+bool Switch2ProController::GetYButtonPressed() {
+  return GetButtonPressed(Button::Y);
+}
+
+bool Switch2ProController::GetYButtonReleased() {
+  return GetButtonReleased(Button::Y);
+}
+
+BooleanEvent Switch2ProController::Y(EventLoop* loop) const {
+  return ButtonEvent(Button::Y, loop);
+}
+
+bool Switch2ProController::GetXButton() const {
+  return GetButton(Button::X);
+}
+
+bool Switch2ProController::GetXButtonPressed() {
+  return GetButtonPressed(Button::X);
+}
+
+bool Switch2ProController::GetXButtonReleased() {
+  return GetButtonReleased(Button::X);
+}
+
+BooleanEvent Switch2ProController::X(EventLoop* loop) const {
+  return ButtonEvent(Button::X, loop);
+}
+
+bool Switch2ProController::GetMinusButton() const {
+  return GetButton(Button::MINUS);
+}
+
+bool Switch2ProController::GetMinusButtonPressed() {
+  return GetButtonPressed(Button::MINUS);
+}
+
+bool Switch2ProController::GetMinusButtonReleased() {
+  return GetButtonReleased(Button::MINUS);
+}
+
+BooleanEvent Switch2ProController::Minus(EventLoop* loop) const {
+  return ButtonEvent(Button::MINUS, loop);
+}
+
+bool Switch2ProController::GetHomeButton() const {
+  return GetButton(Button::HOME);
+}
+
+bool Switch2ProController::GetHomeButtonPressed() {
+  return GetButtonPressed(Button::HOME);
+}
+
+bool Switch2ProController::GetHomeButtonReleased() {
+  return GetButtonReleased(Button::HOME);
+}
+
+BooleanEvent Switch2ProController::Home(EventLoop* loop) const {
+  return ButtonEvent(Button::HOME, loop);
+}
+
+bool Switch2ProController::GetPlusButton() const {
+  return GetButton(Button::PLUS);
+}
+
+bool Switch2ProController::GetPlusButtonPressed() {
+  return GetButtonPressed(Button::PLUS);
+}
+
+bool Switch2ProController::GetPlusButtonReleased() {
+  return GetButtonReleased(Button::PLUS);
+}
+
+BooleanEvent Switch2ProController::Plus(EventLoop* loop) const {
+  return ButtonEvent(Button::PLUS, loop);
+}
+
+bool Switch2ProController::GetLeftStickButton() const {
+  return GetButton(Button::LEFT_STICK);
+}
+
+bool Switch2ProController::GetLeftStickButtonPressed() {
+  return GetButtonPressed(Button::LEFT_STICK);
+}
+
+bool Switch2ProController::GetLeftStickButtonReleased() {
+  return GetButtonReleased(Button::LEFT_STICK);
+}
+
+BooleanEvent Switch2ProController::LeftStick(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_STICK, loop);
+}
+
+bool Switch2ProController::GetRightStickButton() const {
+  return GetButton(Button::RIGHT_STICK);
+}
+
+bool Switch2ProController::GetRightStickButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_STICK);
+}
+
+bool Switch2ProController::GetRightStickButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_STICK);
+}
+
+BooleanEvent Switch2ProController::RightStick(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_STICK, loop);
+}
+
+bool Switch2ProController::GetLButton() const {
+  return GetButton(Button::L);
+}
+
+bool Switch2ProController::GetLButtonPressed() {
+  return GetButtonPressed(Button::L);
+}
+
+bool Switch2ProController::GetLButtonReleased() {
+  return GetButtonReleased(Button::L);
+}
+
+BooleanEvent Switch2ProController::L(EventLoop* loop) const {
+  return ButtonEvent(Button::L, loop);
+}
+
+bool Switch2ProController::GetRButton() const {
+  return GetButton(Button::R);
+}
+
+bool Switch2ProController::GetRButtonPressed() {
+  return GetButtonPressed(Button::R);
+}
+
+bool Switch2ProController::GetRButtonReleased() {
+  return GetButtonReleased(Button::R);
+}
+
+BooleanEvent Switch2ProController::R(EventLoop* loop) const {
+  return ButtonEvent(Button::R, loop);
+}
+
+bool Switch2ProController::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool Switch2ProController::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool Switch2ProController::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent Switch2ProController::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool Switch2ProController::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool Switch2ProController::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool Switch2ProController::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent Switch2ProController::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool Switch2ProController::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool Switch2ProController::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool Switch2ProController::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent Switch2ProController::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool Switch2ProController::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool Switch2ProController::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool Switch2ProController::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent Switch2ProController::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool Switch2ProController::GetCaptureButton() const {
+  return GetButton(Button::CAPTURE);
+}
+
+bool Switch2ProController::GetCaptureButtonPressed() {
+  return GetButtonPressed(Button::CAPTURE);
+}
+
+bool Switch2ProController::GetCaptureButtonReleased() {
+  return GetButtonReleased(Button::CAPTURE);
+}
+
+BooleanEvent Switch2ProController::Capture(EventLoop* loop) const {
+  return ButtonEvent(Button::CAPTURE, loop);
+}
+
+bool Switch2ProController::GetGRButton() const {
+  return GetButton(Button::GR);
+}
+
+bool Switch2ProController::GetGRButtonPressed() {
+  return GetButtonPressed(Button::GR);
+}
+
+bool Switch2ProController::GetGRButtonReleased() {
+  return GetButtonReleased(Button::GR);
+}
+
+BooleanEvent Switch2ProController::GR(EventLoop* loop) const {
+  return ButtonEvent(Button::GR, loop);
+}
+
+bool Switch2ProController::GetGLButton() const {
+  return GetButton(Button::GL);
+}
+
+bool Switch2ProController::GetGLButtonPressed() {
+  return GetButtonPressed(Button::GL);
+}
+
+bool Switch2ProController::GetGLButtonReleased() {
+  return GetButtonReleased(Button::GL);
+}
+
+BooleanEvent Switch2ProController::GL(EventLoop* loop) const {
+  return ButtonEvent(Button::GL, loop);
+}
+
+bool Switch2ProController::GetCButton() const {
+  return GetButton(Button::C);
+}
+
+bool Switch2ProController::GetCButtonPressed() {
+  return GetButtonPressed(Button::C);
+}
+
+bool Switch2ProController::GetCButtonReleased() {
+  return GetButtonReleased(Button::C);
+}
+
+BooleanEvent Switch2ProController::C(EventLoop* loop) const {
+  return ButtonEvent(Button::C, loop);
+}
+
+bool Switch2ProController::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool Switch2ProController::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool Switch2ProController::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent Switch2ProController::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void Switch2ProController::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void Switch2ProController::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+
+void Switch2ProController::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "Switch2Pro");
+  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.AddDoubleProperty("ZL", [this] { return GetZL(); }, nullptr);
+  builder.AddDoubleProperty("ZR", [this] { return GetZR(); }, nullptr);
+  builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
+  builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
+  builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
+  builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
+  builder.AddBooleanProperty("Minus", [this] { return GetMinusButton(); }, nullptr);
+  builder.AddBooleanProperty("Home", [this] { return GetHomeButton(); }, nullptr);
+  builder.AddBooleanProperty("Plus", [this] { return GetPlusButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
+  builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
+  builder.AddBooleanProperty("L", [this] { return GetLButton(); }, nullptr);
+  builder.AddBooleanProperty("R", [this] { return GetRButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("Capture", [this] { return GetCaptureButton(); }, nullptr);
+  builder.AddBooleanProperty("GR", [this] { return GetGRButton(); }, nullptr);
+  builder.AddBooleanProperty("GL", [this] { return GetGLButton(); }, nullptr);
+  builder.AddBooleanProperty("C", [this] { return GetCButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/SwitchN64Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/SwitchN64Controller.cpp
new file mode 100644
index 0000000000..5baec64326
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/SwitchN64Controller.cpp
@@ -0,0 +1,359 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/SwitchN64Controller.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+SwitchN64Controller::SwitchN64Controller(int port)
+    : SwitchN64Controller{DriverStation::GetGenericHID(port)} {}
+
+SwitchN64Controller::SwitchN64Controller(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "SwitchN64Controller");
+}
+
+GenericHID& SwitchN64Controller::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& SwitchN64Controller::GetHID() const {
+  return *m_hid;
+}
+
+int SwitchN64Controller::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool SwitchN64Controller::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double SwitchN64Controller::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double SwitchN64Controller::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double SwitchN64Controller::GetZAxis() const {
+  return GetAxis(Axis::Z_AXIS);
+}
+
+double SwitchN64Controller::GetZR() const {
+  return GetAxis(Axis::ZR);
+}
+
+double SwitchN64Controller::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent SwitchN64Controller::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent SwitchN64Controller::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool SwitchN64Controller::GetAButton() const {
+  return GetButton(Button::A);
+}
+
+bool SwitchN64Controller::GetAButtonPressed() {
+  return GetButtonPressed(Button::A);
+}
+
+bool SwitchN64Controller::GetAButtonReleased() {
+  return GetButtonReleased(Button::A);
+}
+
+BooleanEvent SwitchN64Controller::A(EventLoop* loop) const {
+  return ButtonEvent(Button::A, loop);
+}
+
+bool SwitchN64Controller::GetBButton() const {
+  return GetButton(Button::B);
+}
+
+bool SwitchN64Controller::GetBButtonPressed() {
+  return GetButtonPressed(Button::B);
+}
+
+bool SwitchN64Controller::GetBButtonReleased() {
+  return GetButtonReleased(Button::B);
+}
+
+BooleanEvent SwitchN64Controller::B(EventLoop* loop) const {
+  return ButtonEvent(Button::B, loop);
+}
+
+bool SwitchN64Controller::GetCLeftButton() const {
+  return GetButton(Button::C_LEFT);
+}
+
+bool SwitchN64Controller::GetCLeftButtonPressed() {
+  return GetButtonPressed(Button::C_LEFT);
+}
+
+bool SwitchN64Controller::GetCLeftButtonReleased() {
+  return GetButtonReleased(Button::C_LEFT);
+}
+
+BooleanEvent SwitchN64Controller::CLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::C_LEFT, loop);
+}
+
+bool SwitchN64Controller::GetCUpButton() const {
+  return GetButton(Button::C_UP);
+}
+
+bool SwitchN64Controller::GetCUpButtonPressed() {
+  return GetButtonPressed(Button::C_UP);
+}
+
+bool SwitchN64Controller::GetCUpButtonReleased() {
+  return GetButtonReleased(Button::C_UP);
+}
+
+BooleanEvent SwitchN64Controller::CUp(EventLoop* loop) const {
+  return ButtonEvent(Button::C_UP, loop);
+}
+
+bool SwitchN64Controller::GetCaptureButton() const {
+  return GetButton(Button::CAPTURE);
+}
+
+bool SwitchN64Controller::GetCaptureButtonPressed() {
+  return GetButtonPressed(Button::CAPTURE);
+}
+
+bool SwitchN64Controller::GetCaptureButtonReleased() {
+  return GetButtonReleased(Button::CAPTURE);
+}
+
+BooleanEvent SwitchN64Controller::Capture(EventLoop* loop) const {
+  return ButtonEvent(Button::CAPTURE, loop);
+}
+
+bool SwitchN64Controller::GetHomeButton() const {
+  return GetButton(Button::HOME);
+}
+
+bool SwitchN64Controller::GetHomeButtonPressed() {
+  return GetButtonPressed(Button::HOME);
+}
+
+bool SwitchN64Controller::GetHomeButtonReleased() {
+  return GetButtonReleased(Button::HOME);
+}
+
+BooleanEvent SwitchN64Controller::Home(EventLoop* loop) const {
+  return ButtonEvent(Button::HOME, loop);
+}
+
+bool SwitchN64Controller::GetStartButton() const {
+  return GetButton(Button::START);
+}
+
+bool SwitchN64Controller::GetStartButtonPressed() {
+  return GetButtonPressed(Button::START);
+}
+
+bool SwitchN64Controller::GetStartButtonReleased() {
+  return GetButtonReleased(Button::START);
+}
+
+BooleanEvent SwitchN64Controller::Start(EventLoop* loop) const {
+  return ButtonEvent(Button::START, loop);
+}
+
+bool SwitchN64Controller::GetCDownButton() const {
+  return GetButton(Button::C_DOWN);
+}
+
+bool SwitchN64Controller::GetCDownButtonPressed() {
+  return GetButtonPressed(Button::C_DOWN);
+}
+
+bool SwitchN64Controller::GetCDownButtonReleased() {
+  return GetButtonReleased(Button::C_DOWN);
+}
+
+BooleanEvent SwitchN64Controller::CDown(EventLoop* loop) const {
+  return ButtonEvent(Button::C_DOWN, loop);
+}
+
+bool SwitchN64Controller::GetLButton() const {
+  return GetButton(Button::L);
+}
+
+bool SwitchN64Controller::GetLButtonPressed() {
+  return GetButtonPressed(Button::L);
+}
+
+bool SwitchN64Controller::GetLButtonReleased() {
+  return GetButtonReleased(Button::L);
+}
+
+BooleanEvent SwitchN64Controller::L(EventLoop* loop) const {
+  return ButtonEvent(Button::L, loop);
+}
+
+bool SwitchN64Controller::GetRButton() const {
+  return GetButton(Button::R);
+}
+
+bool SwitchN64Controller::GetRButtonPressed() {
+  return GetButtonPressed(Button::R);
+}
+
+bool SwitchN64Controller::GetRButtonReleased() {
+  return GetButtonReleased(Button::R);
+}
+
+BooleanEvent SwitchN64Controller::R(EventLoop* loop) const {
+  return ButtonEvent(Button::R, loop);
+}
+
+bool SwitchN64Controller::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool SwitchN64Controller::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool SwitchN64Controller::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent SwitchN64Controller::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool SwitchN64Controller::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool SwitchN64Controller::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool SwitchN64Controller::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent SwitchN64Controller::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool SwitchN64Controller::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool SwitchN64Controller::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool SwitchN64Controller::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent SwitchN64Controller::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool SwitchN64Controller::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool SwitchN64Controller::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool SwitchN64Controller::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent SwitchN64Controller::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool SwitchN64Controller::GetCRightButton() const {
+  return GetButton(Button::C_RIGHT);
+}
+
+bool SwitchN64Controller::GetCRightButtonPressed() {
+  return GetButtonPressed(Button::C_RIGHT);
+}
+
+bool SwitchN64Controller::GetCRightButtonReleased() {
+  return GetButtonReleased(Button::C_RIGHT);
+}
+
+BooleanEvent SwitchN64Controller::CRight(EventLoop* loop) const {
+  return ButtonEvent(Button::C_RIGHT, loop);
+}
+
+bool SwitchN64Controller::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool SwitchN64Controller::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool SwitchN64Controller::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent SwitchN64Controller::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void SwitchN64Controller::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void SwitchN64Controller::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+
+void SwitchN64Controller::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "SwitchN64");
+  builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
+  builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
+  builder.AddDoubleProperty("ZAxis", [this] { return GetZAxis(); }, nullptr);
+  builder.AddDoubleProperty("ZR", [this] { return GetZR(); }, nullptr);
+  builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
+  builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
+  builder.AddBooleanProperty("CLeft", [this] { return GetCLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("CUp", [this] { return GetCUpButton(); }, nullptr);
+  builder.AddBooleanProperty("Capture", [this] { return GetCaptureButton(); }, nullptr);
+  builder.AddBooleanProperty("Home", [this] { return GetHomeButton(); }, nullptr);
+  builder.AddBooleanProperty("Start", [this] { return GetStartButton(); }, nullptr);
+  builder.AddBooleanProperty("CDown", [this] { return GetCDownButton(); }, nullptr);
+  builder.AddBooleanProperty("L", [this] { return GetLButton(); }, nullptr);
+  builder.AddBooleanProperty("R", [this] { return GetRButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("CRight", [this] { return GetCRightButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/SwitchProController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/SwitchProController.cpp
new file mode 100644
index 0000000000..c0f3743eb5
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/SwitchProController.cpp
@@ -0,0 +1,386 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/SwitchProController.hpp"
+
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/hal/UsageReporting.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+
+using namespace wpi;
+
+SwitchProController::SwitchProController(int port)
+    : SwitchProController{DriverStation::GetGenericHID(port)} {}
+
+SwitchProController::SwitchProController(GenericHID& hid)
+    : m_hid{&hid} {
+  HAL_ReportUsage("HID", hid.GetPort(), "SwitchProController");
+}
+
+GenericHID& SwitchProController::GetHID() {
+  return *m_hid;
+}
+
+const GenericHID& SwitchProController::GetHID() const {
+  return *m_hid;
+}
+
+int SwitchProController::GetPort() const {
+  return m_hid->GetPort();
+}
+
+bool SwitchProController::IsConnected() const {
+  return m_hid->IsConnected();
+}
+
+double SwitchProController::GetLeftX() const {
+  return GetAxis(Axis::LEFT_X);
+}
+
+double SwitchProController::GetLeftY() const {
+  return GetAxis(Axis::LEFT_Y);
+}
+
+double SwitchProController::GetRightX() const {
+  return GetAxis(Axis::RIGHT_X);
+}
+
+double SwitchProController::GetRightY() const {
+  return GetAxis(Axis::RIGHT_Y);
+}
+
+double SwitchProController::GetZL() const {
+  return GetAxis(Axis::ZL);
+}
+
+double SwitchProController::GetZR() const {
+  return GetAxis(Axis::ZR);
+}
+
+double SwitchProController::GetAxis(Axis axis) const {
+  return m_hid->GetRawAxis(static_cast<int>(axis));
+}
+
+BooleanEvent SwitchProController::AxisLessThan(Axis axis, double threshold,
+                                                     EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+BooleanEvent SwitchProController::AxisGreaterThan(
+    Axis axis, double threshold, EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+bool SwitchProController::GetBButton() const {
+  return GetButton(Button::B);
+}
+
+bool SwitchProController::GetBButtonPressed() {
+  return GetButtonPressed(Button::B);
+}
+
+bool SwitchProController::GetBButtonReleased() {
+  return GetButtonReleased(Button::B);
+}
+
+BooleanEvent SwitchProController::B(EventLoop* loop) const {
+  return ButtonEvent(Button::B, loop);
+}
+
+bool SwitchProController::GetAButton() const {
+  return GetButton(Button::A);
+}
+
+bool SwitchProController::GetAButtonPressed() {
+  return GetButtonPressed(Button::A);
+}
+
+bool SwitchProController::GetAButtonReleased() {
+  return GetButtonReleased(Button::A);
+}
+
+BooleanEvent SwitchProController::A(EventLoop* loop) const {
+  return ButtonEvent(Button::A, loop);
+}
+
+bool SwitchProController::GetYButton() const {
+  return GetButton(Button::Y);
+}
+
+bool SwitchProController::GetYButtonPressed() {
+  return GetButtonPressed(Button::Y);
+}
+
+bool SwitchProController::GetYButtonReleased() {
+  return GetButtonReleased(Button::Y);
+}
+
+BooleanEvent SwitchProController::Y(EventLoop* loop) const {
+  return ButtonEvent(Button::Y, loop);
+}
+
+bool SwitchProController::GetXButton() const {
+  return GetButton(Button::X);
+}
+
+bool SwitchProController::GetXButtonPressed() {
+  return GetButtonPressed(Button::X);
+}
+
+bool SwitchProController::GetXButtonReleased() {
+  return GetButtonReleased(Button::X);
+}
+
+BooleanEvent SwitchProController::X(EventLoop* loop) const {
+  return ButtonEvent(Button::X, loop);
+}
+
+bool SwitchProController::GetMinusButton() const {
+  return GetButton(Button::MINUS);
+}
+
+bool SwitchProController::GetMinusButtonPressed() {
+  return GetButtonPressed(Button::MINUS);
+}
+
+bool SwitchProController::GetMinusButtonReleased() {
+  return GetButtonReleased(Button::MINUS);
+}
+
+BooleanEvent SwitchProController::Minus(EventLoop* loop) const {
+  return ButtonEvent(Button::MINUS, loop);
+}
+
+bool SwitchProController::GetHomeButton() const {
+  return GetButton(Button::HOME);
+}
+
+bool SwitchProController::GetHomeButtonPressed() {
+  return GetButtonPressed(Button::HOME);
+}
+
+bool SwitchProController::GetHomeButtonReleased() {
+  return GetButtonReleased(Button::HOME);
+}
+
+BooleanEvent SwitchProController::Home(EventLoop* loop) const {
+  return ButtonEvent(Button::HOME, loop);
+}
+
+bool SwitchProController::GetPlusButton() const {
+  return GetButton(Button::PLUS);
+}
+
+bool SwitchProController::GetPlusButtonPressed() {
+  return GetButtonPressed(Button::PLUS);
+}
+
+bool SwitchProController::GetPlusButtonReleased() {
+  return GetButtonReleased(Button::PLUS);
+}
+
+BooleanEvent SwitchProController::Plus(EventLoop* loop) const {
+  return ButtonEvent(Button::PLUS, loop);
+}
+
+bool SwitchProController::GetLeftStickButton() const {
+  return GetButton(Button::LEFT_STICK);
+}
+
+bool SwitchProController::GetLeftStickButtonPressed() {
+  return GetButtonPressed(Button::LEFT_STICK);
+}
+
+bool SwitchProController::GetLeftStickButtonReleased() {
+  return GetButtonReleased(Button::LEFT_STICK);
+}
+
+BooleanEvent SwitchProController::LeftStick(EventLoop* loop) const {
+  return ButtonEvent(Button::LEFT_STICK, loop);
+}
+
+bool SwitchProController::GetRightStickButton() const {
+  return GetButton(Button::RIGHT_STICK);
+}
+
+bool SwitchProController::GetRightStickButtonPressed() {
+  return GetButtonPressed(Button::RIGHT_STICK);
+}
+
+bool SwitchProController::GetRightStickButtonReleased() {
+  return GetButtonReleased(Button::RIGHT_STICK);
+}
+
+BooleanEvent SwitchProController::RightStick(EventLoop* loop) const {
+  return ButtonEvent(Button::RIGHT_STICK, loop);
+}
+
+bool SwitchProController::GetLButton() const {
+  return GetButton(Button::L);
+}
+
+bool SwitchProController::GetLButtonPressed() {
+  return GetButtonPressed(Button::L);
+}
+
+bool SwitchProController::GetLButtonReleased() {
+  return GetButtonReleased(Button::L);
+}
+
+BooleanEvent SwitchProController::L(EventLoop* loop) const {
+  return ButtonEvent(Button::L, loop);
+}
+
+bool SwitchProController::GetRButton() const {
+  return GetButton(Button::R);
+}
+
+bool SwitchProController::GetRButtonPressed() {
+  return GetButtonPressed(Button::R);
+}
+
+bool SwitchProController::GetRButtonReleased() {
+  return GetButtonReleased(Button::R);
+}
+
+BooleanEvent SwitchProController::R(EventLoop* loop) const {
+  return ButtonEvent(Button::R, loop);
+}
+
+bool SwitchProController::GetDpadUpButton() const {
+  return GetButton(Button::DPAD_UP);
+}
+
+bool SwitchProController::GetDpadUpButtonPressed() {
+  return GetButtonPressed(Button::DPAD_UP);
+}
+
+bool SwitchProController::GetDpadUpButtonReleased() {
+  return GetButtonReleased(Button::DPAD_UP);
+}
+
+BooleanEvent SwitchProController::DpadUp(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_UP, loop);
+}
+
+bool SwitchProController::GetDpadDownButton() const {
+  return GetButton(Button::DPAD_DOWN);
+}
+
+bool SwitchProController::GetDpadDownButtonPressed() {
+  return GetButtonPressed(Button::DPAD_DOWN);
+}
+
+bool SwitchProController::GetDpadDownButtonReleased() {
+  return GetButtonReleased(Button::DPAD_DOWN);
+}
+
+BooleanEvent SwitchProController::DpadDown(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_DOWN, loop);
+}
+
+bool SwitchProController::GetDpadLeftButton() const {
+  return GetButton(Button::DPAD_LEFT);
+}
+
+bool SwitchProController::GetDpadLeftButtonPressed() {
+  return GetButtonPressed(Button::DPAD_LEFT);
+}
+
+bool SwitchProController::GetDpadLeftButtonReleased() {
+  return GetButtonReleased(Button::DPAD_LEFT);
+}
+
+BooleanEvent SwitchProController::DpadLeft(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_LEFT, loop);
+}
+
+bool SwitchProController::GetDpadRightButton() const {
+  return GetButton(Button::DPAD_RIGHT);
+}
+
+bool SwitchProController::GetDpadRightButtonPressed() {
+  return GetButtonPressed(Button::DPAD_RIGHT);
+}
+
+bool SwitchProController::GetDpadRightButtonReleased() {
+  return GetButtonReleased(Button::DPAD_RIGHT);
+}
+
+BooleanEvent SwitchProController::DpadRight(EventLoop* loop) const {
+  return ButtonEvent(Button::DPAD_RIGHT, loop);
+}
+
+bool SwitchProController::GetCaptureButton() const {
+  return GetButton(Button::CAPTURE);
+}
+
+bool SwitchProController::GetCaptureButtonPressed() {
+  return GetButtonPressed(Button::CAPTURE);
+}
+
+bool SwitchProController::GetCaptureButtonReleased() {
+  return GetButtonReleased(Button::CAPTURE);
+}
+
+BooleanEvent SwitchProController::Capture(EventLoop* loop) const {
+  return ButtonEvent(Button::CAPTURE, loop);
+}
+
+bool SwitchProController::GetButton(Button button) const {
+  return m_hid->GetRawButton(static_cast<int>(button));
+}
+
+bool SwitchProController::GetButtonPressed(Button button) {
+  return m_hid->GetRawButtonPressed(static_cast<int>(button));
+}
+
+bool SwitchProController::GetButtonReleased(Button button) {
+  return m_hid->GetRawButtonReleased(static_cast<int>(button));
+}
+
+BooleanEvent SwitchProController::ButtonEvent(Button button,
+                                                    EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+void SwitchProController::SetLeds(int r, int g, int b) {
+  m_hid->SetLeds(r, g, b);
+}
+
+void SwitchProController::SetRumble(GenericHID::RumbleType type,
+                                          double value) {
+  m_hid->SetRumble(type, value);
+}
+
+
+
+void SwitchProController::InitSendable(wpi::util::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "SwitchPro");
+  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.AddDoubleProperty("ZL", [this] { return GetZL(); }, nullptr);
+  builder.AddDoubleProperty("ZR", [this] { return GetZR(); }, nullptr);
+  builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
+  builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
+  builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
+  builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
+  builder.AddBooleanProperty("Minus", [this] { return GetMinusButton(); }, nullptr);
+  builder.AddBooleanProperty("Home", [this] { return GetHomeButton(); }, nullptr);
+  builder.AddBooleanProperty("Plus", [this] { return GetPlusButton(); }, nullptr);
+  builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
+  builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
+  builder.AddBooleanProperty("L", [this] { return GetLButton(); }, nullptr);
+  builder.AddBooleanProperty("R", [this] { return GetRButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadUp", [this] { return GetDpadUpButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadDown", [this] { return GetDpadDownButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadLeft", [this] { return GetDpadLeftButton(); }, nullptr);
+  builder.AddBooleanProperty("DpadRight", [this] { return GetDpadRightButton(); }, nullptr);
+  builder.AddBooleanProperty("Capture", [this] { return GetCaptureButton(); }, nullptr);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/DualSenseEdgeControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/DualSenseEdgeControllerSim.cpp
new file mode 100644
index 0000000000..67e99da9ca
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/DualSenseEdgeControllerSim.cpp
@@ -0,0 +1,136 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/DualSenseEdgeControllerSim.hpp"
+
+#include "wpi/driverstation/DualSenseEdgeController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+DualSenseEdgeControllerSim::DualSenseEdgeControllerSim(const DualSenseEdgeController& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x73FFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::PS5);
+  SetSupportedOutputs(DualSenseEdgeController::SUPPORTED_OUTPUTS);
+}
+
+DualSenseEdgeControllerSim::DualSenseEdgeControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x73FFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::PS5);
+  SetSupportedOutputs(DualSenseEdgeController::SUPPORTED_OUTPUTS);
+}
+
+void DualSenseEdgeControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(DualSenseEdgeController::Axis::LEFT_X), value);
+}
+
+void DualSenseEdgeControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(DualSenseEdgeController::Axis::LEFT_Y), value);
+}
+
+void DualSenseEdgeControllerSim::SetRightX(double value) {
+  SetRawAxis(static_cast<int>(DualSenseEdgeController::Axis::RIGHT_X), value);
+}
+
+void DualSenseEdgeControllerSim::SetRightY(double value) {
+  SetRawAxis(static_cast<int>(DualSenseEdgeController::Axis::RIGHT_Y), value);
+}
+
+void DualSenseEdgeControllerSim::SetL2(double value) {
+  SetRawAxis(static_cast<int>(DualSenseEdgeController::Axis::L2), value);
+}
+
+void DualSenseEdgeControllerSim::SetR2(double value) {
+  SetRawAxis(static_cast<int>(DualSenseEdgeController::Axis::R2), value);
+}
+
+void DualSenseEdgeControllerSim::SetCrossButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::CROSS), value);
+}
+
+void DualSenseEdgeControllerSim::SetCircleButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::CIRCLE), value);
+}
+
+void DualSenseEdgeControllerSim::SetSquareButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::SQUARE), value);
+}
+
+void DualSenseEdgeControllerSim::SetTriangleButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::TRIANGLE), value);
+}
+
+void DualSenseEdgeControllerSim::SetCreateButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::CREATE), value);
+}
+
+void DualSenseEdgeControllerSim::SetPSButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::PS), value);
+}
+
+void DualSenseEdgeControllerSim::SetOptionsButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::OPTIONS), value);
+}
+
+void DualSenseEdgeControllerSim::SetL3Button(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::L3), value);
+}
+
+void DualSenseEdgeControllerSim::SetR3Button(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::R3), value);
+}
+
+void DualSenseEdgeControllerSim::SetL1Button(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::L1), value);
+}
+
+void DualSenseEdgeControllerSim::SetR1Button(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::R1), value);
+}
+
+void DualSenseEdgeControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::DPAD_UP), value);
+}
+
+void DualSenseEdgeControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::DPAD_DOWN), value);
+}
+
+void DualSenseEdgeControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::DPAD_LEFT), value);
+}
+
+void DualSenseEdgeControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::DPAD_RIGHT), value);
+}
+
+void DualSenseEdgeControllerSim::SetMicrophoneButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::MICROPHONE), value);
+}
+
+void DualSenseEdgeControllerSim::SetRightPaddle1Button(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::RIGHT_PADDLE_1), value);
+}
+
+void DualSenseEdgeControllerSim::SetLeftPaddle1Button(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::LEFT_PADDLE_1), value);
+}
+
+void DualSenseEdgeControllerSim::SetTouchpadButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::TOUCHPAD), value);
+}
+
+void DualSenseEdgeControllerSim::SetLeftFunctionButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::LEFT_FUNCTION), value);
+}
+
+void DualSenseEdgeControllerSim::SetRightFunctionButton(bool value) {
+  SetRawButton(static_cast<int>(DualSenseEdgeController::Button::RIGHT_FUNCTION), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/DualShock4ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/DualShock4ControllerSim.cpp
new file mode 100644
index 0000000000..e473b16469
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/DualShock4ControllerSim.cpp
@@ -0,0 +1,116 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/DualShock4ControllerSim.hpp"
+
+#include "wpi/driverstation/DualShock4Controller.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+DualShock4ControllerSim::DualShock4ControllerSim(const DualShock4Controller& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x107FFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::PS4);
+  SetSupportedOutputs(DualShock4Controller::SUPPORTED_OUTPUTS);
+}
+
+DualShock4ControllerSim::DualShock4ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x107FFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::PS4);
+  SetSupportedOutputs(DualShock4Controller::SUPPORTED_OUTPUTS);
+}
+
+void DualShock4ControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(DualShock4Controller::Axis::LEFT_X), value);
+}
+
+void DualShock4ControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(DualShock4Controller::Axis::LEFT_Y), value);
+}
+
+void DualShock4ControllerSim::SetRightX(double value) {
+  SetRawAxis(static_cast<int>(DualShock4Controller::Axis::RIGHT_X), value);
+}
+
+void DualShock4ControllerSim::SetRightY(double value) {
+  SetRawAxis(static_cast<int>(DualShock4Controller::Axis::RIGHT_Y), value);
+}
+
+void DualShock4ControllerSim::SetL2(double value) {
+  SetRawAxis(static_cast<int>(DualShock4Controller::Axis::L2), value);
+}
+
+void DualShock4ControllerSim::SetR2(double value) {
+  SetRawAxis(static_cast<int>(DualShock4Controller::Axis::R2), value);
+}
+
+void DualShock4ControllerSim::SetCrossButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::CROSS), value);
+}
+
+void DualShock4ControllerSim::SetCircleButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::CIRCLE), value);
+}
+
+void DualShock4ControllerSim::SetSquareButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::SQUARE), value);
+}
+
+void DualShock4ControllerSim::SetTriangleButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::TRIANGLE), value);
+}
+
+void DualShock4ControllerSim::SetShareButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::SHARE), value);
+}
+
+void DualShock4ControllerSim::SetPSButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::PS), value);
+}
+
+void DualShock4ControllerSim::SetOptionsButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::OPTIONS), value);
+}
+
+void DualShock4ControllerSim::SetL3Button(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::L3), value);
+}
+
+void DualShock4ControllerSim::SetR3Button(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::R3), value);
+}
+
+void DualShock4ControllerSim::SetL1Button(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::L1), value);
+}
+
+void DualShock4ControllerSim::SetR1Button(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::R1), value);
+}
+
+void DualShock4ControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::DPAD_UP), value);
+}
+
+void DualShock4ControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::DPAD_DOWN), value);
+}
+
+void DualShock4ControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::DPAD_LEFT), value);
+}
+
+void DualShock4ControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::DPAD_RIGHT), value);
+}
+
+void DualShock4ControllerSim::SetTouchpadButton(bool value) {
+  SetRawButton(static_cast<int>(DualShock4Controller::Button::TOUCHPAD), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/GameCubeControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/GameCubeControllerSim.cpp
new file mode 100644
index 0000000000..8f91ec2e22
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/GameCubeControllerSim.cpp
@@ -0,0 +1,100 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/GameCubeControllerSim.hpp"
+
+#include "wpi/driverstation/GameCubeController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+GameCubeControllerSim::GameCubeControllerSim(const GameCubeController& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0xC07C4FULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::STANDARD);
+  SetSupportedOutputs(GameCubeController::SUPPORTED_OUTPUTS);
+}
+
+GameCubeControllerSim::GameCubeControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0xC07C4FULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::STANDARD);
+  SetSupportedOutputs(GameCubeController::SUPPORTED_OUTPUTS);
+}
+
+void GameCubeControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(GameCubeController::Axis::LEFT_X), value);
+}
+
+void GameCubeControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(GameCubeController::Axis::LEFT_Y), value);
+}
+
+void GameCubeControllerSim::SetCStickX(double value) {
+  SetRawAxis(static_cast<int>(GameCubeController::Axis::C_STICK_X), value);
+}
+
+void GameCubeControllerSim::SetCStickY(double value) {
+  SetRawAxis(static_cast<int>(GameCubeController::Axis::C_STICK_Y), value);
+}
+
+void GameCubeControllerSim::SetLTrigger(double value) {
+  SetRawAxis(static_cast<int>(GameCubeController::Axis::L_TRIGGER), value);
+}
+
+void GameCubeControllerSim::SetRTrigger(double value) {
+  SetRawAxis(static_cast<int>(GameCubeController::Axis::R_TRIGGER), value);
+}
+
+void GameCubeControllerSim::SetAButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::A), value);
+}
+
+void GameCubeControllerSim::SetXButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::X), value);
+}
+
+void GameCubeControllerSim::SetBButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::B), value);
+}
+
+void GameCubeControllerSim::SetYButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::Y), value);
+}
+
+void GameCubeControllerSim::SetStartButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::START), value);
+}
+
+void GameCubeControllerSim::SetZButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::Z), value);
+}
+
+void GameCubeControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::DPAD_UP), value);
+}
+
+void GameCubeControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::DPAD_DOWN), value);
+}
+
+void GameCubeControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::DPAD_LEFT), value);
+}
+
+void GameCubeControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::DPAD_RIGHT), value);
+}
+
+void GameCubeControllerSim::SetLButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::L), value);
+}
+
+void GameCubeControllerSim::SetRButton(bool value) {
+  SetRawButton(static_cast<int>(GameCubeController::Button::R), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/LogitechF310ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/LogitechF310ControllerSim.cpp
new file mode 100644
index 0000000000..17e1fccb8b
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/LogitechF310ControllerSim.cpp
@@ -0,0 +1,112 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/LogitechF310ControllerSim.hpp"
+
+#include "wpi/driverstation/LogitechF310Controller.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+LogitechF310ControllerSim::LogitechF310ControllerSim(const LogitechF310Controller& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x7FFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::XBOX_360);
+  SetSupportedOutputs(LogitechF310Controller::SUPPORTED_OUTPUTS);
+}
+
+LogitechF310ControllerSim::LogitechF310ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x7FFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::XBOX_360);
+  SetSupportedOutputs(LogitechF310Controller::SUPPORTED_OUTPUTS);
+}
+
+void LogitechF310ControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(LogitechF310Controller::Axis::LEFT_X), value);
+}
+
+void LogitechF310ControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(LogitechF310Controller::Axis::LEFT_Y), value);
+}
+
+void LogitechF310ControllerSim::SetRightX(double value) {
+  SetRawAxis(static_cast<int>(LogitechF310Controller::Axis::RIGHT_X), value);
+}
+
+void LogitechF310ControllerSim::SetRightY(double value) {
+  SetRawAxis(static_cast<int>(LogitechF310Controller::Axis::RIGHT_Y), value);
+}
+
+void LogitechF310ControllerSim::SetLeftTrigger(double value) {
+  SetRawAxis(static_cast<int>(LogitechF310Controller::Axis::LEFT_TRIGGER), value);
+}
+
+void LogitechF310ControllerSim::SetRightTrigger(double value) {
+  SetRawAxis(static_cast<int>(LogitechF310Controller::Axis::RIGHT_TRIGGER), value);
+}
+
+void LogitechF310ControllerSim::SetAButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::A), value);
+}
+
+void LogitechF310ControllerSim::SetBButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::B), value);
+}
+
+void LogitechF310ControllerSim::SetXButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::X), value);
+}
+
+void LogitechF310ControllerSim::SetYButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::Y), value);
+}
+
+void LogitechF310ControllerSim::SetBackButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::BACK), value);
+}
+
+void LogitechF310ControllerSim::SetLogitechButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::LOGITECH), value);
+}
+
+void LogitechF310ControllerSim::SetStartButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::START), value);
+}
+
+void LogitechF310ControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::LEFT_STICK), value);
+}
+
+void LogitechF310ControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::RIGHT_STICK), value);
+}
+
+void LogitechF310ControllerSim::SetLeftBumperButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::LEFT_BUMPER), value);
+}
+
+void LogitechF310ControllerSim::SetRightBumperButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::RIGHT_BUMPER), value);
+}
+
+void LogitechF310ControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::DPAD_UP), value);
+}
+
+void LogitechF310ControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::DPAD_DOWN), value);
+}
+
+void LogitechF310ControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::DPAD_LEFT), value);
+}
+
+void LogitechF310ControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(LogitechF310Controller::Button::DPAD_RIGHT), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/SteamControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/SteamControllerSim.cpp
new file mode 100644
index 0000000000..a1d7cb859e
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/SteamControllerSim.cpp
@@ -0,0 +1,156 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/SteamControllerSim.hpp"
+
+#include "wpi/driverstation/SteamController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+SteamControllerSim::SteamControllerSim(const SteamController& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x3FFFFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::STANDARD);
+  SetSupportedOutputs(SteamController::SUPPORTED_OUTPUTS);
+}
+
+SteamControllerSim::SteamControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x3FFFFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::STANDARD);
+  SetSupportedOutputs(SteamController::SUPPORTED_OUTPUTS);
+}
+
+void SteamControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(SteamController::Axis::LEFT_X), value);
+}
+
+void SteamControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(SteamController::Axis::LEFT_Y), value);
+}
+
+void SteamControllerSim::SetRightX(double value) {
+  SetRawAxis(static_cast<int>(SteamController::Axis::RIGHT_X), value);
+}
+
+void SteamControllerSim::SetRightY(double value) {
+  SetRawAxis(static_cast<int>(SteamController::Axis::RIGHT_Y), value);
+}
+
+void SteamControllerSim::SetLeftTrigger(double value) {
+  SetRawAxis(static_cast<int>(SteamController::Axis::LEFT_TRIGGER), value);
+}
+
+void SteamControllerSim::SetRightTrigger(double value) {
+  SetRawAxis(static_cast<int>(SteamController::Axis::RIGHT_TRIGGER), value);
+}
+
+void SteamControllerSim::SetAButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::A), value);
+}
+
+void SteamControllerSim::SetBButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::B), value);
+}
+
+void SteamControllerSim::SetXButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::X), value);
+}
+
+void SteamControllerSim::SetYButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::Y), value);
+}
+
+void SteamControllerSim::SetMenuButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::MENU), value);
+}
+
+void SteamControllerSim::SetSteamButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::STEAM), value);
+}
+
+void SteamControllerSim::SetViewButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::VIEW), value);
+}
+
+void SteamControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::LEFT_STICK), value);
+}
+
+void SteamControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::RIGHT_STICK), value);
+}
+
+void SteamControllerSim::SetLeftBumperButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::LEFT_BUMPER), value);
+}
+
+void SteamControllerSim::SetRightBumperButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::RIGHT_BUMPER), value);
+}
+
+void SteamControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::DPAD_UP), value);
+}
+
+void SteamControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::DPAD_DOWN), value);
+}
+
+void SteamControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::DPAD_LEFT), value);
+}
+
+void SteamControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::DPAD_RIGHT), value);
+}
+
+void SteamControllerSim::SetQAMButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::QAM), value);
+}
+
+void SteamControllerSim::SetRightPaddle1Button(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::RIGHT_PADDLE_1), value);
+}
+
+void SteamControllerSim::SetLeftPaddle1Button(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::LEFT_PADDLE_1), value);
+}
+
+void SteamControllerSim::SetRightPaddle2Button(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::RIGHT_PADDLE_2), value);
+}
+
+void SteamControllerSim::SetLeftPaddle2Button(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::LEFT_PADDLE_2), value);
+}
+
+void SteamControllerSim::SetLeftTouchpadButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::LEFT_TOUCHPAD), value);
+}
+
+void SteamControllerSim::SetRightTouchpadButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::RIGHT_TOUCHPAD), value);
+}
+
+void SteamControllerSim::SetLeftStickTouchButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::LEFT_STICK_TOUCH), value);
+}
+
+void SteamControllerSim::SetRightStickTouchButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::RIGHT_STICK_TOUCH), value);
+}
+
+void SteamControllerSim::SetLeftGripTouchButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::LEFT_GRIP_TOUCH), value);
+}
+
+void SteamControllerSim::SetRightGripTouchButton(bool value) {
+  SetRawButton(static_cast<int>(SteamController::Button::RIGHT_GRIP_TOUCH), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/Switch2GCControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/Switch2GCControllerSim.cpp
new file mode 100644
index 0000000000..df6975cf68
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/Switch2GCControllerSim.cpp
@@ -0,0 +1,116 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/Switch2GCControllerSim.hpp"
+
+#include "wpi/driverstation/Switch2GCController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+Switch2GCControllerSim::Switch2GCControllerSim(const Switch2GCController& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0xE0FE6FULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(Switch2GCController::SUPPORTED_OUTPUTS);
+}
+
+Switch2GCControllerSim::Switch2GCControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0xE0FE6FULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(Switch2GCController::SUPPORTED_OUTPUTS);
+}
+
+void Switch2GCControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(Switch2GCController::Axis::LEFT_X), value);
+}
+
+void Switch2GCControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(Switch2GCController::Axis::LEFT_Y), value);
+}
+
+void Switch2GCControllerSim::SetCStickX(double value) {
+  SetRawAxis(static_cast<int>(Switch2GCController::Axis::C_STICK_X), value);
+}
+
+void Switch2GCControllerSim::SetCStickY(double value) {
+  SetRawAxis(static_cast<int>(Switch2GCController::Axis::C_STICK_Y), value);
+}
+
+void Switch2GCControllerSim::SetLTrigger(double value) {
+  SetRawAxis(static_cast<int>(Switch2GCController::Axis::L_TRIGGER), value);
+}
+
+void Switch2GCControllerSim::SetRTrigger(double value) {
+  SetRawAxis(static_cast<int>(Switch2GCController::Axis::R_TRIGGER), value);
+}
+
+void Switch2GCControllerSim::SetAButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::A), value);
+}
+
+void Switch2GCControllerSim::SetXButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::X), value);
+}
+
+void Switch2GCControllerSim::SetBButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::B), value);
+}
+
+void Switch2GCControllerSim::SetYButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::Y), value);
+}
+
+void Switch2GCControllerSim::SetHomeButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::HOME), value);
+}
+
+void Switch2GCControllerSim::SetStartButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::START), value);
+}
+
+void Switch2GCControllerSim::SetZLButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::ZL), value);
+}
+
+void Switch2GCControllerSim::SetZButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::Z), value);
+}
+
+void Switch2GCControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::DPAD_UP), value);
+}
+
+void Switch2GCControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::DPAD_DOWN), value);
+}
+
+void Switch2GCControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::DPAD_LEFT), value);
+}
+
+void Switch2GCControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::DPAD_RIGHT), value);
+}
+
+void Switch2GCControllerSim::SetCaptureButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::CAPTURE), value);
+}
+
+void Switch2GCControllerSim::SetCButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::C), value);
+}
+
+void Switch2GCControllerSim::SetLButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::L), value);
+}
+
+void Switch2GCControllerSim::SetRButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2GCController::Button::R), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/Switch2ProControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/Switch2ProControllerSim.cpp
new file mode 100644
index 0000000000..4d5a0182f1
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/Switch2ProControllerSim.cpp
@@ -0,0 +1,128 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/Switch2ProControllerSim.hpp"
+
+#include "wpi/driverstation/Switch2ProController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+Switch2ProControllerSim::Switch2ProControllerSim(const Switch2ProController& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x23FFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(Switch2ProController::SUPPORTED_OUTPUTS);
+}
+
+Switch2ProControllerSim::Switch2ProControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0x23FFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(Switch2ProController::SUPPORTED_OUTPUTS);
+}
+
+void Switch2ProControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(Switch2ProController::Axis::LEFT_X), value);
+}
+
+void Switch2ProControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(Switch2ProController::Axis::LEFT_Y), value);
+}
+
+void Switch2ProControllerSim::SetRightX(double value) {
+  SetRawAxis(static_cast<int>(Switch2ProController::Axis::RIGHT_X), value);
+}
+
+void Switch2ProControllerSim::SetRightY(double value) {
+  SetRawAxis(static_cast<int>(Switch2ProController::Axis::RIGHT_Y), value);
+}
+
+void Switch2ProControllerSim::SetZL(double value) {
+  SetRawAxis(static_cast<int>(Switch2ProController::Axis::ZL), value);
+}
+
+void Switch2ProControllerSim::SetZR(double value) {
+  SetRawAxis(static_cast<int>(Switch2ProController::Axis::ZR), value);
+}
+
+void Switch2ProControllerSim::SetBButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::B), value);
+}
+
+void Switch2ProControllerSim::SetAButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::A), value);
+}
+
+void Switch2ProControllerSim::SetYButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::Y), value);
+}
+
+void Switch2ProControllerSim::SetXButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::X), value);
+}
+
+void Switch2ProControllerSim::SetMinusButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::MINUS), value);
+}
+
+void Switch2ProControllerSim::SetHomeButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::HOME), value);
+}
+
+void Switch2ProControllerSim::SetPlusButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::PLUS), value);
+}
+
+void Switch2ProControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::LEFT_STICK), value);
+}
+
+void Switch2ProControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::RIGHT_STICK), value);
+}
+
+void Switch2ProControllerSim::SetLButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::L), value);
+}
+
+void Switch2ProControllerSim::SetRButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::R), value);
+}
+
+void Switch2ProControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::DPAD_UP), value);
+}
+
+void Switch2ProControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::DPAD_DOWN), value);
+}
+
+void Switch2ProControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::DPAD_LEFT), value);
+}
+
+void Switch2ProControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::DPAD_RIGHT), value);
+}
+
+void Switch2ProControllerSim::SetCaptureButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::CAPTURE), value);
+}
+
+void Switch2ProControllerSim::SetGRButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::GR), value);
+}
+
+void Switch2ProControllerSim::SetGLButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::GL), value);
+}
+
+void Switch2ProControllerSim::SetCButton(bool value) {
+  SetRawButton(static_cast<int>(Switch2ProController::Button::C), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/SwitchN64ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/SwitchN64ControllerSim.cpp
new file mode 100644
index 0000000000..cf0615d278
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/SwitchN64ControllerSim.cpp
@@ -0,0 +1,104 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/SwitchN64ControllerSim.hpp"
+
+#include "wpi/driverstation/SwitchN64Controller.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+SwitchN64ControllerSim::SwitchN64ControllerSim(const SwitchN64Controller& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x33);
+  SetButtonsAvailable(0x20FE7FULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(SwitchN64Controller::SUPPORTED_OUTPUTS);
+}
+
+SwitchN64ControllerSim::SwitchN64ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x33);
+  SetButtonsAvailable(0x20FE7FULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(SwitchN64Controller::SUPPORTED_OUTPUTS);
+}
+
+void SwitchN64ControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(SwitchN64Controller::Axis::LEFT_X), value);
+}
+
+void SwitchN64ControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(SwitchN64Controller::Axis::LEFT_Y), value);
+}
+
+void SwitchN64ControllerSim::SetZAxis(double value) {
+  SetRawAxis(static_cast<int>(SwitchN64Controller::Axis::Z_AXIS), value);
+}
+
+void SwitchN64ControllerSim::SetZR(double value) {
+  SetRawAxis(static_cast<int>(SwitchN64Controller::Axis::ZR), value);
+}
+
+void SwitchN64ControllerSim::SetAButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::A), value);
+}
+
+void SwitchN64ControllerSim::SetBButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::B), value);
+}
+
+void SwitchN64ControllerSim::SetCLeftButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::C_LEFT), value);
+}
+
+void SwitchN64ControllerSim::SetCUpButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::C_UP), value);
+}
+
+void SwitchN64ControllerSim::SetCaptureButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::CAPTURE), value);
+}
+
+void SwitchN64ControllerSim::SetHomeButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::HOME), value);
+}
+
+void SwitchN64ControllerSim::SetStartButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::START), value);
+}
+
+void SwitchN64ControllerSim::SetCDownButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::C_DOWN), value);
+}
+
+void SwitchN64ControllerSim::SetLButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::L), value);
+}
+
+void SwitchN64ControllerSim::SetRButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::R), value);
+}
+
+void SwitchN64ControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::DPAD_UP), value);
+}
+
+void SwitchN64ControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::DPAD_DOWN), value);
+}
+
+void SwitchN64ControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::DPAD_LEFT), value);
+}
+
+void SwitchN64ControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::DPAD_RIGHT), value);
+}
+
+void SwitchN64ControllerSim::SetCRightButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchN64Controller::Button::C_RIGHT), value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/SwitchProControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/SwitchProControllerSim.cpp
new file mode 100644
index 0000000000..ccdb3dd62b
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/SwitchProControllerSim.cpp
@@ -0,0 +1,116 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/simulation/SwitchProControllerSim.hpp"
+
+#include "wpi/driverstation/SwitchProController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+SwitchProControllerSim::SwitchProControllerSim(const SwitchProController& joystick)
+    : GenericHIDSim{joystick.GetHID()} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0xFFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(SwitchProController::SUPPORTED_OUTPUTS);
+}
+
+SwitchProControllerSim::SwitchProControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesAvailable(0x3F);
+  SetButtonsAvailable(0xFFFFULL);
+  SetPOVsAvailable(0);
+  SetGamepadType(GenericHID::HIDType::SWITCH_PRO);
+  SetSupportedOutputs(SwitchProController::SUPPORTED_OUTPUTS);
+}
+
+void SwitchProControllerSim::SetLeftX(double value) {
+  SetRawAxis(static_cast<int>(SwitchProController::Axis::LEFT_X), value);
+}
+
+void SwitchProControllerSim::SetLeftY(double value) {
+  SetRawAxis(static_cast<int>(SwitchProController::Axis::LEFT_Y), value);
+}
+
+void SwitchProControllerSim::SetRightX(double value) {
+  SetRawAxis(static_cast<int>(SwitchProController::Axis::RIGHT_X), value);
+}
+
+void SwitchProControllerSim::SetRightY(double value) {
+  SetRawAxis(static_cast<int>(SwitchProController::Axis::RIGHT_Y), value);
+}
+
+void SwitchProControllerSim::SetZL(double value) {
+  SetRawAxis(static_cast<int>(SwitchProController::Axis::ZL), value);
+}
+
+void SwitchProControllerSim::SetZR(double value) {
+  SetRawAxis(static_cast<int>(SwitchProController::Axis::ZR), value);
+}
+
+void SwitchProControllerSim::SetBButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::B), value);
+}
+
+void SwitchProControllerSim::SetAButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::A), value);
+}
+
+void SwitchProControllerSim::SetYButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::Y), value);
+}
+
+void SwitchProControllerSim::SetXButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::X), value);
+}
+
+void SwitchProControllerSim::SetMinusButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::MINUS), value);
+}
+
+void SwitchProControllerSim::SetHomeButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::HOME), value);
+}
+
+void SwitchProControllerSim::SetPlusButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::PLUS), value);
+}
+
+void SwitchProControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::LEFT_STICK), value);
+}
+
+void SwitchProControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::RIGHT_STICK), value);
+}
+
+void SwitchProControllerSim::SetLButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::L), value);
+}
+
+void SwitchProControllerSim::SetRButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::R), value);
+}
+
+void SwitchProControllerSim::SetDpadUpButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::DPAD_UP), value);
+}
+
+void SwitchProControllerSim::SetDpadDownButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::DPAD_DOWN), value);
+}
+
+void SwitchProControllerSim::SetDpadLeftButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::DPAD_LEFT), value);
+}
+
+void SwitchProControllerSim::SetDpadRightButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::DPAD_RIGHT), value);
+}
+
+void SwitchProControllerSim::SetCaptureButton(bool value) {
+  SetRawButton(static_cast<int>(SwitchProController::Button::CAPTURE), value);
+}
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/DualSenseEdgeController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/DualSenseEdgeController.hpp
new file mode 100644
index 0000000000..066ba65e9d
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/DualSenseEdgeController.hpp
@@ -0,0 +1,957 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from DualSenseEdge controllers connected to the Driver Station.
+ *
+ * This class handles DualSenseEdge input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class DualSenseEdgeController
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<DualSenseEdgeController> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 1;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = true;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = true;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(26);
+
+  /** Represents a digital button on a DualSenseEdgeController. */
+  enum class Button {
+    /// Cross button.
+    CROSS = 0,
+    /// Circle button.
+    CIRCLE = 1,
+    /// Square button.
+    SQUARE = 2,
+    /// Triangle button.
+    TRIANGLE = 3,
+    /// Create button.
+    CREATE = 4,
+    /// PS button.
+    PS = 5,
+    /// Options button.
+    OPTIONS = 6,
+    /// L 3 button.
+    L3 = 7,
+    /// R 3 button.
+    R3 = 8,
+    /// L 1 button.
+    L1 = 9,
+    /// R 1 button.
+    R1 = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// Microphone button.
+    MICROPHONE = 15,
+    /// Right Paddle 1 button.
+    RIGHT_PADDLE_1 = 16,
+    /// Left Paddle 1 button.
+    LEFT_PADDLE_1 = 17,
+    /// Touchpad button.
+    TOUCHPAD = 20,
+    /// Left Function button.
+    LEFT_FUNCTION = 21,
+    /// Right Function button.
+    RIGHT_FUNCTION = 22,
+  };
+
+  /** Represents an axis on a DualSenseEdgeController. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// Right X.
+    RIGHT_X = 2,
+    /// Right Y.
+    RIGHT_Y = 3,
+    /// L 2.
+    L2 = 4,
+    /// R 2.
+    R2 = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit DualSenseEdgeController(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit DualSenseEdgeController(GenericHID& hid);
+
+  ~DualSenseEdgeController() override = default;
+
+  DualSenseEdgeController(DualSenseEdgeController&&) = default;
+  DualSenseEdgeController& operator=(DualSenseEdgeController&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetL2() const;
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetR2() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the Cross button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCrossButton() const;
+
+  /**
+   * Whether the Cross button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCrossButtonPressed();
+
+  /**
+   * Whether the Cross button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCrossButtonReleased();
+
+  /**
+   * Constructs an event instance around the Cross button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Cross button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Cross(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Circle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCircleButton() const;
+
+  /**
+   * Whether the Circle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCircleButtonPressed();
+
+  /**
+   * Whether the Circle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCircleButtonReleased();
+
+  /**
+   * Constructs an event instance around the Circle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Circle button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Circle(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Square button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetSquareButton() const;
+
+  /**
+   * Whether the Square button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetSquareButtonPressed();
+
+  /**
+   * Whether the Square button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetSquareButtonReleased();
+
+  /**
+   * Constructs an event instance around the Square button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Square button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Square(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Triangle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetTriangleButton() const;
+
+  /**
+   * Whether the Triangle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetTriangleButtonPressed();
+
+  /**
+   * Whether the Triangle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetTriangleButtonReleased();
+
+  /**
+   * Constructs an event instance around the Triangle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Triangle button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Triangle(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Create button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCreateButton() const;
+
+  /**
+   * Whether the Create button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCreateButtonPressed();
+
+  /**
+   * Whether the Create button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCreateButtonReleased();
+
+  /**
+   * Constructs an event instance around the Create button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Create button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Create(EventLoop* loop) const;
+
+  /**
+   * Read the value of the PS button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetPSButton() const;
+
+  /**
+   * Whether the PS button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetPSButtonPressed();
+
+  /**
+   * Whether the PS button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetPSButtonReleased();
+
+  /**
+   * Constructs an event instance around the PS button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent PS(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Options button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetOptionsButton() const;
+
+  /**
+   * Whether the Options button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetOptionsButtonPressed();
+
+  /**
+   * Whether the Options button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetOptionsButtonReleased();
+
+  /**
+   * Constructs an event instance around the Options button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Options button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Options(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetL3Button() const;
+
+  /**
+   * Whether the L 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetL3ButtonPressed();
+
+  /**
+   * Whether the L 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetL3ButtonReleased();
+
+  /**
+   * Constructs an event instance around the L 3 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 3 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L3(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetR3Button() const;
+
+  /**
+   * Whether the R 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetR3ButtonPressed();
+
+  /**
+   * Whether the R 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetR3ButtonReleased();
+
+  /**
+   * Constructs an event instance around the R 3 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 3 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R3(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetL1Button() const;
+
+  /**
+   * Whether the L 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetL1ButtonPressed();
+
+  /**
+   * Whether the L 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetL1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the L 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetR1Button() const;
+
+  /**
+   * Whether the R 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetR1ButtonPressed();
+
+  /**
+   * Whether the R 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetR1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the R 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Microphone button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetMicrophoneButton() const;
+
+  /**
+   * Whether the Microphone button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetMicrophoneButtonPressed();
+
+  /**
+   * Whether the Microphone button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetMicrophoneButtonReleased();
+
+  /**
+   * Constructs an event instance around the Microphone button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Microphone button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Microphone(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightPaddle1Button() const;
+
+  /**
+   * Whether the Right Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightPaddle1ButtonPressed();
+
+  /**
+   * Whether the Right Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightPaddle1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Paddle 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightPaddle1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftPaddle1Button() const;
+
+  /**
+   * Whether the Left Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftPaddle1ButtonPressed();
+
+  /**
+   * Whether the Left Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftPaddle1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Paddle 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftPaddle1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetTouchpadButton() const;
+
+  /**
+   * Whether the Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetTouchpadButtonPressed();
+
+  /**
+   * Whether the Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetTouchpadButtonReleased();
+
+  /**
+   * Constructs an event instance around the Touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Touchpad button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Touchpad(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Function button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftFunctionButton() const;
+
+  /**
+   * Whether the Left Function button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftFunctionButtonPressed();
+
+  /**
+   * Whether the Left Function button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftFunctionButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Function button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Function button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftFunction(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Function button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightFunctionButton() const;
+
+  /**
+   * Whether the Right Function button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightFunctionButtonPressed();
+
+  /**
+   * Whether the Right Function button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightFunctionButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Function button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Function button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightFunction(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+  /**
+   * Check if a touchpad finger is available.
+   * @param finger The finger to check.
+   * @return true if the touchpad finger is available.
+   */
+  bool GetTouchpadFingerAvailable(int finger) const;
+
+  /**
+   * Get the touchpad finger data.
+   * @param finger The finger to read.
+   * @return The touchpad finger data.
+   */
+  TouchpadFinger GetTouchpadFinger(int finger) const;
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/DualShock4Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/DualShock4Controller.hpp
new file mode 100644
index 0000000000..79806f72ae
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/DualShock4Controller.hpp
@@ -0,0 +1,792 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from DualShock4 controllers connected to the Driver Station.
+ *
+ * This class handles DualShock4 input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class DualShock4Controller
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<DualShock4Controller> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 1;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = true;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(10);
+
+  /** Represents a digital button on a DualShock4Controller. */
+  enum class Button {
+    /// Cross button.
+    CROSS = 0,
+    /// Circle button.
+    CIRCLE = 1,
+    /// Square button.
+    SQUARE = 2,
+    /// Triangle button.
+    TRIANGLE = 3,
+    /// Share button.
+    SHARE = 4,
+    /// PS button.
+    PS = 5,
+    /// Options button.
+    OPTIONS = 6,
+    /// L 3 button.
+    L3 = 7,
+    /// R 3 button.
+    R3 = 8,
+    /// L 1 button.
+    L1 = 9,
+    /// R 1 button.
+    R1 = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// Touchpad button.
+    TOUCHPAD = 20,
+  };
+
+  /** Represents an axis on a DualShock4Controller. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// Right X.
+    RIGHT_X = 2,
+    /// Right Y.
+    RIGHT_Y = 3,
+    /// L 2.
+    L2 = 4,
+    /// R 2.
+    R2 = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit DualShock4Controller(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit DualShock4Controller(GenericHID& hid);
+
+  ~DualShock4Controller() override = default;
+
+  DualShock4Controller(DualShock4Controller&&) = default;
+  DualShock4Controller& operator=(DualShock4Controller&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetL2() const;
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetR2() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the Cross button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCrossButton() const;
+
+  /**
+   * Whether the Cross button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCrossButtonPressed();
+
+  /**
+   * Whether the Cross button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCrossButtonReleased();
+
+  /**
+   * Constructs an event instance around the Cross button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Cross button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Cross(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Circle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCircleButton() const;
+
+  /**
+   * Whether the Circle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCircleButtonPressed();
+
+  /**
+   * Whether the Circle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCircleButtonReleased();
+
+  /**
+   * Constructs an event instance around the Circle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Circle button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Circle(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Square button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetSquareButton() const;
+
+  /**
+   * Whether the Square button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetSquareButtonPressed();
+
+  /**
+   * Whether the Square button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetSquareButtonReleased();
+
+  /**
+   * Constructs an event instance around the Square button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Square button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Square(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Triangle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetTriangleButton() const;
+
+  /**
+   * Whether the Triangle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetTriangleButtonPressed();
+
+  /**
+   * Whether the Triangle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetTriangleButtonReleased();
+
+  /**
+   * Constructs an event instance around the Triangle button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Triangle button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Triangle(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Share button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetShareButton() const;
+
+  /**
+   * Whether the Share button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetShareButtonPressed();
+
+  /**
+   * Whether the Share button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetShareButtonReleased();
+
+  /**
+   * Constructs an event instance around the Share button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Share button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Share(EventLoop* loop) const;
+
+  /**
+   * Read the value of the PS button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetPSButton() const;
+
+  /**
+   * Whether the PS button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetPSButtonPressed();
+
+  /**
+   * Whether the PS button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetPSButtonReleased();
+
+  /**
+   * Constructs an event instance around the PS button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent PS(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Options button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetOptionsButton() const;
+
+  /**
+   * Whether the Options button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetOptionsButtonPressed();
+
+  /**
+   * Whether the Options button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetOptionsButtonReleased();
+
+  /**
+   * Constructs an event instance around the Options button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Options button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Options(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetL3Button() const;
+
+  /**
+   * Whether the L 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetL3ButtonPressed();
+
+  /**
+   * Whether the L 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetL3ButtonReleased();
+
+  /**
+   * Constructs an event instance around the L 3 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 3 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L3(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetR3Button() const;
+
+  /**
+   * Whether the R 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetR3ButtonPressed();
+
+  /**
+   * Whether the R 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetR3ButtonReleased();
+
+  /**
+   * Constructs an event instance around the R 3 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 3 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R3(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetL1Button() const;
+
+  /**
+   * Whether the L 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetL1ButtonPressed();
+
+  /**
+   * Whether the L 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetL1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the L 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetR1Button() const;
+
+  /**
+   * Whether the R 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetR1ButtonPressed();
+
+  /**
+   * Whether the R 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetR1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the R 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetTouchpadButton() const;
+
+  /**
+   * Whether the Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetTouchpadButtonPressed();
+
+  /**
+   * Whether the Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetTouchpadButtonReleased();
+
+  /**
+   * Constructs an event instance around the Touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Touchpad button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Touchpad(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+  /**
+   * Check if a touchpad finger is available.
+   * @param finger The finger to check.
+   * @return true if the touchpad finger is available.
+   */
+  bool GetTouchpadFingerAvailable(int finger) const;
+
+  /**
+   * Get the touchpad finger data.
+   * @param finger The finger to read.
+   * @return The touchpad finger data.
+   */
+  TouchpadFinger GetTouchpadFinger(int finger) const;
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/GameCubeController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/GameCubeController.hpp
new file mode 100644
index 0000000000..bdfd515acc
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/GameCubeController.hpp
@@ -0,0 +1,647 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from GameCube controllers connected to the Driver Station.
+ *
+ * This class handles GameCube input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class GameCubeController
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<GameCubeController> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = false;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = false;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(0);
+
+  /** Represents a digital button on a GameCubeController. */
+  enum class Button {
+    /// A button.
+    A = 0,
+    /// X button.
+    X = 1,
+    /// B button.
+    B = 2,
+    /// Y button.
+    Y = 3,
+    /// Start button.
+    START = 6,
+    /// Z button.
+    Z = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// L button.
+    L = 22,
+    /// R button.
+    R = 23,
+  };
+
+  /** Represents an axis on a GameCubeController. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// C Stick X.
+    C_STICK_X = 2,
+    /// C Stick Y.
+    C_STICK_Y = 3,
+    /// L Trigger.
+    L_TRIGGER = 4,
+    /// R Trigger.
+    R_TRIGGER = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit GameCubeController(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit GameCubeController(GenericHID& hid);
+
+  ~GameCubeController() override = default;
+
+  GameCubeController(GameCubeController&&) = default;
+  GameCubeController& operator=(GameCubeController&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickX() const;
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickY() const;
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLTrigger() const;
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRTrigger() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetAButton() const;
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetAButtonPressed();
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetAButtonReleased();
+
+  /**
+   * Constructs an event instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetXButton() const;
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetXButtonPressed();
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetXButtonReleased();
+
+  /**
+   * Constructs an event instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent X(EventLoop* loop) const;
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBButton() const;
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBButtonPressed();
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBButtonReleased();
+
+  /**
+   * Constructs an event instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetYButton() const;
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetYButtonPressed();
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetYButtonReleased();
+
+  /**
+   * Constructs an event instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Y(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetStartButton() const;
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetStartButtonPressed();
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetStartButtonReleased();
+
+  /**
+   * Constructs an event instance around the Start button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Start(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Z button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetZButton() const;
+
+  /**
+   * Whether the Z button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetZButtonPressed();
+
+  /**
+   * Whether the Z button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetZButtonReleased();
+
+  /**
+   * Constructs an event instance around the Z button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Z button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Z(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLButton() const;
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLButtonPressed();
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLButtonReleased();
+
+  /**
+   * Constructs an event instance around the L button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRButton() const;
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRButtonPressed();
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRButtonReleased();
+
+  /**
+   * Constructs an event instance around the R button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/LogitechF310Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/LogitechF310Controller.hpp
new file mode 100644
index 0000000000..e7917bad88
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/LogitechF310Controller.hpp
@@ -0,0 +1,746 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from LogitechF310 controllers connected to the Driver Station.
+ *
+ * This class handles LogitechF310 input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class LogitechF310Controller
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<LogitechF310Controller> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = false;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = false;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(0);
+
+  /** Represents a digital button on a LogitechF310Controller. */
+  enum class Button {
+    /// A button.
+    A = 0,
+    /// B button.
+    B = 1,
+    /// X button.
+    X = 2,
+    /// Y button.
+    Y = 3,
+    /// Back button.
+    BACK = 4,
+    /// Logitech button.
+    LOGITECH = 5,
+    /// Start button.
+    START = 6,
+    /// Left Stick button.
+    LEFT_STICK = 7,
+    /// Right Stick button.
+    RIGHT_STICK = 8,
+    /// Left Bumper button.
+    LEFT_BUMPER = 9,
+    /// Right Bumper button.
+    RIGHT_BUMPER = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+  };
+
+  /** Represents an axis on a LogitechF310Controller. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// Right X.
+    RIGHT_X = 2,
+    /// Right Y.
+    RIGHT_Y = 3,
+    /// Left Trigger.
+    LEFT_TRIGGER = 4,
+    /// Right Trigger.
+    RIGHT_TRIGGER = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit LogitechF310Controller(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit LogitechF310Controller(GenericHID& hid);
+
+  ~LogitechF310Controller() override = default;
+
+  LogitechF310Controller(LogitechF310Controller&&) = default;
+  LogitechF310Controller& operator=(LogitechF310Controller&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftTrigger() const;
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightTrigger() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetAButton() const;
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetAButtonPressed();
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetAButtonReleased();
+
+  /**
+   * Constructs an event instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBButton() const;
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBButtonPressed();
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBButtonReleased();
+
+  /**
+   * Constructs an event instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetXButton() const;
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetXButtonPressed();
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetXButtonReleased();
+
+  /**
+   * Constructs an event instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent X(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetYButton() const;
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetYButtonPressed();
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetYButtonReleased();
+
+  /**
+   * Constructs an event instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Y(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Back button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBackButton() const;
+
+  /**
+   * Whether the Back button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBackButtonPressed();
+
+  /**
+   * Whether the Back button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBackButtonReleased();
+
+  /**
+   * Constructs an event instance around the Back button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Back button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Back(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Logitech button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLogitechButton() const;
+
+  /**
+   * Whether the Logitech button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLogitechButtonPressed();
+
+  /**
+   * Whether the Logitech button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLogitechButtonReleased();
+
+  /**
+   * Constructs an event instance around the Logitech button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Logitech button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Logitech(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetStartButton() const;
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetStartButtonPressed();
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetStartButtonReleased();
+
+  /**
+   * Constructs an event instance around the Start button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Start(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftStickButton() const;
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftStickButtonPressed();
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightStickButton() const;
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightStickButtonPressed();
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftBumperButton() const;
+
+  /**
+   * Whether the Left Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftBumperButtonPressed();
+
+  /**
+   * Whether the Left Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftBumper(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightBumperButton() const;
+
+  /**
+   * Whether the Right Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightBumperButtonPressed();
+
+  /**
+   * Whether the Right Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightBumper(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/SteamController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/SteamController.hpp
new file mode 100644
index 0000000000..e93803223e
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/SteamController.hpp
@@ -0,0 +1,1124 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from Steam controllers connected to the Driver Station.
+ *
+ * This class handles Steam input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class SteamController
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<SteamController> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 2;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = false;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(8);
+
+  /** Represents a digital button on a SteamController. */
+  enum class Button {
+    /// A button.
+    A = 0,
+    /// B button.
+    B = 1,
+    /// X button.
+    X = 2,
+    /// Y button.
+    Y = 3,
+    /// Menu button.
+    MENU = 4,
+    /// Steam button.
+    STEAM = 5,
+    /// View button.
+    VIEW = 6,
+    /// Left Stick button.
+    LEFT_STICK = 7,
+    /// Right Stick button.
+    RIGHT_STICK = 8,
+    /// Left Bumper button.
+    LEFT_BUMPER = 9,
+    /// Right Bumper button.
+    RIGHT_BUMPER = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// QAM button.
+    QAM = 15,
+    /// Right Paddle 1 button.
+    RIGHT_PADDLE_1 = 16,
+    /// Left Paddle 1 button.
+    LEFT_PADDLE_1 = 17,
+    /// Right Paddle 2 button.
+    RIGHT_PADDLE_2 = 18,
+    /// Left Paddle 2 button.
+    LEFT_PADDLE_2 = 19,
+    /// Left Touchpad button.
+    LEFT_TOUCHPAD = 20,
+    /// Right Touchpad button.
+    RIGHT_TOUCHPAD = 21,
+    /// Left Stick Touch button.
+    LEFT_STICK_TOUCH = 22,
+    /// Right Stick Touch button.
+    RIGHT_STICK_TOUCH = 23,
+    /// Left Grip Touch button.
+    LEFT_GRIP_TOUCH = 24,
+    /// Right Grip Touch button.
+    RIGHT_GRIP_TOUCH = 25,
+  };
+
+  /** Represents an axis on a SteamController. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// Right X.
+    RIGHT_X = 2,
+    /// Right Y.
+    RIGHT_Y = 3,
+    /// Left Trigger.
+    LEFT_TRIGGER = 4,
+    /// Right Trigger.
+    RIGHT_TRIGGER = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit SteamController(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit SteamController(GenericHID& hid);
+
+  ~SteamController() override = default;
+
+  SteamController(SteamController&&) = default;
+  SteamController& operator=(SteamController&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftTrigger() const;
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightTrigger() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetAButton() const;
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetAButtonPressed();
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetAButtonReleased();
+
+  /**
+   * Constructs an event instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBButton() const;
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBButtonPressed();
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBButtonReleased();
+
+  /**
+   * Constructs an event instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetXButton() const;
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetXButtonPressed();
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetXButtonReleased();
+
+  /**
+   * Constructs an event instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent X(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetYButton() const;
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetYButtonPressed();
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetYButtonReleased();
+
+  /**
+   * Constructs an event instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Y(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Menu button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetMenuButton() const;
+
+  /**
+   * Whether the Menu button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetMenuButtonPressed();
+
+  /**
+   * Whether the Menu button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetMenuButtonReleased();
+
+  /**
+   * Constructs an event instance around the Menu button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Menu button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Menu(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Steam button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetSteamButton() const;
+
+  /**
+   * Whether the Steam button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetSteamButtonPressed();
+
+  /**
+   * Whether the Steam button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetSteamButtonReleased();
+
+  /**
+   * Constructs an event instance around the Steam button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Steam button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Steam(EventLoop* loop) const;
+
+  /**
+   * Read the value of the View button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetViewButton() const;
+
+  /**
+   * Whether the View button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetViewButtonPressed();
+
+  /**
+   * Whether the View button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetViewButtonReleased();
+
+  /**
+   * Constructs an event instance around the View button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the View button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent View(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftStickButton() const;
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftStickButtonPressed();
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightStickButton() const;
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightStickButtonPressed();
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftBumperButton() const;
+
+  /**
+   * Whether the Left Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftBumperButtonPressed();
+
+  /**
+   * Whether the Left Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftBumper(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightBumperButton() const;
+
+  /**
+   * Whether the Right Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightBumperButtonPressed();
+
+  /**
+   * Whether the Right Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightBumperButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Bumper button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightBumper(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the QAM button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetQAMButton() const;
+
+  /**
+   * Whether the QAM button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetQAMButtonPressed();
+
+  /**
+   * Whether the QAM button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetQAMButtonReleased();
+
+  /**
+   * Constructs an event instance around the QAM button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the QAM button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent QAM(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightPaddle1Button() const;
+
+  /**
+   * Whether the Right Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightPaddle1ButtonPressed();
+
+  /**
+   * Whether the Right Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightPaddle1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Paddle 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightPaddle1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftPaddle1Button() const;
+
+  /**
+   * Whether the Left Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftPaddle1ButtonPressed();
+
+  /**
+   * Whether the Left Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftPaddle1ButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Paddle 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Paddle 1 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftPaddle1(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Paddle 2 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightPaddle2Button() const;
+
+  /**
+   * Whether the Right Paddle 2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightPaddle2ButtonPressed();
+
+  /**
+   * Whether the Right Paddle 2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightPaddle2ButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Paddle 2 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Paddle 2 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightPaddle2(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Paddle 2 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftPaddle2Button() const;
+
+  /**
+   * Whether the Left Paddle 2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftPaddle2ButtonPressed();
+
+  /**
+   * Whether the Left Paddle 2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftPaddle2ButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Paddle 2 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Paddle 2 button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftPaddle2(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftTouchpadButton() const;
+
+  /**
+   * Whether the Left Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftTouchpadButtonPressed();
+
+  /**
+   * Whether the Left Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftTouchpadButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Touchpad button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftTouchpad(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightTouchpadButton() const;
+
+  /**
+   * Whether the Right Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightTouchpadButtonPressed();
+
+  /**
+   * Whether the Right Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightTouchpadButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Touchpad button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightTouchpad(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Stick Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftStickTouchButton() const;
+
+  /**
+   * Whether the Left Stick Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftStickTouchButtonPressed();
+
+  /**
+   * Whether the Left Stick Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftStickTouchButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Stick Touch button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick Touch button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftStickTouch(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Stick Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightStickTouchButton() const;
+
+  /**
+   * Whether the Right Stick Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightStickTouchButtonPressed();
+
+  /**
+   * Whether the Right Stick Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightStickTouchButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Stick Touch button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick Touch button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightStickTouch(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Grip Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftGripTouchButton() const;
+
+  /**
+   * Whether the Left Grip Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftGripTouchButtonPressed();
+
+  /**
+   * Whether the Left Grip Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftGripTouchButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Grip Touch button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Grip Touch button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftGripTouch(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Grip Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightGripTouchButton() const;
+
+  /**
+   * Whether the Right Grip Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightGripTouchButtonPressed();
+
+  /**
+   * Whether the Right Grip Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightGripTouchButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Grip Touch button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Grip Touch button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightGripTouch(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+  /**
+   * Check if a touchpad finger is available.
+   * @param touchpad The touchpad to check.
+   * @param finger The finger to check.
+   * @return true if the touchpad finger is available.
+   */
+  bool GetTouchpadFingerAvailable(int touchpad, int finger) const;
+
+  /**
+   * Get the touchpad finger data.
+   * @param touchpad The touchpad to read.
+   * @param finger The finger to read.
+   * @return The touchpad finger data.
+   */
+  TouchpadFinger GetTouchpadFinger(int touchpad, int finger) const;
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/Switch2GCController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/Switch2GCController.hpp
new file mode 100644
index 0000000000..87838cb293
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/Switch2GCController.hpp
@@ -0,0 +1,779 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from Switch2GC controllers connected to the Driver Station.
+ *
+ * This class handles Switch2GC input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class Switch2GCController
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<Switch2GCController> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = false;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(8);
+
+  /** Represents a digital button on a Switch2GCController. */
+  enum class Button {
+    /// A button.
+    A = 0,
+    /// X button.
+    X = 1,
+    /// B button.
+    B = 2,
+    /// Y button.
+    Y = 3,
+    /// Home button.
+    HOME = 5,
+    /// Start button.
+    START = 6,
+    /// ZL button.
+    ZL = 9,
+    /// Z button.
+    Z = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// Capture button.
+    CAPTURE = 15,
+    /// C button.
+    C = 21,
+    /// L button.
+    L = 22,
+    /// R button.
+    R = 23,
+  };
+
+  /** Represents an axis on a Switch2GCController. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// C Stick X.
+    C_STICK_X = 2,
+    /// C Stick Y.
+    C_STICK_Y = 3,
+    /// L Trigger.
+    L_TRIGGER = 4,
+    /// R Trigger.
+    R_TRIGGER = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit Switch2GCController(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit Switch2GCController(GenericHID& hid);
+
+  ~Switch2GCController() override = default;
+
+  Switch2GCController(Switch2GCController&&) = default;
+  Switch2GCController& operator=(Switch2GCController&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickX() const;
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetCStickY() const;
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLTrigger() const;
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRTrigger() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetAButton() const;
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetAButtonPressed();
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetAButtonReleased();
+
+  /**
+   * Constructs an event instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetXButton() const;
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetXButtonPressed();
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetXButtonReleased();
+
+  /**
+   * Constructs an event instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent X(EventLoop* loop) const;
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBButton() const;
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBButtonPressed();
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBButtonReleased();
+
+  /**
+   * Constructs an event instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetYButton() const;
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetYButtonPressed();
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetYButtonReleased();
+
+  /**
+   * Constructs an event instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Y(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetHomeButton() const;
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetHomeButtonPressed();
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetHomeButtonReleased();
+
+  /**
+   * Constructs an event instance around the Home button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Home(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetStartButton() const;
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetStartButtonPressed();
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetStartButtonReleased();
+
+  /**
+   * Constructs an event instance around the Start button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Start(EventLoop* loop) const;
+
+  /**
+   * Read the value of the ZL button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetZLButton() const;
+
+  /**
+   * Whether the ZL button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetZLButtonPressed();
+
+  /**
+   * Whether the ZL button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetZLButtonReleased();
+
+  /**
+   * Constructs an event instance around the ZL button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the ZL button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent ZL(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Z button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetZButton() const;
+
+  /**
+   * Whether the Z button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetZButtonPressed();
+
+  /**
+   * Whether the Z button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetZButtonReleased();
+
+  /**
+   * Constructs an event instance around the Z button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Z button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Z(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCaptureButton() const;
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCaptureButtonPressed();
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCaptureButtonReleased();
+
+  /**
+   * Constructs an event instance around the Capture button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Capture(EventLoop* loop) const;
+
+  /**
+   * Read the value of the C button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCButton() const;
+
+  /**
+   * Whether the C button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCButtonPressed();
+
+  /**
+   * Whether the C button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCButtonReleased();
+
+  /**
+   * Constructs an event instance around the C button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent C(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLButton() const;
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLButtonPressed();
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLButtonReleased();
+
+  /**
+   * Constructs an event instance around the L button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRButton() const;
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRButtonPressed();
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRButtonReleased();
+
+  /**
+   * Constructs an event instance around the R button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/Switch2ProController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/Switch2ProController.hpp
new file mode 100644
index 0000000000..2cb0fa9f1c
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/Switch2ProController.hpp
@@ -0,0 +1,878 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from Switch2Pro controllers connected to the Driver Station.
+ *
+ * This class handles Switch2Pro input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class Switch2ProController
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<Switch2ProController> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = false;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(8);
+
+  /** Represents a digital button on a Switch2ProController. */
+  enum class Button {
+    /// B button.
+    B = 0,
+    /// A button.
+    A = 1,
+    /// Y button.
+    Y = 2,
+    /// X button.
+    X = 3,
+    /// Minus button.
+    MINUS = 4,
+    /// Home button.
+    HOME = 5,
+    /// Plus button.
+    PLUS = 6,
+    /// Left Stick button.
+    LEFT_STICK = 7,
+    /// Right Stick button.
+    RIGHT_STICK = 8,
+    /// L button.
+    L = 9,
+    /// R button.
+    R = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// Capture button.
+    CAPTURE = 15,
+    /// GR button.
+    GR = 16,
+    /// GL button.
+    GL = 17,
+    /// C button.
+    C = 21,
+  };
+
+  /** Represents an axis on a Switch2ProController. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// Right X.
+    RIGHT_X = 2,
+    /// Right Y.
+    RIGHT_Y = 3,
+    /// ZL.
+    ZL = 4,
+    /// ZR.
+    ZR = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit Switch2ProController(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit Switch2ProController(GenericHID& hid);
+
+  ~Switch2ProController() override = default;
+
+  Switch2ProController(Switch2ProController&&) = default;
+  Switch2ProController& operator=(Switch2ProController&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZL() const;
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZR() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBButton() const;
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBButtonPressed();
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBButtonReleased();
+
+  /**
+   * Constructs an event instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetAButton() const;
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetAButtonPressed();
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetAButtonReleased();
+
+  /**
+   * Constructs an event instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetYButton() const;
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetYButtonPressed();
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetYButtonReleased();
+
+  /**
+   * Constructs an event instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Y(EventLoop* loop) const;
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetXButton() const;
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetXButtonPressed();
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetXButtonReleased();
+
+  /**
+   * Constructs an event instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent X(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Minus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetMinusButton() const;
+
+  /**
+   * Whether the Minus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetMinusButtonPressed();
+
+  /**
+   * Whether the Minus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetMinusButtonReleased();
+
+  /**
+   * Constructs an event instance around the Minus button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Minus button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Minus(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetHomeButton() const;
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetHomeButtonPressed();
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetHomeButtonReleased();
+
+  /**
+   * Constructs an event instance around the Home button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Home(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Plus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetPlusButton() const;
+
+  /**
+   * Whether the Plus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetPlusButtonPressed();
+
+  /**
+   * Whether the Plus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetPlusButtonReleased();
+
+  /**
+   * Constructs an event instance around the Plus button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Plus button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Plus(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftStickButton() const;
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftStickButtonPressed();
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightStickButton() const;
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightStickButtonPressed();
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLButton() const;
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLButtonPressed();
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLButtonReleased();
+
+  /**
+   * Constructs an event instance around the L button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRButton() const;
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRButtonPressed();
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRButtonReleased();
+
+  /**
+   * Constructs an event instance around the R button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCaptureButton() const;
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCaptureButtonPressed();
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCaptureButtonReleased();
+
+  /**
+   * Constructs an event instance around the Capture button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Capture(EventLoop* loop) const;
+
+  /**
+   * Read the value of the GR button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetGRButton() const;
+
+  /**
+   * Whether the GR button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetGRButtonPressed();
+
+  /**
+   * Whether the GR button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetGRButtonReleased();
+
+  /**
+   * Constructs an event instance around the GR button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the GR button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent GR(EventLoop* loop) const;
+
+  /**
+   * Read the value of the GL button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetGLButton() const;
+
+  /**
+   * Whether the GL button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetGLButtonPressed();
+
+  /**
+   * Whether the GL button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetGLButtonReleased();
+
+  /**
+   * Constructs an event instance around the GL button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the GL button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent GL(EventLoop* loop) const;
+
+  /**
+   * Read the value of the C button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCButton() const;
+
+  /**
+   * Whether the C button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCButtonPressed();
+
+  /**
+   * Whether the C button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCButtonReleased();
+
+  /**
+   * Constructs an event instance around the C button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent C(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/SwitchN64Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/SwitchN64Controller.hpp
new file mode 100644
index 0000000000..6c11218830
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/SwitchN64Controller.hpp
@@ -0,0 +1,728 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from SwitchN64 controllers connected to the Driver Station.
+ *
+ * This class handles SwitchN64 input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class SwitchN64Controller
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<SwitchN64Controller> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = false;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = false;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(0);
+
+  /** Represents a digital button on a SwitchN64Controller. */
+  enum class Button {
+    /// A button.
+    A = 0,
+    /// B button.
+    B = 1,
+    /// C Left button.
+    C_LEFT = 3,
+    /// C Up button.
+    C_UP = 4,
+    /// Capture button.
+    CAPTURE = 15,
+    /// Home button.
+    HOME = 5,
+    /// Start button.
+    START = 6,
+    /// C Down button.
+    C_DOWN = 2,
+    /// L button.
+    L = 9,
+    /// R button.
+    R = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// C Right button.
+    C_RIGHT = 21,
+  };
+
+  /** Represents an axis on a SwitchN64Controller. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// Z Axis.
+    Z_AXIS = 4,
+    /// ZR.
+    ZR = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit SwitchN64Controller(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit SwitchN64Controller(GenericHID& hid);
+
+  ~SwitchN64Controller() override = default;
+
+  SwitchN64Controller(SwitchN64Controller&&) = default;
+  SwitchN64Controller& operator=(SwitchN64Controller&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Z Axis value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZAxis() const;
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZR() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetAButton() const;
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetAButtonPressed();
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetAButtonReleased();
+
+  /**
+   * Constructs an event instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBButton() const;
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBButtonPressed();
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBButtonReleased();
+
+  /**
+   * Constructs an event instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
+  /**
+   * Read the value of the C Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCLeftButton() const;
+
+  /**
+   * Whether the C Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCLeftButtonPressed();
+
+  /**
+   * Whether the C Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the C Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent CLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the C Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCUpButton() const;
+
+  /**
+   * Whether the C Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCUpButtonPressed();
+
+  /**
+   * Whether the C Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the C Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent CUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCaptureButton() const;
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCaptureButtonPressed();
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCaptureButtonReleased();
+
+  /**
+   * Constructs an event instance around the Capture button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Capture(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetHomeButton() const;
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetHomeButtonPressed();
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetHomeButtonReleased();
+
+  /**
+   * Constructs an event instance around the Home button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Home(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetStartButton() const;
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetStartButtonPressed();
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetStartButtonReleased();
+
+  /**
+   * Constructs an event instance around the Start button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Start(EventLoop* loop) const;
+
+  /**
+   * Read the value of the C Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCDownButton() const;
+
+  /**
+   * Whether the C Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCDownButtonPressed();
+
+  /**
+   * Whether the C Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the C Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent CDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLButton() const;
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLButtonPressed();
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLButtonReleased();
+
+  /**
+   * Constructs an event instance around the L button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRButton() const;
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRButtonPressed();
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRButtonReleased();
+
+  /**
+   * Constructs an event instance around the R button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the C Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCRightButton() const;
+
+  /**
+   * Whether the C Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCRightButtonPressed();
+
+  /**
+   * Whether the C Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the C Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent CRight(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/SwitchProController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/SwitchProController.hpp
new file mode 100644
index 0000000000..93d6aa75f6
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/SwitchProController.hpp
@@ -0,0 +1,779 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/HIDDevice.hpp"
+#include "wpi/driverstation/TouchpadFinger.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+
+namespace wpi {
+
+class BooleanEvent;
+class EventLoop;
+
+/**
+ * Handle input from SwitchPro controllers connected to the Driver Station.
+ *
+ * This class handles SwitchPro input that comes from the Driver Station.
+ * Each time a value is requested the most recent value is returned.
+ */
+class SwitchProController
+    : public HIDDevice,
+      public wpi::util::Sendable,
+      public wpi::util::SendableHelper<SwitchProController> {
+ public:
+  /** The number of touchpads supported by this controller. */
+  static constexpr int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  static constexpr bool SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  static constexpr bool SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  static constexpr bool SUPPORTS_MONO_LED = true;
+
+  /** Whether this controller supports RGB LED output. */
+  static constexpr bool SUPPORTS_RGB_LED = false;
+
+  /** Supported outputs expected for this controller type. */
+  static constexpr GenericHID::SupportedOutputs SUPPORTED_OUTPUTS =
+      static_cast<GenericHID::SupportedOutputs>(9);
+
+  /** Represents a digital button on a SwitchProController. */
+  enum class Button {
+    /// B button.
+    B = 0,
+    /// A button.
+    A = 1,
+    /// Y button.
+    Y = 2,
+    /// X button.
+    X = 3,
+    /// Minus button.
+    MINUS = 4,
+    /// Home button.
+    HOME = 5,
+    /// Plus button.
+    PLUS = 6,
+    /// Left Stick button.
+    LEFT_STICK = 7,
+    /// Right Stick button.
+    RIGHT_STICK = 8,
+    /// L button.
+    L = 9,
+    /// R button.
+    R = 10,
+    /// Dpad Up button.
+    DPAD_UP = 11,
+    /// Dpad Down button.
+    DPAD_DOWN = 12,
+    /// Dpad Left button.
+    DPAD_LEFT = 13,
+    /// Dpad Right button.
+    DPAD_RIGHT = 14,
+    /// Capture button.
+    CAPTURE = 15,
+  };
+
+  /** Represents an axis on a SwitchProController. */
+  enum class Axis {
+    /// Left X.
+    LEFT_X = 0,
+    /// Left Y.
+    LEFT_Y = 1,
+    /// Right X.
+    RIGHT_X = 2,
+    /// Right Y.
+    RIGHT_Y = 3,
+    /// ZL.
+    ZL = 4,
+    /// ZR.
+    ZR = 5,
+  };
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into.
+   */
+  explicit SwitchProController(int port);
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  explicit SwitchProController(GenericHID& hid);
+
+  ~SwitchProController() override = default;
+
+  SwitchProController(SwitchProController&&) = default;
+  SwitchProController& operator=(SwitchProController&&) = default;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  GenericHID& GetHID() override;
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  const GenericHID& GetHID() const override;
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  int GetPort() const;
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZL() const;
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetZR() const;
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return the axis value.
+   */
+  double GetAxis(Axis axis) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than
+   * threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the
+   * provided threshold.
+   */
+  BooleanEvent AxisLessThan(Axis axis, double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater
+   * than threshold.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than
+   * the provided threshold.
+   */
+  BooleanEvent AxisGreaterThan(Axis axis, double threshold,
+                               EventLoop* loop) const;
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetBButton() const;
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetBButtonPressed();
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetBButtonReleased();
+
+  /**
+   * Constructs an event instance around the B button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetAButton() const;
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetAButtonPressed();
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetAButtonReleased();
+
+  /**
+   * Constructs an event instance around the A button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetYButton() const;
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetYButtonPressed();
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetYButtonReleased();
+
+  /**
+   * Constructs an event instance around the Y button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Y(EventLoop* loop) const;
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetXButton() const;
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetXButtonPressed();
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetXButtonReleased();
+
+  /**
+   * Constructs an event instance around the X button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent X(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Minus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetMinusButton() const;
+
+  /**
+   * Whether the Minus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetMinusButtonPressed();
+
+  /**
+   * Whether the Minus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetMinusButtonReleased();
+
+  /**
+   * Constructs an event instance around the Minus button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Minus button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Minus(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetHomeButton() const;
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetHomeButtonPressed();
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetHomeButtonReleased();
+
+  /**
+   * Constructs an event instance around the Home button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Home(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Plus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetPlusButton() const;
+
+  /**
+   * Whether the Plus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetPlusButtonPressed();
+
+  /**
+   * Whether the Plus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetPlusButtonReleased();
+
+  /**
+   * Constructs an event instance around the Plus button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Plus button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Plus(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLeftStickButton() const;
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLeftStickButtonPressed();
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLeftStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Left Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent LeftStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRightStickButton() const;
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRightStickButtonPressed();
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRightStickButtonReleased();
+
+  /**
+   * Constructs an event instance around the Right Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent RightStick(EventLoop* loop) const;
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetLButton() const;
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetLButtonPressed();
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetLButtonReleased();
+
+  /**
+   * Constructs an event instance around the L button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent L(EventLoop* loop) const;
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetRButton() const;
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetRButtonPressed();
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetRButtonReleased();
+
+  /**
+   * Constructs an event instance around the R button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent R(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadUpButton() const;
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadUpButtonPressed();
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadUpButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadUp(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadDownButton() const;
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadDownButtonPressed();
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadDownButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadDown(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadLeftButton() const;
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadLeftButtonPressed();
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadLeftButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadLeft(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetDpadRightButton() const;
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetDpadRightButtonPressed();
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetDpadRightButtonReleased();
+
+  /**
+   * Constructs an event instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent DpadRight(EventLoop* loop) const;
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool GetCaptureButton() const;
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetCaptureButtonPressed();
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool GetCaptureButtonReleased();
+
+  /**
+   * Constructs an event instance around the Capture button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent Capture(EventLoop* loop) const;
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  bool GetButton(Button button) const;
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  bool GetButtonPressed(Button button);
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  bool GetButtonReleased(Button button);
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent ButtonEvent(Button button, EventLoop* loop) const;
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  void SetLeds(int r, int g, int b);
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(GenericHID::RumbleType type, double value);
+
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
+
+ private:
+  GenericHID* m_hid;
+};
+
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/DualSenseEdgeControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/DualSenseEdgeControllerSim.hpp
new file mode 100644
index 0000000000..219a261f83
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/DualSenseEdgeControllerSim.hpp
@@ -0,0 +1,226 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class DualSenseEdgeController;
+
+namespace sim {
+
+/**
+ * Class to control a simulated DualSenseEdge controller.
+ */
+class DualSenseEdgeControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a DualSenseEdgeController object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit DualSenseEdgeControllerSim(const DualSenseEdgeController& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit DualSenseEdgeControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the L 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetL2(double value);
+
+  /**
+   * Change the R 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetR2(double value);
+
+  /**
+   * Change the value of the Cross button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCrossButton(bool value);
+
+  /**
+   * Change the value of the Circle button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCircleButton(bool value);
+
+  /**
+   * Change the value of the Square button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetSquareButton(bool value);
+
+  /**
+   * Change the value of the Triangle button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetTriangleButton(bool value);
+
+  /**
+   * Change the value of the Create button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCreateButton(bool value);
+
+  /**
+   * Change the value of the PS button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetPSButton(bool value);
+
+  /**
+   * Change the value of the Options button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetOptionsButton(bool value);
+
+  /**
+   * Change the value of the L 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetL3Button(bool value);
+
+  /**
+   * Change the value of the R 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetR3Button(bool value);
+
+  /**
+   * Change the value of the L 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetL1Button(bool value);
+
+  /**
+   * Change the value of the R 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetR1Button(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the Microphone button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetMicrophoneButton(bool value);
+
+  /**
+   * Change the value of the Right Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightPaddle1Button(bool value);
+
+  /**
+   * Change the value of the Left Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftPaddle1Button(bool value);
+
+  /**
+   * Change the value of the Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetTouchpadButton(bool value);
+
+  /**
+   * Change the value of the Left Function button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftFunctionButton(bool value);
+
+  /**
+   * Change the value of the Right Function button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightFunctionButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/DualShock4ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/DualShock4ControllerSim.hpp
new file mode 100644
index 0000000000..9db6bcf44a
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/DualShock4ControllerSim.hpp
@@ -0,0 +1,191 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class DualShock4Controller;
+
+namespace sim {
+
+/**
+ * Class to control a simulated DualShock4 controller.
+ */
+class DualShock4ControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a DualShock4Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit DualShock4ControllerSim(const DualShock4Controller& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit DualShock4ControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the L 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetL2(double value);
+
+  /**
+   * Change the R 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetR2(double value);
+
+  /**
+   * Change the value of the Cross button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCrossButton(bool value);
+
+  /**
+   * Change the value of the Circle button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCircleButton(bool value);
+
+  /**
+   * Change the value of the Square button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetSquareButton(bool value);
+
+  /**
+   * Change the value of the Triangle button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetTriangleButton(bool value);
+
+  /**
+   * Change the value of the Share button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetShareButton(bool value);
+
+  /**
+   * Change the value of the PS button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetPSButton(bool value);
+
+  /**
+   * Change the value of the Options button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetOptionsButton(bool value);
+
+  /**
+   * Change the value of the L 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetL3Button(bool value);
+
+  /**
+   * Change the value of the R 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetR3Button(bool value);
+
+  /**
+   * Change the value of the L 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetL1Button(bool value);
+
+  /**
+   * Change the value of the R 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetR1Button(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetTouchpadButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/GameCubeControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/GameCubeControllerSim.hpp
new file mode 100644
index 0000000000..3ee07076d4
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/GameCubeControllerSim.hpp
@@ -0,0 +1,163 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class GameCubeController;
+
+namespace sim {
+
+/**
+ * Class to control a simulated GameCube controller.
+ */
+class GameCubeControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a GameCubeController object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit GameCubeControllerSim(const GameCubeController& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit GameCubeControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the C Stick X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetCStickX(double value);
+
+  /**
+   * Change the C Stick Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetCStickY(double value);
+
+  /**
+   * Change the L Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLTrigger(double value);
+
+  /**
+   * Change the R Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRTrigger(double value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetStartButton(bool value);
+
+  /**
+   * Change the value of the Z button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetZButton(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLButton(bool value);
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/LogitechF310ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/LogitechF310ControllerSim.hpp
new file mode 100644
index 0000000000..69e0923af8
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/LogitechF310ControllerSim.hpp
@@ -0,0 +1,184 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class LogitechF310Controller;
+
+namespace sim {
+
+/**
+ * Class to control a simulated LogitechF310 controller.
+ */
+class LogitechF310ControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a LogitechF310Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit LogitechF310ControllerSim(const LogitechF310Controller& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit LogitechF310ControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the Left Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftTrigger(double value);
+
+  /**
+   * Change the Right Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightTrigger(double value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the Back button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBackButton(bool value);
+
+  /**
+   * Change the value of the Logitech button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLogitechButton(bool value);
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetStartButton(bool value);
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftStickButton(bool value);
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightStickButton(bool value);
+
+  /**
+   * Change the value of the Left Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftBumperButton(bool value);
+
+  /**
+   * Change the value of the Right Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightBumperButton(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/SteamControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/SteamControllerSim.hpp
new file mode 100644
index 0000000000..0cad81161c
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/SteamControllerSim.hpp
@@ -0,0 +1,261 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class SteamController;
+
+namespace sim {
+
+/**
+ * Class to control a simulated Steam controller.
+ */
+class SteamControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a SteamController object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit SteamControllerSim(const SteamController& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit SteamControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the Left Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftTrigger(double value);
+
+  /**
+   * Change the Right Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightTrigger(double value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the Menu button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetMenuButton(bool value);
+
+  /**
+   * Change the value of the Steam button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetSteamButton(bool value);
+
+  /**
+   * Change the value of the View button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetViewButton(bool value);
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftStickButton(bool value);
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightStickButton(bool value);
+
+  /**
+   * Change the value of the Left Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftBumperButton(bool value);
+
+  /**
+   * Change the value of the Right Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightBumperButton(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the QAM button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetQAMButton(bool value);
+
+  /**
+   * Change the value of the Right Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightPaddle1Button(bool value);
+
+  /**
+   * Change the value of the Left Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftPaddle1Button(bool value);
+
+  /**
+   * Change the value of the Right Paddle 2 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightPaddle2Button(bool value);
+
+  /**
+   * Change the value of the Left Paddle 2 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftPaddle2Button(bool value);
+
+  /**
+   * Change the value of the Left Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftTouchpadButton(bool value);
+
+  /**
+   * Change the value of the Right Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightTouchpadButton(bool value);
+
+  /**
+   * Change the value of the Left Stick Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftStickTouchButton(bool value);
+
+  /**
+   * Change the value of the Right Stick Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightStickTouchButton(bool value);
+
+  /**
+   * Change the value of the Left Grip Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftGripTouchButton(bool value);
+
+  /**
+   * Change the value of the Right Grip Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightGripTouchButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/Switch2GCControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/Switch2GCControllerSim.hpp
new file mode 100644
index 0000000000..3f1357ff3d
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/Switch2GCControllerSim.hpp
@@ -0,0 +1,191 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class Switch2GCController;
+
+namespace sim {
+
+/**
+ * Class to control a simulated Switch2GC controller.
+ */
+class Switch2GCControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a Switch2GCController object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit Switch2GCControllerSim(const Switch2GCController& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit Switch2GCControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the C Stick X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetCStickX(double value);
+
+  /**
+   * Change the C Stick Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetCStickY(double value);
+
+  /**
+   * Change the L Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLTrigger(double value);
+
+  /**
+   * Change the R Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRTrigger(double value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetHomeButton(bool value);
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetStartButton(bool value);
+
+  /**
+   * Change the value of the ZL button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetZLButton(bool value);
+
+  /**
+   * Change the value of the Z button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetZButton(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCaptureButton(bool value);
+
+  /**
+   * Change the value of the C button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCButton(bool value);
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLButton(bool value);
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/Switch2ProControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/Switch2ProControllerSim.hpp
new file mode 100644
index 0000000000..b9d9aa5037
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/Switch2ProControllerSim.hpp
@@ -0,0 +1,212 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class Switch2ProController;
+
+namespace sim {
+
+/**
+ * Class to control a simulated Switch2Pro controller.
+ */
+class Switch2ProControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a Switch2ProController object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit Switch2ProControllerSim(const Switch2ProController& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit Switch2ProControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the ZL value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetZL(double value);
+
+  /**
+   * Change the ZR value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetZR(double value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the Minus button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetMinusButton(bool value);
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetHomeButton(bool value);
+
+  /**
+   * Change the value of the Plus button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetPlusButton(bool value);
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftStickButton(bool value);
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightStickButton(bool value);
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLButton(bool value);
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRButton(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCaptureButton(bool value);
+
+  /**
+   * Change the value of the GR button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetGRButton(bool value);
+
+  /**
+   * Change the value of the GL button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetGLButton(bool value);
+
+  /**
+   * Change the value of the C button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/SwitchN64ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/SwitchN64ControllerSim.hpp
new file mode 100644
index 0000000000..da3bd98080
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/SwitchN64ControllerSim.hpp
@@ -0,0 +1,170 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class SwitchN64Controller;
+
+namespace sim {
+
+/**
+ * Class to control a simulated SwitchN64 controller.
+ */
+class SwitchN64ControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a SwitchN64Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit SwitchN64ControllerSim(const SwitchN64Controller& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit SwitchN64ControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Z Axis value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetZAxis(double value);
+
+  /**
+   * Change the ZR value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetZR(double value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the C Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCLeftButton(bool value);
+
+  /**
+   * Change the value of the C Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCUpButton(bool value);
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCaptureButton(bool value);
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetHomeButton(bool value);
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetStartButton(bool value);
+
+  /**
+   * Change the value of the C Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCDownButton(bool value);
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLButton(bool value);
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRButton(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the C Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCRightButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/SwitchProControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/SwitchProControllerSim.hpp
new file mode 100644
index 0000000000..c69c3b95a4
--- /dev/null
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/SwitchProControllerSim.hpp
@@ -0,0 +1,191 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#pragma once
+
+#include "wpi/simulation/GenericHIDSim.hpp"
+
+namespace wpi {
+
+class SwitchProController;
+
+namespace sim {
+
+/**
+ * Class to control a simulated SwitchPro controller.
+ */
+class SwitchProControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a SwitchProController object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit SwitchProControllerSim(const SwitchProController& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit SwitchProControllerSim(int port);
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the ZL value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetZL(double value);
+
+  /**
+   * Change the ZR value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetZR(double value);
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetBButton(bool value);
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetAButton(bool value);
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetYButton(bool value);
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetXButton(bool value);
+
+  /**
+   * Change the value of the Minus button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetMinusButton(bool value);
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetHomeButton(bool value);
+
+  /**
+   * Change the value of the Plus button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetPlusButton(bool value);
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLeftStickButton(bool value);
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRightStickButton(bool value);
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetLButton(bool value);
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetRButton(bool value);
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadUpButton(bool value);
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadDownButton(bool value);
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadLeftButton(bool value);
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetDpadRightButton(bool value);
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCaptureButton(bool value);
+};
+
+}  // namespace sim
+}  // namespace wpi
diff --git a/wpilibc/src/generated/test/native/cpp/DualSenseEdgeControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/DualSenseEdgeControllerTest.cpp
new file mode 100644
index 0000000000..eaa9bf0afe
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/DualSenseEdgeControllerTest.cpp
@@ -0,0 +1,54 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/DualSenseEdgeController.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/DualSenseEdgeControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(DualSenseEdgeControllerTest, WrappedHID) {
+  DualSenseEdgeController controller{2};
+  sim::DualSenseEdgeControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0x73FFFFULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(DualSenseEdgeController, CrossButton)
+BUTTON_TEST(DualSenseEdgeController, CircleButton)
+BUTTON_TEST(DualSenseEdgeController, SquareButton)
+BUTTON_TEST(DualSenseEdgeController, TriangleButton)
+BUTTON_TEST(DualSenseEdgeController, CreateButton)
+BUTTON_TEST(DualSenseEdgeController, PSButton)
+BUTTON_TEST(DualSenseEdgeController, OptionsButton)
+BUTTON_TEST(DualSenseEdgeController, L3Button)
+BUTTON_TEST(DualSenseEdgeController, R3Button)
+BUTTON_TEST(DualSenseEdgeController, L1Button)
+BUTTON_TEST(DualSenseEdgeController, R1Button)
+BUTTON_TEST(DualSenseEdgeController, DpadUpButton)
+BUTTON_TEST(DualSenseEdgeController, DpadDownButton)
+BUTTON_TEST(DualSenseEdgeController, DpadLeftButton)
+BUTTON_TEST(DualSenseEdgeController, DpadRightButton)
+BUTTON_TEST(DualSenseEdgeController, MicrophoneButton)
+BUTTON_TEST(DualSenseEdgeController, RightPaddle1Button)
+BUTTON_TEST(DualSenseEdgeController, LeftPaddle1Button)
+BUTTON_TEST(DualSenseEdgeController, TouchpadButton)
+BUTTON_TEST(DualSenseEdgeController, LeftFunctionButton)
+BUTTON_TEST(DualSenseEdgeController, RightFunctionButton)
+
+AXIS_TEST(DualSenseEdgeController, LeftX)
+AXIS_TEST(DualSenseEdgeController, LeftY)
+AXIS_TEST(DualSenseEdgeController, RightX)
+AXIS_TEST(DualSenseEdgeController, RightY)
+AXIS_TEST(DualSenseEdgeController, L2)
+AXIS_TEST(DualSenseEdgeController, R2)
diff --git a/wpilibc/src/generated/test/native/cpp/DualShock4ControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/DualShock4ControllerTest.cpp
new file mode 100644
index 0000000000..29712a6547
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/DualShock4ControllerTest.cpp
@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/DualShock4Controller.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/DualShock4ControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(DualShock4ControllerTest, WrappedHID) {
+  DualShock4Controller controller{2};
+  sim::DualShock4ControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0x107FFFULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(DualShock4Controller, CrossButton)
+BUTTON_TEST(DualShock4Controller, CircleButton)
+BUTTON_TEST(DualShock4Controller, SquareButton)
+BUTTON_TEST(DualShock4Controller, TriangleButton)
+BUTTON_TEST(DualShock4Controller, ShareButton)
+BUTTON_TEST(DualShock4Controller, PSButton)
+BUTTON_TEST(DualShock4Controller, OptionsButton)
+BUTTON_TEST(DualShock4Controller, L3Button)
+BUTTON_TEST(DualShock4Controller, R3Button)
+BUTTON_TEST(DualShock4Controller, L1Button)
+BUTTON_TEST(DualShock4Controller, R1Button)
+BUTTON_TEST(DualShock4Controller, DpadUpButton)
+BUTTON_TEST(DualShock4Controller, DpadDownButton)
+BUTTON_TEST(DualShock4Controller, DpadLeftButton)
+BUTTON_TEST(DualShock4Controller, DpadRightButton)
+BUTTON_TEST(DualShock4Controller, TouchpadButton)
+
+AXIS_TEST(DualShock4Controller, LeftX)
+AXIS_TEST(DualShock4Controller, LeftY)
+AXIS_TEST(DualShock4Controller, RightX)
+AXIS_TEST(DualShock4Controller, RightY)
+AXIS_TEST(DualShock4Controller, L2)
+AXIS_TEST(DualShock4Controller, R2)
diff --git a/wpilibc/src/generated/test/native/cpp/GameCubeControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/GameCubeControllerTest.cpp
new file mode 100644
index 0000000000..6b966255c8
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/GameCubeControllerTest.cpp
@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/GameCubeController.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/GameCubeControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(GameCubeControllerTest, WrappedHID) {
+  GameCubeController controller{2};
+  sim::GameCubeControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0xC07C4FULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(GameCubeController, AButton)
+BUTTON_TEST(GameCubeController, XButton)
+BUTTON_TEST(GameCubeController, BButton)
+BUTTON_TEST(GameCubeController, YButton)
+BUTTON_TEST(GameCubeController, StartButton)
+BUTTON_TEST(GameCubeController, ZButton)
+BUTTON_TEST(GameCubeController, DpadUpButton)
+BUTTON_TEST(GameCubeController, DpadDownButton)
+BUTTON_TEST(GameCubeController, DpadLeftButton)
+BUTTON_TEST(GameCubeController, DpadRightButton)
+BUTTON_TEST(GameCubeController, LButton)
+BUTTON_TEST(GameCubeController, RButton)
+
+AXIS_TEST(GameCubeController, LeftX)
+AXIS_TEST(GameCubeController, LeftY)
+AXIS_TEST(GameCubeController, CStickX)
+AXIS_TEST(GameCubeController, CStickY)
+AXIS_TEST(GameCubeController, LTrigger)
+AXIS_TEST(GameCubeController, RTrigger)
diff --git a/wpilibc/src/generated/test/native/cpp/LogitechF310ControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/LogitechF310ControllerTest.cpp
new file mode 100644
index 0000000000..cdcee86c5e
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/LogitechF310ControllerTest.cpp
@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/LogitechF310Controller.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/LogitechF310ControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(LogitechF310ControllerTest, WrappedHID) {
+  LogitechF310Controller controller{2};
+  sim::LogitechF310ControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0x7FFFULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(LogitechF310Controller, AButton)
+BUTTON_TEST(LogitechF310Controller, BButton)
+BUTTON_TEST(LogitechF310Controller, XButton)
+BUTTON_TEST(LogitechF310Controller, YButton)
+BUTTON_TEST(LogitechF310Controller, BackButton)
+BUTTON_TEST(LogitechF310Controller, LogitechButton)
+BUTTON_TEST(LogitechF310Controller, StartButton)
+BUTTON_TEST(LogitechF310Controller, LeftStickButton)
+BUTTON_TEST(LogitechF310Controller, RightStickButton)
+BUTTON_TEST(LogitechF310Controller, LeftBumperButton)
+BUTTON_TEST(LogitechF310Controller, RightBumperButton)
+BUTTON_TEST(LogitechF310Controller, DpadUpButton)
+BUTTON_TEST(LogitechF310Controller, DpadDownButton)
+BUTTON_TEST(LogitechF310Controller, DpadLeftButton)
+BUTTON_TEST(LogitechF310Controller, DpadRightButton)
+
+AXIS_TEST(LogitechF310Controller, LeftX)
+AXIS_TEST(LogitechF310Controller, LeftY)
+AXIS_TEST(LogitechF310Controller, RightX)
+AXIS_TEST(LogitechF310Controller, RightY)
+AXIS_TEST(LogitechF310Controller, LeftTrigger)
+AXIS_TEST(LogitechF310Controller, RightTrigger)
diff --git a/wpilibc/src/generated/test/native/cpp/SteamControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/SteamControllerTest.cpp
new file mode 100644
index 0000000000..7d5ae7d7cd
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/SteamControllerTest.cpp
@@ -0,0 +1,59 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/SteamController.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/SteamControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(SteamControllerTest, WrappedHID) {
+  SteamController controller{2};
+  sim::SteamControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0x3FFFFFFULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(SteamController, AButton)
+BUTTON_TEST(SteamController, BButton)
+BUTTON_TEST(SteamController, XButton)
+BUTTON_TEST(SteamController, YButton)
+BUTTON_TEST(SteamController, MenuButton)
+BUTTON_TEST(SteamController, SteamButton)
+BUTTON_TEST(SteamController, ViewButton)
+BUTTON_TEST(SteamController, LeftStickButton)
+BUTTON_TEST(SteamController, RightStickButton)
+BUTTON_TEST(SteamController, LeftBumperButton)
+BUTTON_TEST(SteamController, RightBumperButton)
+BUTTON_TEST(SteamController, DpadUpButton)
+BUTTON_TEST(SteamController, DpadDownButton)
+BUTTON_TEST(SteamController, DpadLeftButton)
+BUTTON_TEST(SteamController, DpadRightButton)
+BUTTON_TEST(SteamController, QAMButton)
+BUTTON_TEST(SteamController, RightPaddle1Button)
+BUTTON_TEST(SteamController, LeftPaddle1Button)
+BUTTON_TEST(SteamController, RightPaddle2Button)
+BUTTON_TEST(SteamController, LeftPaddle2Button)
+BUTTON_TEST(SteamController, LeftTouchpadButton)
+BUTTON_TEST(SteamController, RightTouchpadButton)
+BUTTON_TEST(SteamController, LeftStickTouchButton)
+BUTTON_TEST(SteamController, RightStickTouchButton)
+BUTTON_TEST(SteamController, LeftGripTouchButton)
+BUTTON_TEST(SteamController, RightGripTouchButton)
+
+AXIS_TEST(SteamController, LeftX)
+AXIS_TEST(SteamController, LeftY)
+AXIS_TEST(SteamController, RightX)
+AXIS_TEST(SteamController, RightY)
+AXIS_TEST(SteamController, LeftTrigger)
+AXIS_TEST(SteamController, RightTrigger)
diff --git a/wpilibc/src/generated/test/native/cpp/Switch2GCControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/Switch2GCControllerTest.cpp
new file mode 100644
index 0000000000..e260c6e8a0
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/Switch2GCControllerTest.cpp
@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/Switch2GCController.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/Switch2GCControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(Switch2GCControllerTest, WrappedHID) {
+  Switch2GCController controller{2};
+  sim::Switch2GCControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0xE0FE6FULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(Switch2GCController, AButton)
+BUTTON_TEST(Switch2GCController, XButton)
+BUTTON_TEST(Switch2GCController, BButton)
+BUTTON_TEST(Switch2GCController, YButton)
+BUTTON_TEST(Switch2GCController, HomeButton)
+BUTTON_TEST(Switch2GCController, StartButton)
+BUTTON_TEST(Switch2GCController, ZLButton)
+BUTTON_TEST(Switch2GCController, ZButton)
+BUTTON_TEST(Switch2GCController, DpadUpButton)
+BUTTON_TEST(Switch2GCController, DpadDownButton)
+BUTTON_TEST(Switch2GCController, DpadLeftButton)
+BUTTON_TEST(Switch2GCController, DpadRightButton)
+BUTTON_TEST(Switch2GCController, CaptureButton)
+BUTTON_TEST(Switch2GCController, CButton)
+BUTTON_TEST(Switch2GCController, LButton)
+BUTTON_TEST(Switch2GCController, RButton)
+
+AXIS_TEST(Switch2GCController, LeftX)
+AXIS_TEST(Switch2GCController, LeftY)
+AXIS_TEST(Switch2GCController, CStickX)
+AXIS_TEST(Switch2GCController, CStickY)
+AXIS_TEST(Switch2GCController, LTrigger)
+AXIS_TEST(Switch2GCController, RTrigger)
diff --git a/wpilibc/src/generated/test/native/cpp/Switch2ProControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/Switch2ProControllerTest.cpp
new file mode 100644
index 0000000000..2281747a75
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/Switch2ProControllerTest.cpp
@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/Switch2ProController.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/Switch2ProControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(Switch2ProControllerTest, WrappedHID) {
+  Switch2ProController controller{2};
+  sim::Switch2ProControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0x23FFFFULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(Switch2ProController, BButton)
+BUTTON_TEST(Switch2ProController, AButton)
+BUTTON_TEST(Switch2ProController, YButton)
+BUTTON_TEST(Switch2ProController, XButton)
+BUTTON_TEST(Switch2ProController, MinusButton)
+BUTTON_TEST(Switch2ProController, HomeButton)
+BUTTON_TEST(Switch2ProController, PlusButton)
+BUTTON_TEST(Switch2ProController, LeftStickButton)
+BUTTON_TEST(Switch2ProController, RightStickButton)
+BUTTON_TEST(Switch2ProController, LButton)
+BUTTON_TEST(Switch2ProController, RButton)
+BUTTON_TEST(Switch2ProController, DpadUpButton)
+BUTTON_TEST(Switch2ProController, DpadDownButton)
+BUTTON_TEST(Switch2ProController, DpadLeftButton)
+BUTTON_TEST(Switch2ProController, DpadRightButton)
+BUTTON_TEST(Switch2ProController, CaptureButton)
+BUTTON_TEST(Switch2ProController, GRButton)
+BUTTON_TEST(Switch2ProController, GLButton)
+BUTTON_TEST(Switch2ProController, CButton)
+
+AXIS_TEST(Switch2ProController, LeftX)
+AXIS_TEST(Switch2ProController, LeftY)
+AXIS_TEST(Switch2ProController, RightX)
+AXIS_TEST(Switch2ProController, RightY)
+AXIS_TEST(Switch2ProController, ZL)
+AXIS_TEST(Switch2ProController, ZR)
diff --git a/wpilibc/src/generated/test/native/cpp/SwitchN64ControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/SwitchN64ControllerTest.cpp
new file mode 100644
index 0000000000..69f2543d97
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/SwitchN64ControllerTest.cpp
@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/SwitchN64Controller.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/SwitchN64ControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(SwitchN64ControllerTest, WrappedHID) {
+  SwitchN64Controller controller{2};
+  sim::SwitchN64ControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x33);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0x20FE7FULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(SwitchN64Controller, AButton)
+BUTTON_TEST(SwitchN64Controller, BButton)
+BUTTON_TEST(SwitchN64Controller, CLeftButton)
+BUTTON_TEST(SwitchN64Controller, CUpButton)
+BUTTON_TEST(SwitchN64Controller, CaptureButton)
+BUTTON_TEST(SwitchN64Controller, HomeButton)
+BUTTON_TEST(SwitchN64Controller, StartButton)
+BUTTON_TEST(SwitchN64Controller, CDownButton)
+BUTTON_TEST(SwitchN64Controller, LButton)
+BUTTON_TEST(SwitchN64Controller, RButton)
+BUTTON_TEST(SwitchN64Controller, DpadUpButton)
+BUTTON_TEST(SwitchN64Controller, DpadDownButton)
+BUTTON_TEST(SwitchN64Controller, DpadLeftButton)
+BUTTON_TEST(SwitchN64Controller, DpadRightButton)
+BUTTON_TEST(SwitchN64Controller, CRightButton)
+
+AXIS_TEST(SwitchN64Controller, LeftX)
+AXIS_TEST(SwitchN64Controller, LeftY)
+AXIS_TEST(SwitchN64Controller, ZAxis)
+AXIS_TEST(SwitchN64Controller, ZR)
diff --git a/wpilibc/src/generated/test/native/cpp/SwitchProControllerTest.cpp b/wpilibc/src/generated/test/native/cpp/SwitchProControllerTest.cpp
new file mode 100644
index 0000000000..c97d0c2efd
--- /dev/null
+++ b/wpilibc/src/generated/test/native/cpp/SwitchProControllerTest.cpp
@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_first_ds_hids.py. DO NOT MODIFY
+#include "wpi/driverstation/SwitchProController.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/SwitchProControllerSim.hpp"
+
+using namespace wpi;
+
+TEST(SwitchProControllerTest, WrappedHID) {
+  SwitchProController controller{2};
+  sim::SwitchProControllerSim sim{controller};
+  sim.NotifyNewData();
+
+  ASSERT_EQ(controller.GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetPort(), 2);
+  ASSERT_EQ(controller.GetHID().GetAxesAvailable(), 0x3F);
+  ASSERT_EQ(controller.GetHID().GetButtonsAvailable(), 0xFFFFULL);
+  ASSERT_EQ(controller.GetHID().GetPOVsAvailable(), 0);
+}
+
+BUTTON_TEST(SwitchProController, BButton)
+BUTTON_TEST(SwitchProController, AButton)
+BUTTON_TEST(SwitchProController, YButton)
+BUTTON_TEST(SwitchProController, XButton)
+BUTTON_TEST(SwitchProController, MinusButton)
+BUTTON_TEST(SwitchProController, HomeButton)
+BUTTON_TEST(SwitchProController, PlusButton)
+BUTTON_TEST(SwitchProController, LeftStickButton)
+BUTTON_TEST(SwitchProController, RightStickButton)
+BUTTON_TEST(SwitchProController, LButton)
+BUTTON_TEST(SwitchProController, RButton)
+BUTTON_TEST(SwitchProController, DpadUpButton)
+BUTTON_TEST(SwitchProController, DpadDownButton)
+BUTTON_TEST(SwitchProController, DpadLeftButton)
+BUTTON_TEST(SwitchProController, DpadRightButton)
+BUTTON_TEST(SwitchProController, CaptureButton)
+
+AXIS_TEST(SwitchProController, LeftX)
+AXIS_TEST(SwitchProController, LeftY)
+AXIS_TEST(SwitchProController, RightX)
+AXIS_TEST(SwitchProController, RightY)
+AXIS_TEST(SwitchProController, ZL)
+AXIS_TEST(SwitchProController, ZR)
diff --git a/wpilibc/src/main/python/pyproject.toml b/wpilibc/src/main/python/pyproject.toml
index aed2ce283b..6f1b698f4a 100644
--- a/wpilibc/src/main/python/pyproject.toml
+++ b/wpilibc/src/main/python/pyproject.toml
@@ -122,7 +122,16 @@ Gamepad = "wpi/driverstation/Gamepad.hpp"
 GenericHID = "wpi/driverstation/GenericHID.hpp"
 HIDDevice = "wpi/driverstation/HIDDevice.hpp"
 Joystick = "wpi/driverstation/Joystick.hpp"
+GameCubeController = "wpi/driverstation/GameCubeController.hpp"
+DualSenseEdgeController = "wpi/driverstation/DualSenseEdgeController.hpp"
 DualSenseController = "wpi/driverstation/DualSenseController.hpp"
+DualShock4Controller = "wpi/driverstation/DualShock4Controller.hpp"
+LogitechF310Controller = "wpi/driverstation/LogitechF310Controller.hpp"
+SteamController = "wpi/driverstation/SteamController.hpp"
+Switch2GCController = "wpi/driverstation/Switch2GCController.hpp"
+Switch2ProController = "wpi/driverstation/Switch2ProController.hpp"
+SwitchN64Controller = "wpi/driverstation/SwitchN64Controller.hpp"
+SwitchProController = "wpi/driverstation/SwitchProController.hpp"
 XboxController = "wpi/driverstation/XboxController.hpp"
 NiDsPS4Controller = "wpi/driverstation/NiDsPS4Controller.hpp"
 NiDsPS5Controller = "wpi/driverstation/NiDsPS5Controller.hpp"
@@ -282,7 +291,16 @@ GamepadSim = "wpi/simulation/GamepadSim.hpp"
 GenericHIDSim = "wpi/simulation/GenericHIDSim.hpp"
 JoystickSim = "wpi/simulation/JoystickSim.hpp"
 LinearSystemSim = "wpi/simulation/LinearSystemSim.hpp"
+GameCubeControllerSim = "wpi/simulation/GameCubeControllerSim.hpp"
+DualSenseEdgeControllerSim = "wpi/simulation/DualSenseEdgeControllerSim.hpp"
 DualSenseControllerSim = "wpi/simulation/DualSenseControllerSim.hpp"
+DualShock4ControllerSim = "wpi/simulation/DualShock4ControllerSim.hpp"
+LogitechF310ControllerSim = "wpi/simulation/LogitechF310ControllerSim.hpp"
+SteamControllerSim = "wpi/simulation/SteamControllerSim.hpp"
+Switch2GCControllerSim = "wpi/simulation/Switch2GCControllerSim.hpp"
+Switch2ProControllerSim = "wpi/simulation/Switch2ProControllerSim.hpp"
+SwitchN64ControllerSim = "wpi/simulation/SwitchN64ControllerSim.hpp"
+SwitchProControllerSim = "wpi/simulation/SwitchProControllerSim.hpp"
 XboxControllerSim = "wpi/simulation/XboxControllerSim.hpp"
 NiDsPS4ControllerSim = "wpi/simulation/NiDsPS4ControllerSim.hpp"
 NiDsPS5ControllerSim = "wpi/simulation/NiDsPS5ControllerSim.hpp"
diff --git a/wpilibc/src/main/python/semiwrap/DualSenseEdgeController.yml b/wpilibc/src/main/python/semiwrap/DualSenseEdgeController.yml
new file mode 100644
index 0000000000..4071586d2f
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/DualSenseEdgeController.yml
@@ -0,0 +1,136 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::DualSenseEdgeController:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<DualSenseEdgeController>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      DualSenseEdgeController:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetRightX:
+      GetRightY:
+      GetL2:
+      GetR2:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetCrossButton:
+      GetCrossButtonPressed:
+      GetCrossButtonReleased:
+      Cross:
+      GetCircleButton:
+      GetCircleButtonPressed:
+      GetCircleButtonReleased:
+      Circle:
+      GetSquareButton:
+      GetSquareButtonPressed:
+      GetSquareButtonReleased:
+      Square:
+      GetTriangleButton:
+      GetTriangleButtonPressed:
+      GetTriangleButtonReleased:
+      Triangle:
+      GetCreateButton:
+      GetCreateButtonPressed:
+      GetCreateButtonReleased:
+      Create:
+      GetPSButton:
+      GetPSButtonPressed:
+      GetPSButtonReleased:
+      PS:
+      GetOptionsButton:
+      GetOptionsButtonPressed:
+      GetOptionsButtonReleased:
+      Options:
+      GetL3Button:
+      GetL3ButtonPressed:
+      GetL3ButtonReleased:
+      L3:
+      GetR3Button:
+      GetR3ButtonPressed:
+      GetR3ButtonReleased:
+      R3:
+      GetL1Button:
+      GetL1ButtonPressed:
+      GetL1ButtonReleased:
+      L1:
+      GetR1Button:
+      GetR1ButtonPressed:
+      GetR1ButtonReleased:
+      R1:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetMicrophoneButton:
+      GetMicrophoneButtonPressed:
+      GetMicrophoneButtonReleased:
+      Microphone:
+      GetRightPaddle1Button:
+      GetRightPaddle1ButtonPressed:
+      GetRightPaddle1ButtonReleased:
+      RightPaddle1:
+      GetLeftPaddle1Button:
+      GetLeftPaddle1ButtonPressed:
+      GetLeftPaddle1ButtonReleased:
+      LeftPaddle1:
+      GetTouchpadButton:
+      GetTouchpadButtonPressed:
+      GetTouchpadButtonReleased:
+      Touchpad:
+      GetLeftFunctionButton:
+      GetLeftFunctionButtonPressed:
+      GetLeftFunctionButtonReleased:
+      LeftFunction:
+      GetRightFunctionButton:
+      GetRightFunctionButtonPressed:
+      GetRightFunctionButtonReleased:
+      RightFunction:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      GetTouchpadFingerAvailable:
+      GetTouchpadFinger:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/DualShock4Controller.yml b/wpilibc/src/main/python/semiwrap/DualShock4Controller.yml
new file mode 100644
index 0000000000..0c8d1f19e2
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/DualShock4Controller.yml
@@ -0,0 +1,116 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::DualShock4Controller:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<DualShock4Controller>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      DualShock4Controller:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetRightX:
+      GetRightY:
+      GetL2:
+      GetR2:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetCrossButton:
+      GetCrossButtonPressed:
+      GetCrossButtonReleased:
+      Cross:
+      GetCircleButton:
+      GetCircleButtonPressed:
+      GetCircleButtonReleased:
+      Circle:
+      GetSquareButton:
+      GetSquareButtonPressed:
+      GetSquareButtonReleased:
+      Square:
+      GetTriangleButton:
+      GetTriangleButtonPressed:
+      GetTriangleButtonReleased:
+      Triangle:
+      GetShareButton:
+      GetShareButtonPressed:
+      GetShareButtonReleased:
+      Share:
+      GetPSButton:
+      GetPSButtonPressed:
+      GetPSButtonReleased:
+      PS:
+      GetOptionsButton:
+      GetOptionsButtonPressed:
+      GetOptionsButtonReleased:
+      Options:
+      GetL3Button:
+      GetL3ButtonPressed:
+      GetL3ButtonReleased:
+      L3:
+      GetR3Button:
+      GetR3ButtonPressed:
+      GetR3ButtonReleased:
+      R3:
+      GetL1Button:
+      GetL1ButtonPressed:
+      GetL1ButtonReleased:
+      L1:
+      GetR1Button:
+      GetR1ButtonPressed:
+      GetR1ButtonReleased:
+      R1:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetTouchpadButton:
+      GetTouchpadButtonPressed:
+      GetTouchpadButtonReleased:
+      Touchpad:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      GetTouchpadFingerAvailable:
+      GetTouchpadFinger:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/GameCubeController.yml b/wpilibc/src/main/python/semiwrap/GameCubeController.yml
new file mode 100644
index 0000000000..9e0fc4975a
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/GameCubeController.yml
@@ -0,0 +1,98 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::GameCubeController:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<GameCubeController>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      GameCubeController:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetCStickX:
+      GetCStickY:
+      GetLTrigger:
+      GetRTrigger:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetStartButton:
+      GetStartButtonPressed:
+      GetStartButtonReleased:
+      Start:
+      GetZButton:
+      GetZButtonPressed:
+      GetZButtonReleased:
+      Z:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetLButton:
+      GetLButtonPressed:
+      GetLButtonReleased:
+      L:
+      GetRButton:
+      GetRButtonPressed:
+      GetRButtonReleased:
+      R:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/LogitechF310Controller.yml b/wpilibc/src/main/python/semiwrap/LogitechF310Controller.yml
new file mode 100644
index 0000000000..639f1e77fd
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/LogitechF310Controller.yml
@@ -0,0 +1,110 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::LogitechF310Controller:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<LogitechF310Controller>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      LogitechF310Controller:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetRightX:
+      GetRightY:
+      GetLeftTrigger:
+      GetRightTrigger:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetBackButton:
+      GetBackButtonPressed:
+      GetBackButtonReleased:
+      Back:
+      GetLogitechButton:
+      GetLogitechButtonPressed:
+      GetLogitechButtonReleased:
+      Logitech:
+      GetStartButton:
+      GetStartButtonPressed:
+      GetStartButtonReleased:
+      Start:
+      GetLeftStickButton:
+      GetLeftStickButtonPressed:
+      GetLeftStickButtonReleased:
+      LeftStick:
+      GetRightStickButton:
+      GetRightStickButtonPressed:
+      GetRightStickButtonReleased:
+      RightStick:
+      GetLeftBumperButton:
+      GetLeftBumperButtonPressed:
+      GetLeftBumperButtonReleased:
+      LeftBumper:
+      GetRightBumperButton:
+      GetRightBumperButtonPressed:
+      GetRightBumperButtonReleased:
+      RightBumper:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/SteamController.yml b/wpilibc/src/main/python/semiwrap/SteamController.yml
new file mode 100644
index 0000000000..c98457a59a
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/SteamController.yml
@@ -0,0 +1,156 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::SteamController:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<SteamController>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      SteamController:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetRightX:
+      GetRightY:
+      GetLeftTrigger:
+      GetRightTrigger:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetMenuButton:
+      GetMenuButtonPressed:
+      GetMenuButtonReleased:
+      Menu:
+      GetSteamButton:
+      GetSteamButtonPressed:
+      GetSteamButtonReleased:
+      Steam:
+      GetViewButton:
+      GetViewButtonPressed:
+      GetViewButtonReleased:
+      View:
+      GetLeftStickButton:
+      GetLeftStickButtonPressed:
+      GetLeftStickButtonReleased:
+      LeftStick:
+      GetRightStickButton:
+      GetRightStickButtonPressed:
+      GetRightStickButtonReleased:
+      RightStick:
+      GetLeftBumperButton:
+      GetLeftBumperButtonPressed:
+      GetLeftBumperButtonReleased:
+      LeftBumper:
+      GetRightBumperButton:
+      GetRightBumperButtonPressed:
+      GetRightBumperButtonReleased:
+      RightBumper:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetQAMButton:
+      GetQAMButtonPressed:
+      GetQAMButtonReleased:
+      QAM:
+      GetRightPaddle1Button:
+      GetRightPaddle1ButtonPressed:
+      GetRightPaddle1ButtonReleased:
+      RightPaddle1:
+      GetLeftPaddle1Button:
+      GetLeftPaddle1ButtonPressed:
+      GetLeftPaddle1ButtonReleased:
+      LeftPaddle1:
+      GetRightPaddle2Button:
+      GetRightPaddle2ButtonPressed:
+      GetRightPaddle2ButtonReleased:
+      RightPaddle2:
+      GetLeftPaddle2Button:
+      GetLeftPaddle2ButtonPressed:
+      GetLeftPaddle2ButtonReleased:
+      LeftPaddle2:
+      GetLeftTouchpadButton:
+      GetLeftTouchpadButtonPressed:
+      GetLeftTouchpadButtonReleased:
+      LeftTouchpad:
+      GetRightTouchpadButton:
+      GetRightTouchpadButtonPressed:
+      GetRightTouchpadButtonReleased:
+      RightTouchpad:
+      GetLeftStickTouchButton:
+      GetLeftStickTouchButtonPressed:
+      GetLeftStickTouchButtonReleased:
+      LeftStickTouch:
+      GetRightStickTouchButton:
+      GetRightStickTouchButtonPressed:
+      GetRightStickTouchButtonReleased:
+      RightStickTouch:
+      GetLeftGripTouchButton:
+      GetLeftGripTouchButtonPressed:
+      GetLeftGripTouchButtonReleased:
+      LeftGripTouch:
+      GetRightGripTouchButton:
+      GetRightGripTouchButtonPressed:
+      GetRightGripTouchButtonReleased:
+      RightGripTouch:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      GetTouchpadFingerAvailable:
+      GetTouchpadFinger:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/Switch2GCController.yml b/wpilibc/src/main/python/semiwrap/Switch2GCController.yml
new file mode 100644
index 0000000000..3fb859ab99
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/Switch2GCController.yml
@@ -0,0 +1,114 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::Switch2GCController:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<Switch2GCController>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      Switch2GCController:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetCStickX:
+      GetCStickY:
+      GetLTrigger:
+      GetRTrigger:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetHomeButton:
+      GetHomeButtonPressed:
+      GetHomeButtonReleased:
+      Home:
+      GetStartButton:
+      GetStartButtonPressed:
+      GetStartButtonReleased:
+      Start:
+      GetZLButton:
+      GetZLButtonPressed:
+      GetZLButtonReleased:
+      ZL:
+      GetZButton:
+      GetZButtonPressed:
+      GetZButtonReleased:
+      Z:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetCaptureButton:
+      GetCaptureButtonPressed:
+      GetCaptureButtonReleased:
+      Capture:
+      GetCButton:
+      GetCButtonPressed:
+      GetCButtonReleased:
+      C:
+      GetLButton:
+      GetLButtonPressed:
+      GetLButtonReleased:
+      L:
+      GetRButton:
+      GetRButtonPressed:
+      GetRButtonReleased:
+      R:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/Switch2ProController.yml b/wpilibc/src/main/python/semiwrap/Switch2ProController.yml
new file mode 100644
index 0000000000..fb5d42b63f
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/Switch2ProController.yml
@@ -0,0 +1,126 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::Switch2ProController:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<Switch2ProController>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      Switch2ProController:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetRightX:
+      GetRightY:
+      GetZL:
+      GetZR:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetMinusButton:
+      GetMinusButtonPressed:
+      GetMinusButtonReleased:
+      Minus:
+      GetHomeButton:
+      GetHomeButtonPressed:
+      GetHomeButtonReleased:
+      Home:
+      GetPlusButton:
+      GetPlusButtonPressed:
+      GetPlusButtonReleased:
+      Plus:
+      GetLeftStickButton:
+      GetLeftStickButtonPressed:
+      GetLeftStickButtonReleased:
+      LeftStick:
+      GetRightStickButton:
+      GetRightStickButtonPressed:
+      GetRightStickButtonReleased:
+      RightStick:
+      GetLButton:
+      GetLButtonPressed:
+      GetLButtonReleased:
+      L:
+      GetRButton:
+      GetRButtonPressed:
+      GetRButtonReleased:
+      R:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetCaptureButton:
+      GetCaptureButtonPressed:
+      GetCaptureButtonReleased:
+      Capture:
+      GetGRButton:
+      GetGRButtonPressed:
+      GetGRButtonReleased:
+      GR:
+      GetGLButton:
+      GetGLButtonPressed:
+      GetGLButtonReleased:
+      GL:
+      GetCButton:
+      GetCButtonPressed:
+      GetCButtonReleased:
+      C:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/SwitchN64Controller.yml b/wpilibc/src/main/python/semiwrap/SwitchN64Controller.yml
new file mode 100644
index 0000000000..dc77d9c3bf
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/SwitchN64Controller.yml
@@ -0,0 +1,108 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::SwitchN64Controller:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<SwitchN64Controller>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      SwitchN64Controller:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetZAxis:
+      GetZR:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetCLeftButton:
+      GetCLeftButtonPressed:
+      GetCLeftButtonReleased:
+      CLeft:
+      GetCUpButton:
+      GetCUpButtonPressed:
+      GetCUpButtonReleased:
+      CUp:
+      GetCaptureButton:
+      GetCaptureButtonPressed:
+      GetCaptureButtonReleased:
+      Capture:
+      GetHomeButton:
+      GetHomeButtonPressed:
+      GetHomeButtonReleased:
+      Home:
+      GetStartButton:
+      GetStartButtonPressed:
+      GetStartButtonReleased:
+      Start:
+      GetCDownButton:
+      GetCDownButtonPressed:
+      GetCDownButtonReleased:
+      CDown:
+      GetLButton:
+      GetLButtonPressed:
+      GetLButtonReleased:
+      L:
+      GetRButton:
+      GetRButtonPressed:
+      GetRButtonReleased:
+      R:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetCRightButton:
+      GetCRightButtonPressed:
+      GetCRightButtonReleased:
+      CRight:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/SwitchProController.yml b/wpilibc/src/main/python/semiwrap/SwitchProController.yml
new file mode 100644
index 0000000000..8cd1fcb9c5
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/SwitchProController.yml
@@ -0,0 +1,114 @@
+extra_includes:
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
+- wpi/event/BooleanEvent.hpp
+
+classes:
+  wpi::SwitchProController:
+    force_no_trampoline: true
+    ignored_bases:
+    - wpi::util::SendableHelper<SwitchProController>
+    attributes:
+      TOUCHPAD_COUNT:
+      SUPPORTS_RUMBLE:
+      SUPPORTS_TRIGGER_RUMBLE:
+      SUPPORTS_MONO_LED:
+      SUPPORTS_RGB_LED:
+      SUPPORTED_OUTPUTS:
+    methods:
+      SwitchProController:
+        overloads:
+          int:
+          GenericHID&:
+      GetHID:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      GetPort:
+      IsConnected:
+      GetLeftX:
+      GetLeftY:
+      GetRightX:
+      GetRightY:
+      GetZL:
+      GetZR:
+      GetAxis:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetMinusButton:
+      GetMinusButtonPressed:
+      GetMinusButtonReleased:
+      Minus:
+      GetHomeButton:
+      GetHomeButtonPressed:
+      GetHomeButtonReleased:
+      Home:
+      GetPlusButton:
+      GetPlusButtonPressed:
+      GetPlusButtonReleased:
+      Plus:
+      GetLeftStickButton:
+      GetLeftStickButtonPressed:
+      GetLeftStickButtonReleased:
+      LeftStick:
+      GetRightStickButton:
+      GetRightStickButtonPressed:
+      GetRightStickButtonReleased:
+      RightStick:
+      GetLButton:
+      GetLButtonPressed:
+      GetLButtonReleased:
+      L:
+      GetRButton:
+      GetRButtonPressed:
+      GetRButtonReleased:
+      R:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetCaptureButton:
+      GetCaptureButtonPressed:
+      GetCaptureButtonReleased:
+      Capture:
+      GetButton:
+      GetButtonPressed:
+      GetButtonReleased:
+      ButtonEvent:
+        rename: button
+      SetLeds:
+      SetRumble:
+      InitSendable:
+    enums:
+      Button:
+      Axis:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DualSenseEdgeControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DualSenseEdgeControllerSim.yml
new file mode 100644
index 0000000000..d6614002b5
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/DualSenseEdgeControllerSim.yml
@@ -0,0 +1,40 @@
+extra_includes:
+- wpi/driverstation/DualSenseEdgeController.hpp
+
+classes:
+  wpi::sim::DualSenseEdgeControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::DualSenseEdgeController
+    methods:
+      DualSenseEdgeControllerSim:
+        overloads:
+          const DualSenseEdgeController&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetRightX:
+      SetRightY:
+      SetL2:
+      SetR2:
+      SetCrossButton:
+      SetCircleButton:
+      SetSquareButton:
+      SetTriangleButton:
+      SetCreateButton:
+      SetPSButton:
+      SetOptionsButton:
+      SetL3Button:
+      SetR3Button:
+      SetL1Button:
+      SetR1Button:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetMicrophoneButton:
+      SetRightPaddle1Button:
+      SetLeftPaddle1Button:
+      SetTouchpadButton:
+      SetLeftFunctionButton:
+      SetRightFunctionButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DualShock4ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DualShock4ControllerSim.yml
new file mode 100644
index 0000000000..d6e936e91a
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/DualShock4ControllerSim.yml
@@ -0,0 +1,35 @@
+extra_includes:
+- wpi/driverstation/DualShock4Controller.hpp
+
+classes:
+  wpi::sim::DualShock4ControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::DualShock4Controller
+    methods:
+      DualShock4ControllerSim:
+        overloads:
+          const DualShock4Controller&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetRightX:
+      SetRightY:
+      SetL2:
+      SetR2:
+      SetCrossButton:
+      SetCircleButton:
+      SetSquareButton:
+      SetTriangleButton:
+      SetShareButton:
+      SetPSButton:
+      SetOptionsButton:
+      SetL3Button:
+      SetR3Button:
+      SetL1Button:
+      SetR1Button:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetTouchpadButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/GameCubeControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/GameCubeControllerSim.yml
new file mode 100644
index 0000000000..cc812d58e3
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/GameCubeControllerSim.yml
@@ -0,0 +1,31 @@
+extra_includes:
+- wpi/driverstation/GameCubeController.hpp
+
+classes:
+  wpi::sim::GameCubeControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::GameCubeController
+    methods:
+      GameCubeControllerSim:
+        overloads:
+          const GameCubeController&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetCStickX:
+      SetCStickY:
+      SetLTrigger:
+      SetRTrigger:
+      SetAButton:
+      SetXButton:
+      SetBButton:
+      SetYButton:
+      SetStartButton:
+      SetZButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetLButton:
+      SetRButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/LogitechF310ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/LogitechF310ControllerSim.yml
new file mode 100644
index 0000000000..98aa4e4f77
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/LogitechF310ControllerSim.yml
@@ -0,0 +1,34 @@
+extra_includes:
+- wpi/driverstation/LogitechF310Controller.hpp
+
+classes:
+  wpi::sim::LogitechF310ControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::LogitechF310Controller
+    methods:
+      LogitechF310ControllerSim:
+        overloads:
+          const LogitechF310Controller&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetRightX:
+      SetRightY:
+      SetLeftTrigger:
+      SetRightTrigger:
+      SetAButton:
+      SetBButton:
+      SetXButton:
+      SetYButton:
+      SetBackButton:
+      SetLogitechButton:
+      SetStartButton:
+      SetLeftStickButton:
+      SetRightStickButton:
+      SetLeftBumperButton:
+      SetRightBumperButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SteamControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SteamControllerSim.yml
new file mode 100644
index 0000000000..b01d4cd409
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/SteamControllerSim.yml
@@ -0,0 +1,45 @@
+extra_includes:
+- wpi/driverstation/SteamController.hpp
+
+classes:
+  wpi::sim::SteamControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::SteamController
+    methods:
+      SteamControllerSim:
+        overloads:
+          const SteamController&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetRightX:
+      SetRightY:
+      SetLeftTrigger:
+      SetRightTrigger:
+      SetAButton:
+      SetBButton:
+      SetXButton:
+      SetYButton:
+      SetMenuButton:
+      SetSteamButton:
+      SetViewButton:
+      SetLeftStickButton:
+      SetRightStickButton:
+      SetLeftBumperButton:
+      SetRightBumperButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetQAMButton:
+      SetRightPaddle1Button:
+      SetLeftPaddle1Button:
+      SetRightPaddle2Button:
+      SetLeftPaddle2Button:
+      SetLeftTouchpadButton:
+      SetRightTouchpadButton:
+      SetLeftStickTouchButton:
+      SetRightStickTouchButton:
+      SetLeftGripTouchButton:
+      SetRightGripTouchButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/Switch2GCControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/Switch2GCControllerSim.yml
new file mode 100644
index 0000000000..59372acbcd
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/Switch2GCControllerSim.yml
@@ -0,0 +1,35 @@
+extra_includes:
+- wpi/driverstation/Switch2GCController.hpp
+
+classes:
+  wpi::sim::Switch2GCControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::Switch2GCController
+    methods:
+      Switch2GCControllerSim:
+        overloads:
+          const Switch2GCController&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetCStickX:
+      SetCStickY:
+      SetLTrigger:
+      SetRTrigger:
+      SetAButton:
+      SetXButton:
+      SetBButton:
+      SetYButton:
+      SetHomeButton:
+      SetStartButton:
+      SetZLButton:
+      SetZButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetCaptureButton:
+      SetCButton:
+      SetLButton:
+      SetRButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/Switch2ProControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/Switch2ProControllerSim.yml
new file mode 100644
index 0000000000..9a37bba5de
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/Switch2ProControllerSim.yml
@@ -0,0 +1,38 @@
+extra_includes:
+- wpi/driverstation/Switch2ProController.hpp
+
+classes:
+  wpi::sim::Switch2ProControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::Switch2ProController
+    methods:
+      Switch2ProControllerSim:
+        overloads:
+          const Switch2ProController&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetRightX:
+      SetRightY:
+      SetZL:
+      SetZR:
+      SetBButton:
+      SetAButton:
+      SetYButton:
+      SetXButton:
+      SetMinusButton:
+      SetHomeButton:
+      SetPlusButton:
+      SetLeftStickButton:
+      SetRightStickButton:
+      SetLButton:
+      SetRButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetCaptureButton:
+      SetGRButton:
+      SetGLButton:
+      SetCButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SwitchN64ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SwitchN64ControllerSim.yml
new file mode 100644
index 0000000000..ca9183f081
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/SwitchN64ControllerSim.yml
@@ -0,0 +1,32 @@
+extra_includes:
+- wpi/driverstation/SwitchN64Controller.hpp
+
+classes:
+  wpi::sim::SwitchN64ControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::SwitchN64Controller
+    methods:
+      SwitchN64ControllerSim:
+        overloads:
+          const SwitchN64Controller&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetZAxis:
+      SetZR:
+      SetAButton:
+      SetBButton:
+      SetCLeftButton:
+      SetCUpButton:
+      SetCaptureButton:
+      SetHomeButton:
+      SetStartButton:
+      SetCDownButton:
+      SetLButton:
+      SetRButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetCRightButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SwitchProControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SwitchProControllerSim.yml
new file mode 100644
index 0000000000..f0a1ba7f84
--- /dev/null
+++ b/wpilibc/src/main/python/semiwrap/simulation/SwitchProControllerSim.yml
@@ -0,0 +1,35 @@
+extra_includes:
+- wpi/driverstation/SwitchProController.hpp
+
+classes:
+  wpi::sim::SwitchProControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - wpi::SwitchProController
+    methods:
+      SwitchProControllerSim:
+        overloads:
+          const SwitchProController&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetRightX:
+      SetRightY:
+      SetZL:
+      SetZR:
+      SetBButton:
+      SetAButton:
+      SetYButton:
+      SetXButton:
+      SetMinusButton:
+      SetHomeButton:
+      SetPlusButton:
+      SetLeftStickButton:
+      SetRightStickButton:
+      SetLButton:
+      SetRButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetCaptureButton:
diff --git a/wpilibc/src/main/python/wpilib/__init__.py b/wpilibc/src/main/python/wpilib/__init__.py
index 01dbfb970a..8057d3acc7 100644
--- a/wpilibc/src/main/python/wpilib/__init__.py
+++ b/wpilibc/src/main/python/wpilib/__init__.py
@@ -26,7 +26,9 @@ from ._wpilib import (
     DriverStation,
     DriverStationBackend,
     DriverStationDisplay,
+    DualSenseEdgeController,
     DualSenseController,
+    DualShock4Controller,
     DutyCycle,
     DutyCycleEncoder,
     EdgeConfiguration,
@@ -39,13 +41,16 @@ from ._wpilib import (
     ExpansionHubVelocityConstants,
     Field2d,
     FieldObject2d,
+    GameCubeController,
     Gamepad,
     GenericHID,
+    HIDDevice,
     I2C,
     IterativeRobotBase,
     Joystick,
     Koors40,
     LEDPattern,
+    LogitechF310Controller,
     MatchState,
     MatchType,
     MecanumDrive,
@@ -97,6 +102,11 @@ from ._wpilib import (
     Solenoid,
     Spark,
     SparkMini,
+    SteamController,
+    Switch2GCController,
+    Switch2ProController,
+    SwitchN64Controller,
+    SwitchProController,
     SystemServer,
     Tachometer,
     Talon,
@@ -144,7 +154,9 @@ __all__ = [
     "DriverStation",
     "DriverStationBackend",
     "DriverStationDisplay",
+    "DualSenseEdgeController",
     "DualSenseController",
+    "DualShock4Controller",
     "DutyCycle",
     "DutyCycleEncoder",
     "EdgeConfiguration",
@@ -157,13 +169,16 @@ __all__ = [
     "ExpansionHubVelocityConstants",
     "Field2d",
     "FieldObject2d",
+    "GameCubeController",
     "Gamepad",
     "GenericHID",
+    "HIDDevice",
     "I2C",
     "IterativeRobotBase",
     "Joystick",
     "Koors40",
     "LEDPattern",
+    "LogitechF310Controller",
     "MatchState",
     "MatchType",
     "MecanumDrive",
@@ -215,6 +230,11 @@ __all__ = [
     "Solenoid",
     "Spark",
     "SparkMini",
+    "SteamController",
+    "Switch2GCController",
+    "Switch2ProController",
+    "SwitchN64Controller",
+    "SwitchProController",
     "SystemServer",
     "Tachometer",
     "Talon",
diff --git a/wpilibc/src/main/python/wpilib/simulation/__init__.py b/wpilibc/src/main/python/wpilib/simulation/__init__.py
index 342056d28a..e13378d0a9 100644
--- a/wpilibc/src/main/python/wpilib/simulation/__init__.py
+++ b/wpilibc/src/main/python/wpilib/simulation/__init__.py
@@ -16,12 +16,15 @@ from ._simulation import (
     DigitalPWMSim,
     DoubleSolenoidSim,
     DriverStationSim,
+    DualSenseEdgeControllerSim,
     DualSenseControllerSim,
+    DualShock4ControllerSim,
     DutyCycleEncoderSim,
     DutyCycleSim,
     ElevatorSim,
     EncoderSim,
     FlywheelSim,
+    GameCubeControllerSim,
     GamepadSim,
     GenericHIDSim,
     JoystickSim,
@@ -35,6 +38,7 @@ from ._simulation import (
     NiDsPS5ControllerSim,
     NiDsStadiaControllerSim,
     NiDsXboxControllerSim,
+    LogitechF310ControllerSim,
     OnboardIMUSim,
     OpModeOptions,
     PWMMotorControllerSim,
@@ -48,6 +52,11 @@ from ._simulation import (
     SimDeviceSim,
     SingleJointedArmSim,
     SolenoidSim,
+    SteamControllerSim,
+    Switch2GCControllerSim,
+    Switch2ProControllerSim,
+    SwitchN64ControllerSim,
+    SwitchProControllerSim,
     XboxControllerSim,
     getProgramStarted,
     getProgramState,
@@ -77,12 +86,15 @@ __all__ = [
     "DigitalPWMSim",
     "DoubleSolenoidSim",
     "DriverStationSim",
+    "DualSenseEdgeControllerSim",
     "DualSenseControllerSim",
+    "DualShock4ControllerSim",
     "DutyCycleEncoderSim",
     "DutyCycleSim",
     "ElevatorSim",
     "EncoderSim",
     "FlywheelSim",
+    "GameCubeControllerSim",
     "GamepadSim",
     "GenericHIDSim",
     "JoystickSim",
@@ -96,6 +108,7 @@ __all__ = [
     "NiDsPS5ControllerSim",
     "NiDsStadiaControllerSim",
     "NiDsXboxControllerSim",
+    "LogitechF310ControllerSim",
     "OnboardIMUSim",
     "OpModeOptions",
     "PWMMotorControllerSim",
@@ -109,6 +122,11 @@ __all__ = [
     "SimDeviceSim",
     "SingleJointedArmSim",
     "SolenoidSim",
+    "SteamControllerSim",
+    "Switch2GCControllerSim",
+    "Switch2ProControllerSim",
+    "SwitchN64ControllerSim",
+    "SwitchProControllerSim",
     "XboxControllerSim",
     "getProgramStarted",
     "getProgramState",
diff --git a/wpilibj/src/generate/first_ds_hids.json b/wpilibj/src/generate/first_ds_hids.json
index 721662788a..0908002cb6 100644
--- a/wpilibj/src/generate/first_ds_hids.json
+++ b/wpilibj/src/generate/first_ds_hids.json
@@ -72,5 +72,348 @@
       "monoLed": false,
       "rgbLed": true
     }
+  },
+  {
+    "ClassName": "DualSenseEdge",
+    "HIDType": "PS5",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "rightX": 2,
+      "rightY": 3,
+      "L2": 4,
+      "R2": 5
+    },
+    "buttons": {
+      "cross": 0,
+      "circle": 1,
+      "square": 2,
+      "triangle": 3,
+      "create": 4,
+      "PS": 5,
+      "options": 6,
+      "L3": 7,
+      "R3": 8,
+      "L1": 9,
+      "R1": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "microphone": 15,
+      "rightPaddle1": 16,
+      "leftPaddle1": 17,
+      "touchpad": 20,
+      "leftFunction": 21,
+      "rightFunction": 22
+    },
+    "touchpads": 1,
+    "supports": {
+      "rumble": true,
+      "triggerRumble": true,
+      "monoLed": false,
+      "rgbLed": true
+    }
+  },
+  {
+    "ClassName": "DualShock4",
+    "HIDType": "PS4",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "rightX": 2,
+      "rightY": 3,
+      "L2": 4,
+      "R2": 5
+    },
+    "buttons": {
+      "cross": 0,
+      "circle": 1,
+      "square": 2,
+      "triangle": 3,
+      "share": 4,
+      "PS": 5,
+      "options": 6,
+      "L3": 7,
+      "R3": 8,
+      "L1": 9,
+      "R1": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "touchpad": 20
+    },
+    "touchpads": 1,
+    "supports": {
+      "rumble": true,
+      "triggerRumble": false,
+      "monoLed": false,
+      "rgbLed": true
+    }
+  },
+  {
+    "ClassName": "Switch2Pro",
+    "HIDType": "SWITCH_PRO",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "rightX": 2,
+      "rightY": 3,
+      "ZL": 4,
+      "ZR": 5
+    },
+    "buttons": {
+      "b": 0,
+      "a": 1,
+      "y": 2,
+      "x": 3,
+      "minus": 4,
+      "home": 5,
+      "plus": 6,
+      "leftStick": 7,
+      "rightStick": 8,
+      "L": 9,
+      "R": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "capture": 15,
+      "GR": 16,
+      "GL": 17,
+      "C": 21
+    },
+    "touchpads": 0,
+    "supports": {
+      "rumble": true,
+      "triggerRumble": false,
+      "monoLed": false,
+      "rgbLed": false
+    }
+  },
+  {
+    "ClassName": "Switch2GC",
+    "HIDType": "SWITCH_PRO",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "CStickX": 2,
+      "CStickY": 3,
+      "LTrigger": 4,
+      "RTrigger": 5
+    },
+    "buttons": {
+      "a": 0,
+      "x": 1,
+      "b": 2,
+      "y": 3,
+      "home": 5,
+      "start": 6,
+      "ZL": 9,
+      "Z": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "capture": 15,
+      "C": 21,
+      "L": 22,
+      "R": 23
+    },
+    "touchpads": 0,
+    "supports": {
+      "rumble": true,
+      "triggerRumble": false,
+      "monoLed": false,
+      "rgbLed": false
+    }
+  },
+  {
+    "ClassName": "GameCube",
+    "HIDType": "STANDARD",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "CStickX": 2,
+      "CStickY": 3,
+      "LTrigger": 4,
+      "RTrigger": 5
+    },
+    "buttons": {
+      "a": 0,
+      "x": 1,
+      "b": 2,
+      "y": 3,
+      "start": 6,
+      "Z": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "L": 22,
+      "R": 23
+    },
+    "touchpads": 0,
+    "supports": {
+      "rumble": false,
+      "triggerRumble": false,
+      "monoLed": false,
+      "rgbLed": false
+    }
+  },
+  {
+    "ClassName": "SwitchPro",
+    "HIDType": "SWITCH_PRO",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "rightX": 2,
+      "rightY": 3,
+      "ZL": 4,
+      "ZR": 5
+    },
+    "buttons": {
+      "b": 0,
+      "a": 1,
+      "y": 2,
+      "x": 3,
+      "minus": 4,
+      "home": 5,
+      "plus": 6,
+      "leftStick": 7,
+      "rightStick": 8,
+      "L": 9,
+      "R": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "capture": 15
+    },
+    "touchpads": 0,
+    "supports": {
+      "rumble": true,
+      "triggerRumble": false,
+      "monoLed": true,
+      "rgbLed": false
+    }
+  },
+  {
+    "ClassName": "SwitchN64",
+    "HIDType": "SWITCH_PRO",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "ZAxis": 4,
+      "ZR": 5
+    },
+    "buttons": {
+      "a": 0,
+      "b": 1,
+      "CLeft": 3,
+      "CUp": 4,
+      "capture": 15,
+      "home": 5,
+      "start": 6,
+      "CDown": 2,
+      "L": 9,
+      "R": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "CRight": 21
+    },
+    "touchpads": 0,
+    "supports": {
+      "rumble": false,
+      "triggerRumble": false,
+      "monoLed": false,
+      "rgbLed": false
+    }
+  },
+  {
+    "ClassName": "Steam",
+    "HIDType": "STANDARD",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "rightX": 2,
+      "rightY": 3,
+      "leftTrigger": 4,
+      "rightTrigger": 5
+    },
+    "buttons": {
+      "a": 0,
+      "b": 1,
+      "x": 2,
+      "y": 3,
+      "menu": 4,
+      "steam": 5,
+      "view": 6,
+      "leftStick": 7,
+      "rightStick": 8,
+      "leftBumper": 9,
+      "rightBumper": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14,
+      "QAM": 15,
+      "rightPaddle1": 16,
+      "leftPaddle1": 17,
+      "rightPaddle2": 18,
+      "leftPaddle2": 19,
+      "leftTouchpad": 20,
+      "rightTouchpad": 21,
+      "leftStickTouch": 22,
+      "rightStickTouch": 23,
+      "leftGripTouch": 24,
+      "rightGripTouch": 25
+    },
+    "touchpads": 2,
+    "supports": {
+      "rumble": true,
+      "triggerRumble": false,
+      "monoLed": false,
+      "rgbLed": false
+    }
+  },
+  {
+    "ClassName": "LogitechF310",
+    "HIDType": "XBOX_360",
+    "axes": {
+      "leftX": 0,
+      "leftY": 1,
+      "rightX": 2,
+      "rightY": 3,
+      "leftTrigger": 4,
+      "rightTrigger": 5
+    },
+    "buttons": {
+      "a": 0,
+      "b": 1,
+      "x": 2,
+      "y": 3,
+      "back": 4,
+      "logitech": 5,
+      "start": 6,
+      "leftStick": 7,
+      "rightStick": 8,
+      "leftBumper": 9,
+      "rightBumper": 10,
+      "dpadUp": 11,
+      "dpadDown": 12,
+      "dpadLeft": 13,
+      "dpadRight": 14
+    },
+    "touchpads": 0,
+    "supports": {
+      "rumble": false,
+      "triggerRumble": false,
+      "monoLed": false,
+      "rgbLed": false
+    }
   }
 ]
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/DualSenseEdgeController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/DualSenseEdgeController.java
new file mode 100644
index 0000000000..a46acf7dc0
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/DualSenseEdgeController.java
@@ -0,0 +1,1198 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from DualSenseEdge controllers connected to the Driver Station.
+ *
+ * <p>This class handles DualSenseEdge input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class DualSenseEdgeController implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 1;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = true;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = true;
+
+  /** Represents a digital button on a DualSenseEdgeController. */
+  public enum Button {
+    /** Cross button. */
+    CROSS(0, "CrossButton"),
+    /** Circle button. */
+    CIRCLE(1, "CircleButton"),
+    /** Square button. */
+    SQUARE(2, "SquareButton"),
+    /** Triangle button. */
+    TRIANGLE(3, "TriangleButton"),
+    /** Create button. */
+    CREATE(4, "CreateButton"),
+    /** PS button. */
+    PS(5, "PSButton"),
+    /** Options button. */
+    OPTIONS(6, "OptionsButton"),
+    /** L 3 button. */
+    L3(7, "L3Button"),
+    /** R 3 button. */
+    R3(8, "R3Button"),
+    /** L 1 button. */
+    L1(9, "L1Button"),
+    /** R 1 button. */
+    R1(10, "R1Button"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** Microphone button. */
+    MICROPHONE(15, "MicrophoneButton"),
+    /** Right Paddle 1 button. */
+    RIGHT_PADDLE_1(16, "RightPaddle1Button"),
+    /** Left Paddle 1 button. */
+    LEFT_PADDLE_1(17, "LeftPaddle1Button"),
+    /** Touchpad button. */
+    TOUCHPAD(20, "TouchpadButton"),
+    /** Left Function button. */
+    LEFT_FUNCTION(21, "LeftFunctionButton"),
+    /** Right Function button. */
+    RIGHT_FUNCTION(22, "RightFunctionButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a DualSenseEdgeController. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** Right X. */
+    RIGHT_X(2, "RightX"),
+    /** Right Y. */
+    RIGHT_Y(3, "RightY"),
+    /** L 2. */
+    L2(4, "L2"),
+    /** R 2. */
+    R2(5, "R2");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public DualSenseEdgeController(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public DualSenseEdgeController(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "DualSenseEdgeController");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.of(
+        GenericHID.SupportedOutput.RGB_LED,
+        GenericHID.SupportedOutput.RUMBLE,
+        GenericHID.SupportedOutput.TRIGGER_RUMBLE
+        );
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return getAxis(Axis.RIGHT_X);
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getAxis(Axis.RIGHT_Y);
+  }
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getL2() {
+    return getAxis(Axis.L2);
+  }
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getR2() {
+    return getAxis(Axis.R2);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the Cross button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCrossButton() {
+    return getButton(Button.CROSS);
+  }
+
+  /**
+   * Whether the Cross button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCrossButtonPressed() {
+    return getButtonPressed(Button.CROSS);
+  }
+
+  /**
+   * Whether the Cross button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCrossButtonReleased() {
+    return getButtonReleased(Button.CROSS);
+  }
+
+  /**
+   * Constructs an event instance around the Cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Cross button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent cross(EventLoop loop) {
+    return button(Button.CROSS, loop);
+  }
+
+  /**
+   * Read the value of the Circle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCircleButton() {
+    return getButton(Button.CIRCLE);
+  }
+
+  /**
+   * Whether the Circle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCircleButtonPressed() {
+    return getButtonPressed(Button.CIRCLE);
+  }
+
+  /**
+   * Whether the Circle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCircleButtonReleased() {
+    return getButtonReleased(Button.CIRCLE);
+  }
+
+  /**
+   * Constructs an event instance around the Circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Circle button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent circle(EventLoop loop) {
+    return button(Button.CIRCLE, loop);
+  }
+
+  /**
+   * Read the value of the Square button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getSquareButton() {
+    return getButton(Button.SQUARE);
+  }
+
+  /**
+   * Whether the Square button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getSquareButtonPressed() {
+    return getButtonPressed(Button.SQUARE);
+  }
+
+  /**
+   * Whether the Square button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getSquareButtonReleased() {
+    return getButtonReleased(Button.SQUARE);
+  }
+
+  /**
+   * Constructs an event instance around the Square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Square button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent square(EventLoop loop) {
+    return button(Button.SQUARE, loop);
+  }
+
+  /**
+   * Read the value of the Triangle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getTriangleButton() {
+    return getButton(Button.TRIANGLE);
+  }
+
+  /**
+   * Whether the Triangle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getTriangleButtonPressed() {
+    return getButtonPressed(Button.TRIANGLE);
+  }
+
+  /**
+   * Whether the Triangle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTriangleButtonReleased() {
+    return getButtonReleased(Button.TRIANGLE);
+  }
+
+  /**
+   * Constructs an event instance around the Triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Triangle button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent triangle(EventLoop loop) {
+    return button(Button.TRIANGLE, loop);
+  }
+
+  /**
+   * Read the value of the Create button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCreateButton() {
+    return getButton(Button.CREATE);
+  }
+
+  /**
+   * Whether the Create button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCreateButtonPressed() {
+    return getButtonPressed(Button.CREATE);
+  }
+
+  /**
+   * Whether the Create button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCreateButtonReleased() {
+    return getButtonReleased(Button.CREATE);
+  }
+
+  /**
+   * Constructs an event instance around the Create button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Create button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent create(EventLoop loop) {
+    return button(Button.CREATE, loop);
+  }
+
+  /**
+   * Read the value of the PS button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getPSButton() {
+    return getButton(Button.PS);
+  }
+
+  /**
+   * Whether the PS button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getPSButtonPressed() {
+    return getButtonPressed(Button.PS);
+  }
+
+  /**
+   * Whether the PS button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getPSButtonReleased() {
+    return getButtonReleased(Button.PS);
+  }
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent PS(EventLoop loop) {
+    return button(Button.PS, loop);
+  }
+
+  /**
+   * Read the value of the Options button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getOptionsButton() {
+    return getButton(Button.OPTIONS);
+  }
+
+  /**
+   * Whether the Options button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getOptionsButtonPressed() {
+    return getButtonPressed(Button.OPTIONS);
+  }
+
+  /**
+   * Whether the Options button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getOptionsButtonReleased() {
+    return getButtonReleased(Button.OPTIONS);
+  }
+
+  /**
+   * Constructs an event instance around the Options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Options button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent options(EventLoop loop) {
+    return button(Button.OPTIONS, loop);
+  }
+
+  /**
+   * Read the value of the L 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL3Button() {
+    return getButton(Button.L3);
+  }
+
+  /**
+   * Whether the L 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL3ButtonPressed() {
+    return getButtonPressed(Button.L3);
+  }
+
+  /**
+   * Whether the L 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL3ButtonReleased() {
+    return getButtonReleased(Button.L3);
+  }
+
+  /**
+   * Constructs an event instance around the L 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 3 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L3(EventLoop loop) {
+    return button(Button.L3, loop);
+  }
+
+  /**
+   * Read the value of the R 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR3Button() {
+    return getButton(Button.R3);
+  }
+
+  /**
+   * Whether the R 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR3ButtonPressed() {
+    return getButtonPressed(Button.R3);
+  }
+
+  /**
+   * Whether the R 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR3ButtonReleased() {
+    return getButtonReleased(Button.R3);
+  }
+
+  /**
+   * Constructs an event instance around the R 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 3 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R3(EventLoop loop) {
+    return button(Button.R3, loop);
+  }
+
+  /**
+   * Read the value of the L 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL1Button() {
+    return getButton(Button.L1);
+  }
+
+  /**
+   * Whether the L 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL1ButtonPressed() {
+    return getButtonPressed(Button.L1);
+  }
+
+  /**
+   * Whether the L 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL1ButtonReleased() {
+    return getButtonReleased(Button.L1);
+  }
+
+  /**
+   * Constructs an event instance around the L 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L1(EventLoop loop) {
+    return button(Button.L1, loop);
+  }
+
+  /**
+   * Read the value of the R 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR1Button() {
+    return getButton(Button.R1);
+  }
+
+  /**
+   * Whether the R 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR1ButtonPressed() {
+    return getButtonPressed(Button.R1);
+  }
+
+  /**
+   * Whether the R 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR1ButtonReleased() {
+    return getButtonReleased(Button.R1);
+  }
+
+  /**
+   * Constructs an event instance around the R 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R1(EventLoop loop) {
+    return button(Button.R1, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the Microphone button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getMicrophoneButton() {
+    return getButton(Button.MICROPHONE);
+  }
+
+  /**
+   * Whether the Microphone button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getMicrophoneButtonPressed() {
+    return getButtonPressed(Button.MICROPHONE);
+  }
+
+  /**
+   * Whether the Microphone button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getMicrophoneButtonReleased() {
+    return getButtonReleased(Button.MICROPHONE);
+  }
+
+  /**
+   * Constructs an event instance around the Microphone button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Microphone button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent microphone(EventLoop loop) {
+    return button(Button.MICROPHONE, loop);
+  }
+
+  /**
+   * Read the value of the Right Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightPaddle1Button() {
+    return getButton(Button.RIGHT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Right Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightPaddle1ButtonPressed() {
+    return getButtonPressed(Button.RIGHT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Right Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightPaddle1ButtonReleased() {
+    return getButtonReleased(Button.RIGHT_PADDLE_1);
+  }
+
+  /**
+   * Constructs an event instance around the Right Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Paddle 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightPaddle1(EventLoop loop) {
+    return button(Button.RIGHT_PADDLE_1, loop);
+  }
+
+  /**
+   * Read the value of the Left Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftPaddle1Button() {
+    return getButton(Button.LEFT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Left Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftPaddle1ButtonPressed() {
+    return getButtonPressed(Button.LEFT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Left Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftPaddle1ButtonReleased() {
+    return getButtonReleased(Button.LEFT_PADDLE_1);
+  }
+
+  /**
+   * Constructs an event instance around the Left Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Paddle 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftPaddle1(EventLoop loop) {
+    return button(Button.LEFT_PADDLE_1, loop);
+  }
+
+  /**
+   * Read the value of the Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getTouchpadButton() {
+    return getButton(Button.TOUCHPAD);
+  }
+
+  /**
+   * Whether the Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getTouchpadButtonPressed() {
+    return getButtonPressed(Button.TOUCHPAD);
+  }
+
+  /**
+   * Whether the Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTouchpadButtonReleased() {
+    return getButtonReleased(Button.TOUCHPAD);
+  }
+
+  /**
+   * Constructs an event instance around the Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Touchpad button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent touchpad(EventLoop loop) {
+    return button(Button.TOUCHPAD, loop);
+  }
+
+  /**
+   * Read the value of the Left Function button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftFunctionButton() {
+    return getButton(Button.LEFT_FUNCTION);
+  }
+
+  /**
+   * Whether the Left Function button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftFunctionButtonPressed() {
+    return getButtonPressed(Button.LEFT_FUNCTION);
+  }
+
+  /**
+   * Whether the Left Function button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftFunctionButtonReleased() {
+    return getButtonReleased(Button.LEFT_FUNCTION);
+  }
+
+  /**
+   * Constructs an event instance around the Left Function button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Function button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftFunction(EventLoop loop) {
+    return button(Button.LEFT_FUNCTION, loop);
+  }
+
+  /**
+   * Read the value of the Right Function button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightFunctionButton() {
+    return getButton(Button.RIGHT_FUNCTION);
+  }
+
+  /**
+   * Whether the Right Function button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightFunctionButtonPressed() {
+    return getButtonPressed(Button.RIGHT_FUNCTION);
+  }
+
+  /**
+   * Whether the Right Function button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightFunctionButtonReleased() {
+    return getButtonReleased(Button.RIGHT_FUNCTION);
+  }
+
+  /**
+   * Constructs an event instance around the Right Function button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Function button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightFunction(EventLoop loop) {
+    return button(Button.RIGHT_FUNCTION, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+  /**
+   * Check if a touchpad finger is available.
+   *
+   * @param finger The finger to check.
+   * @return true if the touchpad finger is available.
+   */
+  public boolean getTouchpadFingerAvailable(int finger) {
+    return m_hid.getTouchpadFingerAvailable(0, finger);
+  }
+
+  /**
+   * Get the touchpad finger data.
+   *
+   * @param finger The finger to read.
+   * @return The touchpad finger data.
+   */
+  public TouchpadFinger getTouchpadFinger(int finger) {
+    return m_hid.getTouchpadFinger(0, finger);
+  }
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "DualSenseEdge");
+    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.addDoubleProperty("L2", this::getL2, null);
+    builder.addDoubleProperty("R2", this::getR2, null);
+    builder.addBooleanProperty("Cross", this::getCrossButton, null);
+    builder.addBooleanProperty("Circle", this::getCircleButton, null);
+    builder.addBooleanProperty("Square", this::getSquareButton, null);
+    builder.addBooleanProperty("Triangle", this::getTriangleButton, null);
+    builder.addBooleanProperty("Create", this::getCreateButton, null);
+    builder.addBooleanProperty("PS", this::getPSButton, null);
+    builder.addBooleanProperty("Options", this::getOptionsButton, null);
+    builder.addBooleanProperty("L3", this::getL3Button, null);
+    builder.addBooleanProperty("R3", this::getR3Button, null);
+    builder.addBooleanProperty("L1", this::getL1Button, null);
+    builder.addBooleanProperty("R1", this::getR1Button, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("Microphone", this::getMicrophoneButton, null);
+    builder.addBooleanProperty("RightPaddle1", this::getRightPaddle1Button, null);
+    builder.addBooleanProperty("LeftPaddle1", this::getLeftPaddle1Button, null);
+    builder.addBooleanProperty("Touchpad", this::getTouchpadButton, null);
+    builder.addBooleanProperty("LeftFunction", this::getLeftFunctionButton, null);
+    builder.addBooleanProperty("RightFunction", this::getRightFunctionButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/DualShock4Controller.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/DualShock4Controller.java
new file mode 100644
index 0000000000..b5243f6438
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/DualShock4Controller.java
@@ -0,0 +1,992 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from DualShock4 controllers connected to the Driver Station.
+ *
+ * <p>This class handles DualShock4 input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class DualShock4Controller implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 1;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = true;
+
+  /** Represents a digital button on a DualShock4Controller. */
+  public enum Button {
+    /** Cross button. */
+    CROSS(0, "CrossButton"),
+    /** Circle button. */
+    CIRCLE(1, "CircleButton"),
+    /** Square button. */
+    SQUARE(2, "SquareButton"),
+    /** Triangle button. */
+    TRIANGLE(3, "TriangleButton"),
+    /** Share button. */
+    SHARE(4, "ShareButton"),
+    /** PS button. */
+    PS(5, "PSButton"),
+    /** Options button. */
+    OPTIONS(6, "OptionsButton"),
+    /** L 3 button. */
+    L3(7, "L3Button"),
+    /** R 3 button. */
+    R3(8, "R3Button"),
+    /** L 1 button. */
+    L1(9, "L1Button"),
+    /** R 1 button. */
+    R1(10, "R1Button"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** Touchpad button. */
+    TOUCHPAD(20, "TouchpadButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a DualShock4Controller. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** Right X. */
+    RIGHT_X(2, "RightX"),
+    /** Right Y. */
+    RIGHT_Y(3, "RightY"),
+    /** L 2. */
+    L2(4, "L2"),
+    /** R 2. */
+    R2(5, "R2");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public DualShock4Controller(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public DualShock4Controller(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "DualShock4Controller");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.of(
+        GenericHID.SupportedOutput.RGB_LED,
+        GenericHID.SupportedOutput.RUMBLE
+        );
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return getAxis(Axis.RIGHT_X);
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getAxis(Axis.RIGHT_Y);
+  }
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getL2() {
+    return getAxis(Axis.L2);
+  }
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getR2() {
+    return getAxis(Axis.R2);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the Cross button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCrossButton() {
+    return getButton(Button.CROSS);
+  }
+
+  /**
+   * Whether the Cross button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCrossButtonPressed() {
+    return getButtonPressed(Button.CROSS);
+  }
+
+  /**
+   * Whether the Cross button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCrossButtonReleased() {
+    return getButtonReleased(Button.CROSS);
+  }
+
+  /**
+   * Constructs an event instance around the Cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Cross button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent cross(EventLoop loop) {
+    return button(Button.CROSS, loop);
+  }
+
+  /**
+   * Read the value of the Circle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCircleButton() {
+    return getButton(Button.CIRCLE);
+  }
+
+  /**
+   * Whether the Circle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCircleButtonPressed() {
+    return getButtonPressed(Button.CIRCLE);
+  }
+
+  /**
+   * Whether the Circle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCircleButtonReleased() {
+    return getButtonReleased(Button.CIRCLE);
+  }
+
+  /**
+   * Constructs an event instance around the Circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Circle button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent circle(EventLoop loop) {
+    return button(Button.CIRCLE, loop);
+  }
+
+  /**
+   * Read the value of the Square button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getSquareButton() {
+    return getButton(Button.SQUARE);
+  }
+
+  /**
+   * Whether the Square button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getSquareButtonPressed() {
+    return getButtonPressed(Button.SQUARE);
+  }
+
+  /**
+   * Whether the Square button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getSquareButtonReleased() {
+    return getButtonReleased(Button.SQUARE);
+  }
+
+  /**
+   * Constructs an event instance around the Square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Square button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent square(EventLoop loop) {
+    return button(Button.SQUARE, loop);
+  }
+
+  /**
+   * Read the value of the Triangle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getTriangleButton() {
+    return getButton(Button.TRIANGLE);
+  }
+
+  /**
+   * Whether the Triangle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getTriangleButtonPressed() {
+    return getButtonPressed(Button.TRIANGLE);
+  }
+
+  /**
+   * Whether the Triangle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTriangleButtonReleased() {
+    return getButtonReleased(Button.TRIANGLE);
+  }
+
+  /**
+   * Constructs an event instance around the Triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Triangle button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent triangle(EventLoop loop) {
+    return button(Button.TRIANGLE, loop);
+  }
+
+  /**
+   * Read the value of the Share button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getShareButton() {
+    return getButton(Button.SHARE);
+  }
+
+  /**
+   * Whether the Share button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getShareButtonPressed() {
+    return getButtonPressed(Button.SHARE);
+  }
+
+  /**
+   * Whether the Share button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getShareButtonReleased() {
+    return getButtonReleased(Button.SHARE);
+  }
+
+  /**
+   * Constructs an event instance around the Share button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Share button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent share(EventLoop loop) {
+    return button(Button.SHARE, loop);
+  }
+
+  /**
+   * Read the value of the PS button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getPSButton() {
+    return getButton(Button.PS);
+  }
+
+  /**
+   * Whether the PS button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getPSButtonPressed() {
+    return getButtonPressed(Button.PS);
+  }
+
+  /**
+   * Whether the PS button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getPSButtonReleased() {
+    return getButtonReleased(Button.PS);
+  }
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent PS(EventLoop loop) {
+    return button(Button.PS, loop);
+  }
+
+  /**
+   * Read the value of the Options button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getOptionsButton() {
+    return getButton(Button.OPTIONS);
+  }
+
+  /**
+   * Whether the Options button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getOptionsButtonPressed() {
+    return getButtonPressed(Button.OPTIONS);
+  }
+
+  /**
+   * Whether the Options button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getOptionsButtonReleased() {
+    return getButtonReleased(Button.OPTIONS);
+  }
+
+  /**
+   * Constructs an event instance around the Options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Options button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent options(EventLoop loop) {
+    return button(Button.OPTIONS, loop);
+  }
+
+  /**
+   * Read the value of the L 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL3Button() {
+    return getButton(Button.L3);
+  }
+
+  /**
+   * Whether the L 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL3ButtonPressed() {
+    return getButtonPressed(Button.L3);
+  }
+
+  /**
+   * Whether the L 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL3ButtonReleased() {
+    return getButtonReleased(Button.L3);
+  }
+
+  /**
+   * Constructs an event instance around the L 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 3 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L3(EventLoop loop) {
+    return button(Button.L3, loop);
+  }
+
+  /**
+   * Read the value of the R 3 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR3Button() {
+    return getButton(Button.R3);
+  }
+
+  /**
+   * Whether the R 3 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR3ButtonPressed() {
+    return getButtonPressed(Button.R3);
+  }
+
+  /**
+   * Whether the R 3 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR3ButtonReleased() {
+    return getButtonReleased(Button.R3);
+  }
+
+  /**
+   * Constructs an event instance around the R 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 3 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R3(EventLoop loop) {
+    return button(Button.R3, loop);
+  }
+
+  /**
+   * Read the value of the L 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL1Button() {
+    return getButton(Button.L1);
+  }
+
+  /**
+   * Whether the L 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL1ButtonPressed() {
+    return getButtonPressed(Button.L1);
+  }
+
+  /**
+   * Whether the L 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL1ButtonReleased() {
+    return getButtonReleased(Button.L1);
+  }
+
+  /**
+   * Constructs an event instance around the L 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L1(EventLoop loop) {
+    return button(Button.L1, loop);
+  }
+
+  /**
+   * Read the value of the R 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR1Button() {
+    return getButton(Button.R1);
+  }
+
+  /**
+   * Whether the R 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR1ButtonPressed() {
+    return getButtonPressed(Button.R1);
+  }
+
+  /**
+   * Whether the R 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR1ButtonReleased() {
+    return getButtonReleased(Button.R1);
+  }
+
+  /**
+   * Constructs an event instance around the R 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R1(EventLoop loop) {
+    return button(Button.R1, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getTouchpadButton() {
+    return getButton(Button.TOUCHPAD);
+  }
+
+  /**
+   * Whether the Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getTouchpadButtonPressed() {
+    return getButtonPressed(Button.TOUCHPAD);
+  }
+
+  /**
+   * Whether the Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTouchpadButtonReleased() {
+    return getButtonReleased(Button.TOUCHPAD);
+  }
+
+  /**
+   * Constructs an event instance around the Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Touchpad button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent touchpad(EventLoop loop) {
+    return button(Button.TOUCHPAD, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+  /**
+   * Check if a touchpad finger is available.
+   *
+   * @param finger The finger to check.
+   * @return true if the touchpad finger is available.
+   */
+  public boolean getTouchpadFingerAvailable(int finger) {
+    return m_hid.getTouchpadFingerAvailable(0, finger);
+  }
+
+  /**
+   * Get the touchpad finger data.
+   *
+   * @param finger The finger to read.
+   * @return The touchpad finger data.
+   */
+  public TouchpadFinger getTouchpadFinger(int finger) {
+    return m_hid.getTouchpadFinger(0, finger);
+  }
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "DualShock4");
+    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.addDoubleProperty("L2", this::getL2, null);
+    builder.addDoubleProperty("R2", this::getR2, null);
+    builder.addBooleanProperty("Cross", this::getCrossButton, null);
+    builder.addBooleanProperty("Circle", this::getCircleButton, null);
+    builder.addBooleanProperty("Square", this::getSquareButton, null);
+    builder.addBooleanProperty("Triangle", this::getTriangleButton, null);
+    builder.addBooleanProperty("Share", this::getShareButton, null);
+    builder.addBooleanProperty("PS", this::getPSButton, null);
+    builder.addBooleanProperty("Options", this::getOptionsButton, null);
+    builder.addBooleanProperty("L3", this::getL3Button, null);
+    builder.addBooleanProperty("R3", this::getR3Button, null);
+    builder.addBooleanProperty("L1", this::getL1Button, null);
+    builder.addBooleanProperty("R1", this::getR1Button, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("Touchpad", this::getTouchpadButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/GameCubeController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/GameCubeController.java
new file mode 100644
index 0000000000..02e4361b4a
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/GameCubeController.java
@@ -0,0 +1,805 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from GameCube controllers connected to the Driver Station.
+ *
+ * <p>This class handles GameCube input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class GameCubeController implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = false;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = false;
+
+  /** Represents a digital button on a GameCubeController. */
+  public enum Button {
+    /** A button. */
+    A(0, "AButton"),
+    /** X button. */
+    X(1, "XButton"),
+    /** B button. */
+    B(2, "BButton"),
+    /** Y button. */
+    Y(3, "YButton"),
+    /** Start button. */
+    START(6, "StartButton"),
+    /** Z button. */
+    Z(10, "ZButton"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** L button. */
+    L(22, "LButton"),
+    /** R button. */
+    R(23, "RButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a GameCubeController. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** C Stick X. */
+    C_STICK_X(2, "CStickX"),
+    /** C Stick Y. */
+    C_STICK_Y(3, "CStickY"),
+    /** L Trigger. */
+    L_TRIGGER(4, "LTrigger"),
+    /** R Trigger. */
+    R_TRIGGER(5, "RTrigger");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public GameCubeController(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public GameCubeController(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "GameCubeController");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.noneOf(GenericHID.SupportedOutput.class);
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickX() {
+    return getAxis(Axis.C_STICK_X);
+  }
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickY() {
+    return getAxis(Axis.C_STICK_Y);
+  }
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLTrigger() {
+    return getAxis(Axis.L_TRIGGER);
+  }
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRTrigger() {
+    return getAxis(Axis.R_TRIGGER);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getButton(Button.A);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getButtonPressed(Button.A);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getButtonReleased(Button.A);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent a(EventLoop loop) {
+    return button(Button.A, loop);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getButton(Button.X);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getButtonPressed(Button.X);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getButtonReleased(Button.X);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent x(EventLoop loop) {
+    return button(Button.X, loop);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getButton(Button.B);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getButtonPressed(Button.B);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getButtonReleased(Button.B);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent b(EventLoop loop) {
+    return button(Button.B, loop);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getButton(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getButtonPressed(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getButtonReleased(Button.Y);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent y(EventLoop loop) {
+    return button(Button.Y, loop);
+  }
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getStartButton() {
+    return getButton(Button.START);
+  }
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getStartButtonPressed() {
+    return getButtonPressed(Button.START);
+  }
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getStartButtonReleased() {
+    return getButtonReleased(Button.START);
+  }
+
+  /**
+   * Constructs an event instance around the Start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent start(EventLoop loop) {
+    return button(Button.START, loop);
+  }
+
+  /**
+   * Read the value of the Z button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getZButton() {
+    return getButton(Button.Z);
+  }
+
+  /**
+   * Whether the Z button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getZButtonPressed() {
+    return getButtonPressed(Button.Z);
+  }
+
+  /**
+   * Whether the Z button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getZButtonReleased() {
+    return getButtonReleased(Button.Z);
+  }
+
+  /**
+   * Constructs an event instance around the Z button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Z button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent Z(EventLoop loop) {
+    return button(Button.Z, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLButton() {
+    return getButton(Button.L);
+  }
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLButtonPressed() {
+    return getButtonPressed(Button.L);
+  }
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLButtonReleased() {
+    return getButtonReleased(Button.L);
+  }
+
+  /**
+   * Constructs an event instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L(EventLoop loop) {
+    return button(Button.L, loop);
+  }
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRButton() {
+    return getButton(Button.R);
+  }
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRButtonPressed() {
+    return getButtonPressed(Button.R);
+  }
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRButtonReleased() {
+    return getButtonReleased(Button.R);
+  }
+
+  /**
+   * Constructs an event instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R(EventLoop loop) {
+    return button(Button.R, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "GameCube");
+    builder.addDoubleProperty("LeftX", this::getLeftX, null);
+    builder.addDoubleProperty("LeftY", this::getLeftY, null);
+    builder.addDoubleProperty("CStickX", this::getCStickX, null);
+    builder.addDoubleProperty("CStickY", this::getCStickY, null);
+    builder.addDoubleProperty("LTrigger", this::getLTrigger, null);
+    builder.addDoubleProperty("RTrigger", this::getRTrigger, null);
+    builder.addBooleanProperty("A", this::getAButton, null);
+    builder.addBooleanProperty("X", this::getXButton, null);
+    builder.addBooleanProperty("B", this::getBButton, null);
+    builder.addBooleanProperty("Y", this::getYButton, null);
+    builder.addBooleanProperty("Start", this::getStartButton, null);
+    builder.addBooleanProperty("Z", this::getZButton, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("L", this::getLButton, null);
+    builder.addBooleanProperty("R", this::getRButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/LogitechF310Controller.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/LogitechF310Controller.java
new file mode 100644
index 0000000000..7320ac9327
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/LogitechF310Controller.java
@@ -0,0 +1,928 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from LogitechF310 controllers connected to the Driver Station.
+ *
+ * <p>This class handles LogitechF310 input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class LogitechF310Controller implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = false;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = false;
+
+  /** Represents a digital button on a LogitechF310Controller. */
+  public enum Button {
+    /** A button. */
+    A(0, "AButton"),
+    /** B button. */
+    B(1, "BButton"),
+    /** X button. */
+    X(2, "XButton"),
+    /** Y button. */
+    Y(3, "YButton"),
+    /** Back button. */
+    BACK(4, "BackButton"),
+    /** Logitech button. */
+    LOGITECH(5, "LogitechButton"),
+    /** Start button. */
+    START(6, "StartButton"),
+    /** Left Stick button. */
+    LEFT_STICK(7, "LeftStickButton"),
+    /** Right Stick button. */
+    RIGHT_STICK(8, "RightStickButton"),
+    /** Left Bumper button. */
+    LEFT_BUMPER(9, "LeftBumperButton"),
+    /** Right Bumper button. */
+    RIGHT_BUMPER(10, "RightBumperButton"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a LogitechF310Controller. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** Right X. */
+    RIGHT_X(2, "RightX"),
+    /** Right Y. */
+    RIGHT_Y(3, "RightY"),
+    /** Left Trigger. */
+    LEFT_TRIGGER(4, "LeftTrigger"),
+    /** Right Trigger. */
+    RIGHT_TRIGGER(5, "RightTrigger");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public LogitechF310Controller(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public LogitechF310Controller(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "LogitechF310Controller");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.noneOf(GenericHID.SupportedOutput.class);
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return getAxis(Axis.RIGHT_X);
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getAxis(Axis.RIGHT_Y);
+  }
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftTrigger() {
+    return getAxis(Axis.LEFT_TRIGGER);
+  }
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightTrigger() {
+    return getAxis(Axis.RIGHT_TRIGGER);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getButton(Button.A);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getButtonPressed(Button.A);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getButtonReleased(Button.A);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent a(EventLoop loop) {
+    return button(Button.A, loop);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getButton(Button.B);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getButtonPressed(Button.B);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getButtonReleased(Button.B);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent b(EventLoop loop) {
+    return button(Button.B, loop);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getButton(Button.X);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getButtonPressed(Button.X);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getButtonReleased(Button.X);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent x(EventLoop loop) {
+    return button(Button.X, loop);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getButton(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getButtonPressed(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getButtonReleased(Button.Y);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent y(EventLoop loop) {
+    return button(Button.Y, loop);
+  }
+
+  /**
+   * Read the value of the Back button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBackButton() {
+    return getButton(Button.BACK);
+  }
+
+  /**
+   * Whether the Back button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBackButtonPressed() {
+    return getButtonPressed(Button.BACK);
+  }
+
+  /**
+   * Whether the Back button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBackButtonReleased() {
+    return getButtonReleased(Button.BACK);
+  }
+
+  /**
+   * Constructs an event instance around the Back button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Back button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent back(EventLoop loop) {
+    return button(Button.BACK, loop);
+  }
+
+  /**
+   * Read the value of the Logitech button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLogitechButton() {
+    return getButton(Button.LOGITECH);
+  }
+
+  /**
+   * Whether the Logitech button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLogitechButtonPressed() {
+    return getButtonPressed(Button.LOGITECH);
+  }
+
+  /**
+   * Whether the Logitech button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLogitechButtonReleased() {
+    return getButtonReleased(Button.LOGITECH);
+  }
+
+  /**
+   * Constructs an event instance around the Logitech button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Logitech button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent logitech(EventLoop loop) {
+    return button(Button.LOGITECH, loop);
+  }
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getStartButton() {
+    return getButton(Button.START);
+  }
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getStartButtonPressed() {
+    return getButtonPressed(Button.START);
+  }
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getStartButtonReleased() {
+    return getButtonReleased(Button.START);
+  }
+
+  /**
+   * Constructs an event instance around the Start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent start(EventLoop loop) {
+    return button(Button.START, loop);
+  }
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftStickButton() {
+    return getButton(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftStickButtonPressed() {
+    return getButtonPressed(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftStickButtonReleased() {
+    return getButtonReleased(Button.LEFT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Left Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftStick(EventLoop loop) {
+    return button(Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickButton() {
+    return getButton(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickButtonPressed() {
+    return getButtonPressed(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickButtonReleased() {
+    return getButtonReleased(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Right Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return button(Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the Left Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftBumperButton() {
+    return getButton(Button.LEFT_BUMPER);
+  }
+
+  /**
+   * Whether the Left Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftBumperButtonPressed() {
+    return getButtonPressed(Button.LEFT_BUMPER);
+  }
+
+  /**
+   * Whether the Left Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftBumperButtonReleased() {
+    return getButtonReleased(Button.LEFT_BUMPER);
+  }
+
+  /**
+   * Constructs an event instance around the Left Bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftBumper(EventLoop loop) {
+    return button(Button.LEFT_BUMPER, loop);
+  }
+
+  /**
+   * Read the value of the Right Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightBumperButton() {
+    return getButton(Button.RIGHT_BUMPER);
+  }
+
+  /**
+   * Whether the Right Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightBumperButtonPressed() {
+    return getButtonPressed(Button.RIGHT_BUMPER);
+  }
+
+  /**
+   * Whether the Right Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightBumperButtonReleased() {
+    return getButtonReleased(Button.RIGHT_BUMPER);
+  }
+
+  /**
+   * Constructs an event instance around the Right Bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightBumper(EventLoop loop) {
+    return button(Button.RIGHT_BUMPER, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "LogitechF310");
+    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.addDoubleProperty("LeftTrigger", this::getLeftTrigger, null);
+    builder.addDoubleProperty("RightTrigger", this::getRightTrigger, 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("Back", this::getBackButton, null);
+    builder.addBooleanProperty("Logitech", this::getLogitechButton, null);
+    builder.addBooleanProperty("Start", this::getStartButton, null);
+    builder.addBooleanProperty("LeftStick", this::getLeftStickButton, null);
+    builder.addBooleanProperty("RightStick", this::getRightStickButton, null);
+    builder.addBooleanProperty("LeftBumper", this::getLeftBumperButton, null);
+    builder.addBooleanProperty("RightBumper", this::getRightBumperButton, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/SteamController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/SteamController.java
new file mode 100644
index 0000000000..4f6b11861f
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/SteamController.java
@@ -0,0 +1,1403 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from Steam controllers connected to the Driver Station.
+ *
+ * <p>This class handles Steam input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class SteamController implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 2;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = false;
+
+  /** Represents a digital button on a SteamController. */
+  public enum Button {
+    /** A button. */
+    A(0, "AButton"),
+    /** B button. */
+    B(1, "BButton"),
+    /** X button. */
+    X(2, "XButton"),
+    /** Y button. */
+    Y(3, "YButton"),
+    /** Menu button. */
+    MENU(4, "MenuButton"),
+    /** Steam button. */
+    STEAM(5, "SteamButton"),
+    /** View button. */
+    VIEW(6, "ViewButton"),
+    /** Left Stick button. */
+    LEFT_STICK(7, "LeftStickButton"),
+    /** Right Stick button. */
+    RIGHT_STICK(8, "RightStickButton"),
+    /** Left Bumper button. */
+    LEFT_BUMPER(9, "LeftBumperButton"),
+    /** Right Bumper button. */
+    RIGHT_BUMPER(10, "RightBumperButton"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** QAM button. */
+    QAM(15, "QAMButton"),
+    /** Right Paddle 1 button. */
+    RIGHT_PADDLE_1(16, "RightPaddle1Button"),
+    /** Left Paddle 1 button. */
+    LEFT_PADDLE_1(17, "LeftPaddle1Button"),
+    /** Right Paddle 2 button. */
+    RIGHT_PADDLE_2(18, "RightPaddle2Button"),
+    /** Left Paddle 2 button. */
+    LEFT_PADDLE_2(19, "LeftPaddle2Button"),
+    /** Left Touchpad button. */
+    LEFT_TOUCHPAD(20, "LeftTouchpadButton"),
+    /** Right Touchpad button. */
+    RIGHT_TOUCHPAD(21, "RightTouchpadButton"),
+    /** Left Stick Touch button. */
+    LEFT_STICK_TOUCH(22, "LeftStickTouchButton"),
+    /** Right Stick Touch button. */
+    RIGHT_STICK_TOUCH(23, "RightStickTouchButton"),
+    /** Left Grip Touch button. */
+    LEFT_GRIP_TOUCH(24, "LeftGripTouchButton"),
+    /** Right Grip Touch button. */
+    RIGHT_GRIP_TOUCH(25, "RightGripTouchButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a SteamController. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** Right X. */
+    RIGHT_X(2, "RightX"),
+    /** Right Y. */
+    RIGHT_Y(3, "RightY"),
+    /** Left Trigger. */
+    LEFT_TRIGGER(4, "LeftTrigger"),
+    /** Right Trigger. */
+    RIGHT_TRIGGER(5, "RightTrigger");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public SteamController(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public SteamController(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "SteamController");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.of(
+        GenericHID.SupportedOutput.RUMBLE
+        );
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return getAxis(Axis.RIGHT_X);
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getAxis(Axis.RIGHT_Y);
+  }
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftTrigger() {
+    return getAxis(Axis.LEFT_TRIGGER);
+  }
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightTrigger() {
+    return getAxis(Axis.RIGHT_TRIGGER);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getButton(Button.A);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getButtonPressed(Button.A);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getButtonReleased(Button.A);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent a(EventLoop loop) {
+    return button(Button.A, loop);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getButton(Button.B);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getButtonPressed(Button.B);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getButtonReleased(Button.B);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent b(EventLoop loop) {
+    return button(Button.B, loop);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getButton(Button.X);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getButtonPressed(Button.X);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getButtonReleased(Button.X);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent x(EventLoop loop) {
+    return button(Button.X, loop);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getButton(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getButtonPressed(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getButtonReleased(Button.Y);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent y(EventLoop loop) {
+    return button(Button.Y, loop);
+  }
+
+  /**
+   * Read the value of the Menu button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getMenuButton() {
+    return getButton(Button.MENU);
+  }
+
+  /**
+   * Whether the Menu button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getMenuButtonPressed() {
+    return getButtonPressed(Button.MENU);
+  }
+
+  /**
+   * Whether the Menu button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getMenuButtonReleased() {
+    return getButtonReleased(Button.MENU);
+  }
+
+  /**
+   * Constructs an event instance around the Menu button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Menu button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent menu(EventLoop loop) {
+    return button(Button.MENU, loop);
+  }
+
+  /**
+   * Read the value of the Steam button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getSteamButton() {
+    return getButton(Button.STEAM);
+  }
+
+  /**
+   * Whether the Steam button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getSteamButtonPressed() {
+    return getButtonPressed(Button.STEAM);
+  }
+
+  /**
+   * Whether the Steam button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getSteamButtonReleased() {
+    return getButtonReleased(Button.STEAM);
+  }
+
+  /**
+   * Constructs an event instance around the Steam button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Steam button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent steam(EventLoop loop) {
+    return button(Button.STEAM, loop);
+  }
+
+  /**
+   * Read the value of the View button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getViewButton() {
+    return getButton(Button.VIEW);
+  }
+
+  /**
+   * Whether the View button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getViewButtonPressed() {
+    return getButtonPressed(Button.VIEW);
+  }
+
+  /**
+   * Whether the View button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getViewButtonReleased() {
+    return getButtonReleased(Button.VIEW);
+  }
+
+  /**
+   * Constructs an event instance around the View button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the View button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent view(EventLoop loop) {
+    return button(Button.VIEW, loop);
+  }
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftStickButton() {
+    return getButton(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftStickButtonPressed() {
+    return getButtonPressed(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftStickButtonReleased() {
+    return getButtonReleased(Button.LEFT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Left Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftStick(EventLoop loop) {
+    return button(Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickButton() {
+    return getButton(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickButtonPressed() {
+    return getButtonPressed(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickButtonReleased() {
+    return getButtonReleased(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Right Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return button(Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the Left Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftBumperButton() {
+    return getButton(Button.LEFT_BUMPER);
+  }
+
+  /**
+   * Whether the Left Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftBumperButtonPressed() {
+    return getButtonPressed(Button.LEFT_BUMPER);
+  }
+
+  /**
+   * Whether the Left Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftBumperButtonReleased() {
+    return getButtonReleased(Button.LEFT_BUMPER);
+  }
+
+  /**
+   * Constructs an event instance around the Left Bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftBumper(EventLoop loop) {
+    return button(Button.LEFT_BUMPER, loop);
+  }
+
+  /**
+   * Read the value of the Right Bumper button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightBumperButton() {
+    return getButton(Button.RIGHT_BUMPER);
+  }
+
+  /**
+   * Whether the Right Bumper button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightBumperButtonPressed() {
+    return getButtonPressed(Button.RIGHT_BUMPER);
+  }
+
+  /**
+   * Whether the Right Bumper button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightBumperButtonReleased() {
+    return getButtonReleased(Button.RIGHT_BUMPER);
+  }
+
+  /**
+   * Constructs an event instance around the Right Bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Bumper button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightBumper(EventLoop loop) {
+    return button(Button.RIGHT_BUMPER, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the QAM button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getQAMButton() {
+    return getButton(Button.QAM);
+  }
+
+  /**
+   * Whether the QAM button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getQAMButtonPressed() {
+    return getButtonPressed(Button.QAM);
+  }
+
+  /**
+   * Whether the QAM button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getQAMButtonReleased() {
+    return getButtonReleased(Button.QAM);
+  }
+
+  /**
+   * Constructs an event instance around the QAM button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the QAM button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent QAM(EventLoop loop) {
+    return button(Button.QAM, loop);
+  }
+
+  /**
+   * Read the value of the Right Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightPaddle1Button() {
+    return getButton(Button.RIGHT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Right Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightPaddle1ButtonPressed() {
+    return getButtonPressed(Button.RIGHT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Right Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightPaddle1ButtonReleased() {
+    return getButtonReleased(Button.RIGHT_PADDLE_1);
+  }
+
+  /**
+   * Constructs an event instance around the Right Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Paddle 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightPaddle1(EventLoop loop) {
+    return button(Button.RIGHT_PADDLE_1, loop);
+  }
+
+  /**
+   * Read the value of the Left Paddle 1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftPaddle1Button() {
+    return getButton(Button.LEFT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Left Paddle 1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftPaddle1ButtonPressed() {
+    return getButtonPressed(Button.LEFT_PADDLE_1);
+  }
+
+  /**
+   * Whether the Left Paddle 1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftPaddle1ButtonReleased() {
+    return getButtonReleased(Button.LEFT_PADDLE_1);
+  }
+
+  /**
+   * Constructs an event instance around the Left Paddle 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Paddle 1 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftPaddle1(EventLoop loop) {
+    return button(Button.LEFT_PADDLE_1, loop);
+  }
+
+  /**
+   * Read the value of the Right Paddle 2 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightPaddle2Button() {
+    return getButton(Button.RIGHT_PADDLE_2);
+  }
+
+  /**
+   * Whether the Right Paddle 2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightPaddle2ButtonPressed() {
+    return getButtonPressed(Button.RIGHT_PADDLE_2);
+  }
+
+  /**
+   * Whether the Right Paddle 2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightPaddle2ButtonReleased() {
+    return getButtonReleased(Button.RIGHT_PADDLE_2);
+  }
+
+  /**
+   * Constructs an event instance around the Right Paddle 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Paddle 2 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightPaddle2(EventLoop loop) {
+    return button(Button.RIGHT_PADDLE_2, loop);
+  }
+
+  /**
+   * Read the value of the Left Paddle 2 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftPaddle2Button() {
+    return getButton(Button.LEFT_PADDLE_2);
+  }
+
+  /**
+   * Whether the Left Paddle 2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftPaddle2ButtonPressed() {
+    return getButtonPressed(Button.LEFT_PADDLE_2);
+  }
+
+  /**
+   * Whether the Left Paddle 2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftPaddle2ButtonReleased() {
+    return getButtonReleased(Button.LEFT_PADDLE_2);
+  }
+
+  /**
+   * Constructs an event instance around the Left Paddle 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Paddle 2 button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftPaddle2(EventLoop loop) {
+    return button(Button.LEFT_PADDLE_2, loop);
+  }
+
+  /**
+   * Read the value of the Left Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftTouchpadButton() {
+    return getButton(Button.LEFT_TOUCHPAD);
+  }
+
+  /**
+   * Whether the Left Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftTouchpadButtonPressed() {
+    return getButtonPressed(Button.LEFT_TOUCHPAD);
+  }
+
+  /**
+   * Whether the Left Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftTouchpadButtonReleased() {
+    return getButtonReleased(Button.LEFT_TOUCHPAD);
+  }
+
+  /**
+   * Constructs an event instance around the Left Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Touchpad button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftTouchpad(EventLoop loop) {
+    return button(Button.LEFT_TOUCHPAD, loop);
+  }
+
+  /**
+   * Read the value of the Right Touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightTouchpadButton() {
+    return getButton(Button.RIGHT_TOUCHPAD);
+  }
+
+  /**
+   * Whether the Right Touchpad button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightTouchpadButtonPressed() {
+    return getButtonPressed(Button.RIGHT_TOUCHPAD);
+  }
+
+  /**
+   * Whether the Right Touchpad button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightTouchpadButtonReleased() {
+    return getButtonReleased(Button.RIGHT_TOUCHPAD);
+  }
+
+  /**
+   * Constructs an event instance around the Right Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Touchpad button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightTouchpad(EventLoop loop) {
+    return button(Button.RIGHT_TOUCHPAD, loop);
+  }
+
+  /**
+   * Read the value of the Left Stick Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftStickTouchButton() {
+    return getButton(Button.LEFT_STICK_TOUCH);
+  }
+
+  /**
+   * Whether the Left Stick Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftStickTouchButtonPressed() {
+    return getButtonPressed(Button.LEFT_STICK_TOUCH);
+  }
+
+  /**
+   * Whether the Left Stick Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftStickTouchButtonReleased() {
+    return getButtonReleased(Button.LEFT_STICK_TOUCH);
+  }
+
+  /**
+   * Constructs an event instance around the Left Stick Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick Touch button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftStickTouch(EventLoop loop) {
+    return button(Button.LEFT_STICK_TOUCH, loop);
+  }
+
+  /**
+   * Read the value of the Right Stick Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickTouchButton() {
+    return getButton(Button.RIGHT_STICK_TOUCH);
+  }
+
+  /**
+   * Whether the Right Stick Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickTouchButtonPressed() {
+    return getButtonPressed(Button.RIGHT_STICK_TOUCH);
+  }
+
+  /**
+   * Whether the Right Stick Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickTouchButtonReleased() {
+    return getButtonReleased(Button.RIGHT_STICK_TOUCH);
+  }
+
+  /**
+   * Constructs an event instance around the Right Stick Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick Touch button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightStickTouch(EventLoop loop) {
+    return button(Button.RIGHT_STICK_TOUCH, loop);
+  }
+
+  /**
+   * Read the value of the Left Grip Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftGripTouchButton() {
+    return getButton(Button.LEFT_GRIP_TOUCH);
+  }
+
+  /**
+   * Whether the Left Grip Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftGripTouchButtonPressed() {
+    return getButtonPressed(Button.LEFT_GRIP_TOUCH);
+  }
+
+  /**
+   * Whether the Left Grip Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftGripTouchButtonReleased() {
+    return getButtonReleased(Button.LEFT_GRIP_TOUCH);
+  }
+
+  /**
+   * Constructs an event instance around the Left Grip Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Grip Touch button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftGripTouch(EventLoop loop) {
+    return button(Button.LEFT_GRIP_TOUCH, loop);
+  }
+
+  /**
+   * Read the value of the Right Grip Touch button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightGripTouchButton() {
+    return getButton(Button.RIGHT_GRIP_TOUCH);
+  }
+
+  /**
+   * Whether the Right Grip Touch button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightGripTouchButtonPressed() {
+    return getButtonPressed(Button.RIGHT_GRIP_TOUCH);
+  }
+
+  /**
+   * Whether the Right Grip Touch button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightGripTouchButtonReleased() {
+    return getButtonReleased(Button.RIGHT_GRIP_TOUCH);
+  }
+
+  /**
+   * Constructs an event instance around the Right Grip Touch button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Grip Touch button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightGripTouch(EventLoop loop) {
+    return button(Button.RIGHT_GRIP_TOUCH, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+  /**
+   * Check if a touchpad finger is available.
+   *
+   * @param touchpad The touchpad to check.
+   * @param finger The finger to check.
+   * @return true if the touchpad finger is available.
+   */
+  public boolean getTouchpadFingerAvailable(int touchpad, int finger) {
+    return m_hid.getTouchpadFingerAvailable(touchpad, finger);
+  }
+
+  /**
+   * Get the touchpad finger data.
+   *
+   * @param touchpad The touchpad to read.
+   * @param finger The finger to read.
+   * @return The touchpad finger data.
+   */
+  public TouchpadFinger getTouchpadFinger(int touchpad, int finger) {
+    return m_hid.getTouchpadFinger(touchpad, finger);
+  }
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "Steam");
+    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.addDoubleProperty("LeftTrigger", this::getLeftTrigger, null);
+    builder.addDoubleProperty("RightTrigger", this::getRightTrigger, 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("Menu", this::getMenuButton, null);
+    builder.addBooleanProperty("Steam", this::getSteamButton, null);
+    builder.addBooleanProperty("View", this::getViewButton, null);
+    builder.addBooleanProperty("LeftStick", this::getLeftStickButton, null);
+    builder.addBooleanProperty("RightStick", this::getRightStickButton, null);
+    builder.addBooleanProperty("LeftBumper", this::getLeftBumperButton, null);
+    builder.addBooleanProperty("RightBumper", this::getRightBumperButton, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("QAM", this::getQAMButton, null);
+    builder.addBooleanProperty("RightPaddle1", this::getRightPaddle1Button, null);
+    builder.addBooleanProperty("LeftPaddle1", this::getLeftPaddle1Button, null);
+    builder.addBooleanProperty("RightPaddle2", this::getRightPaddle2Button, null);
+    builder.addBooleanProperty("LeftPaddle2", this::getLeftPaddle2Button, null);
+    builder.addBooleanProperty("LeftTouchpad", this::getLeftTouchpadButton, null);
+    builder.addBooleanProperty("RightTouchpad", this::getRightTouchpadButton, null);
+    builder.addBooleanProperty("LeftStickTouch", this::getLeftStickTouchButton, null);
+    builder.addBooleanProperty("RightStickTouch", this::getRightStickTouchButton, null);
+    builder.addBooleanProperty("LeftGripTouch", this::getLeftGripTouchButton, null);
+    builder.addBooleanProperty("RightGripTouch", this::getRightGripTouchButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/Switch2GCController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/Switch2GCController.java
new file mode 100644
index 0000000000..e374322bd4
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/Switch2GCController.java
@@ -0,0 +1,971 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from Switch2GC controllers connected to the Driver Station.
+ *
+ * <p>This class handles Switch2GC input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class Switch2GCController implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = false;
+
+  /** Represents a digital button on a Switch2GCController. */
+  public enum Button {
+    /** A button. */
+    A(0, "AButton"),
+    /** X button. */
+    X(1, "XButton"),
+    /** B button. */
+    B(2, "BButton"),
+    /** Y button. */
+    Y(3, "YButton"),
+    /** Home button. */
+    HOME(5, "HomeButton"),
+    /** Start button. */
+    START(6, "StartButton"),
+    /** ZL button. */
+    ZL(9, "ZLButton"),
+    /** Z button. */
+    Z(10, "ZButton"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** Capture button. */
+    CAPTURE(15, "CaptureButton"),
+    /** C button. */
+    C(21, "CButton"),
+    /** L button. */
+    L(22, "LButton"),
+    /** R button. */
+    R(23, "RButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a Switch2GCController. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** C Stick X. */
+    C_STICK_X(2, "CStickX"),
+    /** C Stick Y. */
+    C_STICK_Y(3, "CStickY"),
+    /** L Trigger. */
+    L_TRIGGER(4, "LTrigger"),
+    /** R Trigger. */
+    R_TRIGGER(5, "RTrigger");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public Switch2GCController(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public Switch2GCController(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "Switch2GCController");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.of(
+        GenericHID.SupportedOutput.RUMBLE
+        );
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the C Stick X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickX() {
+    return getAxis(Axis.C_STICK_X);
+  }
+
+  /**
+   * Get the C Stick Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getCStickY() {
+    return getAxis(Axis.C_STICK_Y);
+  }
+
+  /**
+   * Get the L Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLTrigger() {
+    return getAxis(Axis.L_TRIGGER);
+  }
+
+  /**
+   * Get the R Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRTrigger() {
+    return getAxis(Axis.R_TRIGGER);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getButton(Button.A);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getButtonPressed(Button.A);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getButtonReleased(Button.A);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent a(EventLoop loop) {
+    return button(Button.A, loop);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getButton(Button.X);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getButtonPressed(Button.X);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getButtonReleased(Button.X);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent x(EventLoop loop) {
+    return button(Button.X, loop);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getButton(Button.B);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getButtonPressed(Button.B);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getButtonReleased(Button.B);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent b(EventLoop loop) {
+    return button(Button.B, loop);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getButton(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getButtonPressed(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getButtonReleased(Button.Y);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent y(EventLoop loop) {
+    return button(Button.Y, loop);
+  }
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getHomeButton() {
+    return getButton(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getHomeButtonPressed() {
+    return getButtonPressed(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getHomeButtonReleased() {
+    return getButtonReleased(Button.HOME);
+  }
+
+  /**
+   * Constructs an event instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent home(EventLoop loop) {
+    return button(Button.HOME, loop);
+  }
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getStartButton() {
+    return getButton(Button.START);
+  }
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getStartButtonPressed() {
+    return getButtonPressed(Button.START);
+  }
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getStartButtonReleased() {
+    return getButtonReleased(Button.START);
+  }
+
+  /**
+   * Constructs an event instance around the Start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent start(EventLoop loop) {
+    return button(Button.START, loop);
+  }
+
+  /**
+   * Read the value of the ZL button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getZLButton() {
+    return getButton(Button.ZL);
+  }
+
+  /**
+   * Whether the ZL button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getZLButtonPressed() {
+    return getButtonPressed(Button.ZL);
+  }
+
+  /**
+   * Whether the ZL button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getZLButtonReleased() {
+    return getButtonReleased(Button.ZL);
+  }
+
+  /**
+   * Constructs an event instance around the ZL button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the ZL button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent ZL(EventLoop loop) {
+    return button(Button.ZL, loop);
+  }
+
+  /**
+   * Read the value of the Z button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getZButton() {
+    return getButton(Button.Z);
+  }
+
+  /**
+   * Whether the Z button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getZButtonPressed() {
+    return getButtonPressed(Button.Z);
+  }
+
+  /**
+   * Whether the Z button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getZButtonReleased() {
+    return getButtonReleased(Button.Z);
+  }
+
+  /**
+   * Constructs an event instance around the Z button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Z button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent Z(EventLoop loop) {
+    return button(Button.Z, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCaptureButton() {
+    return getButton(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCaptureButtonPressed() {
+    return getButtonPressed(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCaptureButtonReleased() {
+    return getButtonReleased(Button.CAPTURE);
+  }
+
+  /**
+   * Constructs an event instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent capture(EventLoop loop) {
+    return button(Button.CAPTURE, loop);
+  }
+
+  /**
+   * Read the value of the C button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCButton() {
+    return getButton(Button.C);
+  }
+
+  /**
+   * Whether the C button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCButtonPressed() {
+    return getButtonPressed(Button.C);
+  }
+
+  /**
+   * Whether the C button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCButtonReleased() {
+    return getButtonReleased(Button.C);
+  }
+
+  /**
+   * Constructs an event instance around the C button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent C(EventLoop loop) {
+    return button(Button.C, loop);
+  }
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLButton() {
+    return getButton(Button.L);
+  }
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLButtonPressed() {
+    return getButtonPressed(Button.L);
+  }
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLButtonReleased() {
+    return getButtonReleased(Button.L);
+  }
+
+  /**
+   * Constructs an event instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L(EventLoop loop) {
+    return button(Button.L, loop);
+  }
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRButton() {
+    return getButton(Button.R);
+  }
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRButtonPressed() {
+    return getButtonPressed(Button.R);
+  }
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRButtonReleased() {
+    return getButtonReleased(Button.R);
+  }
+
+  /**
+   * Constructs an event instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R(EventLoop loop) {
+    return button(Button.R, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "Switch2GC");
+    builder.addDoubleProperty("LeftX", this::getLeftX, null);
+    builder.addDoubleProperty("LeftY", this::getLeftY, null);
+    builder.addDoubleProperty("CStickX", this::getCStickX, null);
+    builder.addDoubleProperty("CStickY", this::getCStickY, null);
+    builder.addDoubleProperty("LTrigger", this::getLTrigger, null);
+    builder.addDoubleProperty("RTrigger", this::getRTrigger, null);
+    builder.addBooleanProperty("A", this::getAButton, null);
+    builder.addBooleanProperty("X", this::getXButton, null);
+    builder.addBooleanProperty("B", this::getBButton, null);
+    builder.addBooleanProperty("Y", this::getYButton, null);
+    builder.addBooleanProperty("Home", this::getHomeButton, null);
+    builder.addBooleanProperty("Start", this::getStartButton, null);
+    builder.addBooleanProperty("ZL", this::getZLButton, null);
+    builder.addBooleanProperty("Z", this::getZButton, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("Capture", this::getCaptureButton, null);
+    builder.addBooleanProperty("C", this::getCButton, null);
+    builder.addBooleanProperty("L", this::getLButton, null);
+    builder.addBooleanProperty("R", this::getRButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/Switch2ProController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/Switch2ProController.java
new file mode 100644
index 0000000000..494f2d539a
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/Switch2ProController.java
@@ -0,0 +1,1094 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from Switch2Pro controllers connected to the Driver Station.
+ *
+ * <p>This class handles Switch2Pro input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class Switch2ProController implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = false;
+
+  /** Represents a digital button on a Switch2ProController. */
+  public enum Button {
+    /** B button. */
+    B(0, "BButton"),
+    /** A button. */
+    A(1, "AButton"),
+    /** Y button. */
+    Y(2, "YButton"),
+    /** X button. */
+    X(3, "XButton"),
+    /** Minus button. */
+    MINUS(4, "MinusButton"),
+    /** Home button. */
+    HOME(5, "HomeButton"),
+    /** Plus button. */
+    PLUS(6, "PlusButton"),
+    /** Left Stick button. */
+    LEFT_STICK(7, "LeftStickButton"),
+    /** Right Stick button. */
+    RIGHT_STICK(8, "RightStickButton"),
+    /** L button. */
+    L(9, "LButton"),
+    /** R button. */
+    R(10, "RButton"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** Capture button. */
+    CAPTURE(15, "CaptureButton"),
+    /** GR button. */
+    GR(16, "GRButton"),
+    /** GL button. */
+    GL(17, "GLButton"),
+    /** C button. */
+    C(21, "CButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a Switch2ProController. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** Right X. */
+    RIGHT_X(2, "RightX"),
+    /** Right Y. */
+    RIGHT_Y(3, "RightY"),
+    /** ZL. */
+    ZL(4, "ZL"),
+    /** ZR. */
+    ZR(5, "ZR");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public Switch2ProController(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public Switch2ProController(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "Switch2ProController");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.of(
+        GenericHID.SupportedOutput.RUMBLE
+        );
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return getAxis(Axis.RIGHT_X);
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getAxis(Axis.RIGHT_Y);
+  }
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZL() {
+    return getAxis(Axis.ZL);
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return getAxis(Axis.ZR);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getButton(Button.B);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getButtonPressed(Button.B);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getButtonReleased(Button.B);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent b(EventLoop loop) {
+    return button(Button.B, loop);
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getButton(Button.A);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getButtonPressed(Button.A);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getButtonReleased(Button.A);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent a(EventLoop loop) {
+    return button(Button.A, loop);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getButton(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getButtonPressed(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getButtonReleased(Button.Y);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent y(EventLoop loop) {
+    return button(Button.Y, loop);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getButton(Button.X);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getButtonPressed(Button.X);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getButtonReleased(Button.X);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent x(EventLoop loop) {
+    return button(Button.X, loop);
+  }
+
+  /**
+   * Read the value of the Minus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getMinusButton() {
+    return getButton(Button.MINUS);
+  }
+
+  /**
+   * Whether the Minus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getMinusButtonPressed() {
+    return getButtonPressed(Button.MINUS);
+  }
+
+  /**
+   * Whether the Minus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getMinusButtonReleased() {
+    return getButtonReleased(Button.MINUS);
+  }
+
+  /**
+   * Constructs an event instance around the Minus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Minus button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent minus(EventLoop loop) {
+    return button(Button.MINUS, loop);
+  }
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getHomeButton() {
+    return getButton(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getHomeButtonPressed() {
+    return getButtonPressed(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getHomeButtonReleased() {
+    return getButtonReleased(Button.HOME);
+  }
+
+  /**
+   * Constructs an event instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent home(EventLoop loop) {
+    return button(Button.HOME, loop);
+  }
+
+  /**
+   * Read the value of the Plus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getPlusButton() {
+    return getButton(Button.PLUS);
+  }
+
+  /**
+   * Whether the Plus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getPlusButtonPressed() {
+    return getButtonPressed(Button.PLUS);
+  }
+
+  /**
+   * Whether the Plus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getPlusButtonReleased() {
+    return getButtonReleased(Button.PLUS);
+  }
+
+  /**
+   * Constructs an event instance around the Plus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Plus button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent plus(EventLoop loop) {
+    return button(Button.PLUS, loop);
+  }
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftStickButton() {
+    return getButton(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftStickButtonPressed() {
+    return getButtonPressed(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftStickButtonReleased() {
+    return getButtonReleased(Button.LEFT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Left Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftStick(EventLoop loop) {
+    return button(Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickButton() {
+    return getButton(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickButtonPressed() {
+    return getButtonPressed(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickButtonReleased() {
+    return getButtonReleased(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Right Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return button(Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLButton() {
+    return getButton(Button.L);
+  }
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLButtonPressed() {
+    return getButtonPressed(Button.L);
+  }
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLButtonReleased() {
+    return getButtonReleased(Button.L);
+  }
+
+  /**
+   * Constructs an event instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L(EventLoop loop) {
+    return button(Button.L, loop);
+  }
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRButton() {
+    return getButton(Button.R);
+  }
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRButtonPressed() {
+    return getButtonPressed(Button.R);
+  }
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRButtonReleased() {
+    return getButtonReleased(Button.R);
+  }
+
+  /**
+   * Constructs an event instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R(EventLoop loop) {
+    return button(Button.R, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCaptureButton() {
+    return getButton(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCaptureButtonPressed() {
+    return getButtonPressed(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCaptureButtonReleased() {
+    return getButtonReleased(Button.CAPTURE);
+  }
+
+  /**
+   * Constructs an event instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent capture(EventLoop loop) {
+    return button(Button.CAPTURE, loop);
+  }
+
+  /**
+   * Read the value of the GR button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getGRButton() {
+    return getButton(Button.GR);
+  }
+
+  /**
+   * Whether the GR button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getGRButtonPressed() {
+    return getButtonPressed(Button.GR);
+  }
+
+  /**
+   * Whether the GR button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getGRButtonReleased() {
+    return getButtonReleased(Button.GR);
+  }
+
+  /**
+   * Constructs an event instance around the GR button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the GR button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent GR(EventLoop loop) {
+    return button(Button.GR, loop);
+  }
+
+  /**
+   * Read the value of the GL button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getGLButton() {
+    return getButton(Button.GL);
+  }
+
+  /**
+   * Whether the GL button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getGLButtonPressed() {
+    return getButtonPressed(Button.GL);
+  }
+
+  /**
+   * Whether the GL button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getGLButtonReleased() {
+    return getButtonReleased(Button.GL);
+  }
+
+  /**
+   * Constructs an event instance around the GL button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the GL button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent GL(EventLoop loop) {
+    return button(Button.GL, loop);
+  }
+
+  /**
+   * Read the value of the C button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCButton() {
+    return getButton(Button.C);
+  }
+
+  /**
+   * Whether the C button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCButtonPressed() {
+    return getButtonPressed(Button.C);
+  }
+
+  /**
+   * Whether the C button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCButtonReleased() {
+    return getButtonReleased(Button.C);
+  }
+
+  /**
+   * Constructs an event instance around the C button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent C(EventLoop loop) {
+    return button(Button.C, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "Switch2Pro");
+    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.addDoubleProperty("ZL", this::getZL, null);
+    builder.addDoubleProperty("ZR", this::getZR, null);
+    builder.addBooleanProperty("B", this::getBButton, null);
+    builder.addBooleanProperty("A", this::getAButton, null);
+    builder.addBooleanProperty("Y", this::getYButton, null);
+    builder.addBooleanProperty("X", this::getXButton, null);
+    builder.addBooleanProperty("Minus", this::getMinusButton, null);
+    builder.addBooleanProperty("Home", this::getHomeButton, null);
+    builder.addBooleanProperty("Plus", this::getPlusButton, null);
+    builder.addBooleanProperty("LeftStick", this::getLeftStickButton, null);
+    builder.addBooleanProperty("RightStick", this::getRightStickButton, null);
+    builder.addBooleanProperty("L", this::getLButton, null);
+    builder.addBooleanProperty("R", this::getRButton, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("Capture", this::getCaptureButton, null);
+    builder.addBooleanProperty("GR", this::getGRButton, null);
+    builder.addBooleanProperty("GL", this::getGLButton, null);
+    builder.addBooleanProperty("C", this::getCButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/SwitchN64Controller.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/SwitchN64Controller.java
new file mode 100644
index 0000000000..3e8d2ff324
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/SwitchN64Controller.java
@@ -0,0 +1,904 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from SwitchN64 controllers connected to the Driver Station.
+ *
+ * <p>This class handles SwitchN64 input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class SwitchN64Controller implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = false;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = false;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = false;
+
+  /** Represents a digital button on a SwitchN64Controller. */
+  public enum Button {
+    /** A button. */
+    A(0, "AButton"),
+    /** B button. */
+    B(1, "BButton"),
+    /** C Left button. */
+    C_LEFT(3, "CLeftButton"),
+    /** C Up button. */
+    C_UP(4, "CUpButton"),
+    /** Capture button. */
+    CAPTURE(15, "CaptureButton"),
+    /** Home button. */
+    HOME(5, "HomeButton"),
+    /** Start button. */
+    START(6, "StartButton"),
+    /** C Down button. */
+    C_DOWN(2, "CDownButton"),
+    /** L button. */
+    L(9, "LButton"),
+    /** R button. */
+    R(10, "RButton"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** C Right button. */
+    C_RIGHT(21, "CRightButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a SwitchN64Controller. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** Z Axis. */
+    Z_AXIS(4, "ZAxis"),
+    /** ZR. */
+    ZR(5, "ZR");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public SwitchN64Controller(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public SwitchN64Controller(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "SwitchN64Controller");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.noneOf(GenericHID.SupportedOutput.class);
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the Z Axis value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZAxis() {
+    return getAxis(Axis.Z_AXIS);
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return getAxis(Axis.ZR);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getButton(Button.A);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getButtonPressed(Button.A);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getButtonReleased(Button.A);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent a(EventLoop loop) {
+    return button(Button.A, loop);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getButton(Button.B);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getButtonPressed(Button.B);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getButtonReleased(Button.B);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent b(EventLoop loop) {
+    return button(Button.B, loop);
+  }
+
+  /**
+   * Read the value of the C Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCLeftButton() {
+    return getButton(Button.C_LEFT);
+  }
+
+  /**
+   * Whether the C Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCLeftButtonPressed() {
+    return getButtonPressed(Button.C_LEFT);
+  }
+
+  /**
+   * Whether the C Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCLeftButtonReleased() {
+    return getButtonReleased(Button.C_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the C Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent CLeft(EventLoop loop) {
+    return button(Button.C_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the C Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCUpButton() {
+    return getButton(Button.C_UP);
+  }
+
+  /**
+   * Whether the C Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCUpButtonPressed() {
+    return getButtonPressed(Button.C_UP);
+  }
+
+  /**
+   * Whether the C Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCUpButtonReleased() {
+    return getButtonReleased(Button.C_UP);
+  }
+
+  /**
+   * Constructs an event instance around the C Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent CUp(EventLoop loop) {
+    return button(Button.C_UP, loop);
+  }
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCaptureButton() {
+    return getButton(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCaptureButtonPressed() {
+    return getButtonPressed(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCaptureButtonReleased() {
+    return getButtonReleased(Button.CAPTURE);
+  }
+
+  /**
+   * Constructs an event instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent capture(EventLoop loop) {
+    return button(Button.CAPTURE, loop);
+  }
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getHomeButton() {
+    return getButton(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getHomeButtonPressed() {
+    return getButtonPressed(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getHomeButtonReleased() {
+    return getButtonReleased(Button.HOME);
+  }
+
+  /**
+   * Constructs an event instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent home(EventLoop loop) {
+    return button(Button.HOME, loop);
+  }
+
+  /**
+   * Read the value of the Start button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getStartButton() {
+    return getButton(Button.START);
+  }
+
+  /**
+   * Whether the Start button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getStartButtonPressed() {
+    return getButtonPressed(Button.START);
+  }
+
+  /**
+   * Whether the Start button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getStartButtonReleased() {
+    return getButtonReleased(Button.START);
+  }
+
+  /**
+   * Constructs an event instance around the Start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Start button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent start(EventLoop loop) {
+    return button(Button.START, loop);
+  }
+
+  /**
+   * Read the value of the C Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCDownButton() {
+    return getButton(Button.C_DOWN);
+  }
+
+  /**
+   * Whether the C Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCDownButtonPressed() {
+    return getButtonPressed(Button.C_DOWN);
+  }
+
+  /**
+   * Whether the C Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCDownButtonReleased() {
+    return getButtonReleased(Button.C_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the C Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent CDown(EventLoop loop) {
+    return button(Button.C_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLButton() {
+    return getButton(Button.L);
+  }
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLButtonPressed() {
+    return getButtonPressed(Button.L);
+  }
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLButtonReleased() {
+    return getButtonReleased(Button.L);
+  }
+
+  /**
+   * Constructs an event instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L(EventLoop loop) {
+    return button(Button.L, loop);
+  }
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRButton() {
+    return getButton(Button.R);
+  }
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRButtonPressed() {
+    return getButtonPressed(Button.R);
+  }
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRButtonReleased() {
+    return getButtonReleased(Button.R);
+  }
+
+  /**
+   * Constructs an event instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R(EventLoop loop) {
+    return button(Button.R, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the C Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCRightButton() {
+    return getButton(Button.C_RIGHT);
+  }
+
+  /**
+   * Whether the C Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCRightButtonPressed() {
+    return getButtonPressed(Button.C_RIGHT);
+  }
+
+  /**
+   * Whether the C Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCRightButtonReleased() {
+    return getButtonReleased(Button.C_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the C Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the C Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent CRight(EventLoop loop) {
+    return button(Button.C_RIGHT, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "SwitchN64");
+    builder.addDoubleProperty("LeftX", this::getLeftX, null);
+    builder.addDoubleProperty("LeftY", this::getLeftY, null);
+    builder.addDoubleProperty("ZAxis", this::getZAxis, null);
+    builder.addDoubleProperty("ZR", this::getZR, null);
+    builder.addBooleanProperty("A", this::getAButton, null);
+    builder.addBooleanProperty("B", this::getBButton, null);
+    builder.addBooleanProperty("CLeft", this::getCLeftButton, null);
+    builder.addBooleanProperty("CUp", this::getCUpButton, null);
+    builder.addBooleanProperty("Capture", this::getCaptureButton, null);
+    builder.addBooleanProperty("Home", this::getHomeButton, null);
+    builder.addBooleanProperty("Start", this::getStartButton, null);
+    builder.addBooleanProperty("CDown", this::getCDownButton, null);
+    builder.addBooleanProperty("L", this::getLButton, null);
+    builder.addBooleanProperty("R", this::getRButton, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("CRight", this::getCRightButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/SwitchProController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/SwitchProController.java
new file mode 100644
index 0000000000..c4ebf6c6da
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/SwitchProController.java
@@ -0,0 +1,972 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import java.util.EnumSet;
+import java.util.Objects;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.util.sendable.Sendable;
+import org.wpilib.util.sendable.SendableBuilder;
+
+/**
+ * Handle input from SwitchPro controllers connected to the Driver Station.
+ *
+ * <p>This class handles SwitchPro input that comes from the Driver Station. Each time a value
+ * is requested the most recent value is returned.
+ */
+public class SwitchProController implements HIDDevice, Sendable {
+  /** The number of touchpads supported by this controller. */
+  public static final int TOUCHPAD_COUNT = 0;
+
+  /** Whether this controller supports main rumble motors. */
+  public static final boolean SUPPORTS_RUMBLE = true;
+
+  /** Whether this controller supports trigger rumble motors. */
+  public static final boolean SUPPORTS_TRIGGER_RUMBLE = false;
+
+  /** Whether this controller supports mono LED output. */
+  public static final boolean SUPPORTS_MONO_LED = true;
+
+  /** Whether this controller supports RGB LED output. */
+  public static final boolean SUPPORTS_RGB_LED = false;
+
+  /** Represents a digital button on a SwitchProController. */
+  public enum Button {
+    /** B button. */
+    B(0, "BButton"),
+    /** A button. */
+    A(1, "AButton"),
+    /** Y button. */
+    Y(2, "YButton"),
+    /** X button. */
+    X(3, "XButton"),
+    /** Minus button. */
+    MINUS(4, "MinusButton"),
+    /** Home button. */
+    HOME(5, "HomeButton"),
+    /** Plus button. */
+    PLUS(6, "PlusButton"),
+    /** Left Stick button. */
+    LEFT_STICK(7, "LeftStickButton"),
+    /** Right Stick button. */
+    RIGHT_STICK(8, "RightStickButton"),
+    /** L button. */
+    L(9, "LButton"),
+    /** R button. */
+    R(10, "RButton"),
+    /** Dpad Up button. */
+    DPAD_UP(11, "DpadUpButton"),
+    /** Dpad Down button. */
+    DPAD_DOWN(12, "DpadDownButton"),
+    /** Dpad Left button. */
+    DPAD_LEFT(13, "DpadLeftButton"),
+    /** Dpad Right button. */
+    DPAD_RIGHT(14, "DpadRightButton"),
+    /** Capture button. */
+    CAPTURE(15, "CaptureButton");
+
+    /** Button value. */
+    public final int value;
+
+    private final String m_name;
+
+    Button(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  /** Represents an axis on a SwitchProController. */
+  public enum Axis {
+    /** Left X. */
+    LEFT_X(0, "LeftX"),
+    /** Left Y. */
+    LEFT_Y(1, "LeftY"),
+    /** Right X. */
+    RIGHT_X(2, "RightX"),
+    /** Right Y. */
+    RIGHT_Y(3, "RightY"),
+    /** ZL. */
+    ZL(4, "ZL"),
+    /** ZR. */
+    ZR(5, "ZR");
+
+    /** Axis value. */
+    public final int value;
+
+    private final String m_name;
+
+    Axis(int value, String name) {
+      this.value = value;
+      m_name = name;
+    }
+
+    @Override
+    public String toString() {
+      return m_name;
+    }
+  }
+
+  private final GenericHID m_hid;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public SwitchProController(final int port) {
+    this(DriverStation.getGenericHID(port));
+  }
+
+  /**
+   * Construct an instance of a controller with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this controller.
+   */
+  public SwitchProController(final GenericHID hid) {
+    m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
+    HAL.reportUsage("HID", hid.getPort(), "SwitchProController");
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public GenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the supported outputs expected for this controller type.
+   *
+   * @return the expected supported outputs
+   */
+  public static EnumSet<GenericHID.SupportedOutput> getSupportedOutputCapabilities() {
+    return EnumSet.of(
+        GenericHID.SupportedOutput.MONO_LED,
+        GenericHID.SupportedOutput.RUMBLE
+        );
+  }
+
+  /**
+   * Get the port number of the HID.
+   *
+   * @return The port number of the HID.
+   */
+  public int getPort() {
+    return m_hid.getPort();
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return getAxis(Axis.LEFT_X);
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return getAxis(Axis.LEFT_Y);
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return getAxis(Axis.RIGHT_X);
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return getAxis(Axis.RIGHT_Y);
+  }
+
+  /**
+   * Get the ZL value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZL() {
+    return getAxis(Axis.ZL);
+  }
+
+  /**
+   * Get the ZR value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getZR() {
+    return getAxis(Axis.ZR);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The axis value.
+   */
+  public double getAxis(Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is less than {@code threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value below which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs an event instance that is true when the axis value is greater than {@code
+   * threshold}.
+   *
+   * @param axis The axis to read.
+   * @param threshold The value above which this event should return true.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Read the value of the B button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getBButton() {
+    return getButton(Button.B);
+  }
+
+  /**
+   * Whether the B button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getBButtonPressed() {
+    return getButtonPressed(Button.B);
+  }
+
+  /**
+   * Whether the B button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getBButtonReleased() {
+    return getButtonReleased(Button.B);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent b(EventLoop loop) {
+    return button(Button.B, loop);
+  }
+
+  /**
+   * Read the value of the A button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getAButton() {
+    return getButton(Button.A);
+  }
+
+  /**
+   * Whether the A button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getAButtonPressed() {
+    return getButtonPressed(Button.A);
+  }
+
+  /**
+   * Whether the A button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getAButtonReleased() {
+    return getButtonReleased(Button.A);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent a(EventLoop loop) {
+    return button(Button.A, loop);
+  }
+
+  /**
+   * Read the value of the Y button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getYButton() {
+    return getButton(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getYButtonPressed() {
+    return getButtonPressed(Button.Y);
+  }
+
+  /**
+   * Whether the Y button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getYButtonReleased() {
+    return getButtonReleased(Button.Y);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent y(EventLoop loop) {
+    return button(Button.Y, loop);
+  }
+
+  /**
+   * Read the value of the X button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getXButton() {
+    return getButton(Button.X);
+  }
+
+  /**
+   * Whether the X button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getXButtonPressed() {
+    return getButtonPressed(Button.X);
+  }
+
+  /**
+   * Whether the X button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getXButtonReleased() {
+    return getButtonReleased(Button.X);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent x(EventLoop loop) {
+    return button(Button.X, loop);
+  }
+
+  /**
+   * Read the value of the Minus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getMinusButton() {
+    return getButton(Button.MINUS);
+  }
+
+  /**
+   * Whether the Minus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getMinusButtonPressed() {
+    return getButtonPressed(Button.MINUS);
+  }
+
+  /**
+   * Whether the Minus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getMinusButtonReleased() {
+    return getButtonReleased(Button.MINUS);
+  }
+
+  /**
+   * Constructs an event instance around the Minus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Minus button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent minus(EventLoop loop) {
+    return button(Button.MINUS, loop);
+  }
+
+  /**
+   * Read the value of the Home button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getHomeButton() {
+    return getButton(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getHomeButtonPressed() {
+    return getButtonPressed(Button.HOME);
+  }
+
+  /**
+   * Whether the Home button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getHomeButtonReleased() {
+    return getButtonReleased(Button.HOME);
+  }
+
+  /**
+   * Constructs an event instance around the Home button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Home button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent home(EventLoop loop) {
+    return button(Button.HOME, loop);
+  }
+
+  /**
+   * Read the value of the Plus button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getPlusButton() {
+    return getButton(Button.PLUS);
+  }
+
+  /**
+   * Whether the Plus button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getPlusButtonPressed() {
+    return getButtonPressed(Button.PLUS);
+  }
+
+  /**
+   * Whether the Plus button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getPlusButtonReleased() {
+    return getButtonReleased(Button.PLUS);
+  }
+
+  /**
+   * Constructs an event instance around the Plus button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Plus button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent plus(EventLoop loop) {
+    return button(Button.PLUS, loop);
+  }
+
+  /**
+   * Read the value of the Left Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLeftStickButton() {
+    return getButton(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLeftStickButtonPressed() {
+    return getButtonPressed(Button.LEFT_STICK);
+  }
+
+  /**
+   * Whether the Left Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLeftStickButtonReleased() {
+    return getButtonReleased(Button.LEFT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Left Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Left Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent leftStick(EventLoop loop) {
+    return button(Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the Right Stick button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRightStickButton() {
+    return getButton(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRightStickButtonPressed() {
+    return getButtonPressed(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Whether the Right Stick button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRightStickButtonReleased() {
+    return getButtonReleased(Button.RIGHT_STICK);
+  }
+
+  /**
+   * Constructs an event instance around the Right Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Right Stick button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return button(Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * Read the value of the L button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getLButton() {
+    return getButton(Button.L);
+  }
+
+  /**
+   * Whether the L button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getLButtonPressed() {
+    return getButtonPressed(Button.L);
+  }
+
+  /**
+   * Whether the L button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getLButtonReleased() {
+    return getButtonReleased(Button.L);
+  }
+
+  /**
+   * Constructs an event instance around the L button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent L(EventLoop loop) {
+    return button(Button.L, loop);
+  }
+
+  /**
+   * Read the value of the R button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getRButton() {
+    return getButton(Button.R);
+  }
+
+  /**
+   * Whether the R button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getRButtonPressed() {
+    return getButtonPressed(Button.R);
+  }
+
+  /**
+   * Whether the R button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getRButtonReleased() {
+    return getButtonReleased(Button.R);
+  }
+
+  /**
+   * Constructs an event instance around the R button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent R(EventLoop loop) {
+    return button(Button.R, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Up button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadUpButton() {
+    return getButton(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadUpButtonPressed() {
+    return getButtonPressed(Button.DPAD_UP);
+  }
+
+  /**
+   * Whether the Dpad Up button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadUpButtonReleased() {
+    return getButtonReleased(Button.DPAD_UP);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Up button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadUp(EventLoop loop) {
+    return button(Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Down button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadDownButton() {
+    return getButton(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadDownButtonPressed() {
+    return getButtonPressed(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Whether the Dpad Down button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadDownButtonReleased() {
+    return getButtonReleased(Button.DPAD_DOWN);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Down button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadDown(EventLoop loop) {
+    return button(Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Left button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadLeftButton() {
+    return getButton(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadLeftButtonPressed() {
+    return getButtonPressed(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Whether the Dpad Left button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadLeftButtonReleased() {
+    return getButtonReleased(Button.DPAD_LEFT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Left button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadLeft(EventLoop loop) {
+    return button(Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Read the value of the Dpad Right button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getDpadRightButton() {
+    return getButton(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getDpadRightButtonPressed() {
+    return getButtonPressed(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Whether the Dpad Right button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getDpadRightButtonReleased() {
+    return getButtonReleased(Button.DPAD_RIGHT);
+  }
+
+  /**
+   * Constructs an event instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Dpad Right button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent dpadRight(EventLoop loop) {
+    return button(Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Read the value of the Capture button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCaptureButton() {
+    return getButton(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCaptureButtonPressed() {
+    return getButtonPressed(Button.CAPTURE);
+  }
+
+  /**
+   * Whether the Capture button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCaptureButtonReleased() {
+    return getButtonReleased(Button.CAPTURE);
+  }
+
+  /**
+   * Constructs an event instance around the Capture button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Capture button's digital signal
+   *     attached to the given loop.
+   */
+  public BooleanEvent capture(EventLoop loop) {
+    return button(Button.CAPTURE, loop);
+  }
+
+  /**
+   * Get the button value.
+   *
+   * @param button The button to read
+   * @return The state of the button.
+   */
+  public boolean getButton(Button button) {
+    return m_hid.getRawButton(button.value);
+  }
+
+  /**
+   * Whether the button was pressed since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getButtonPressed(Button button) {
+    return m_hid.getRawButtonPressed(button.value);
+  }
+
+  /**
+   * Whether the button was released since the last check.
+   *
+   * @param button The button to read
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getButtonReleased(Button button) {
+    return m_hid.getRawButtonReleased(button.value);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Set leds on the controller.
+   *
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
+   */
+  public void setLeds(int r, int g, int b) {
+    m_hid.setLeds(r, g, b);
+  }
+
+  /**
+   * Set the rumble output for the HID.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "SwitchPro");
+    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.addDoubleProperty("ZL", this::getZL, null);
+    builder.addDoubleProperty("ZR", this::getZR, null);
+    builder.addBooleanProperty("B", this::getBButton, null);
+    builder.addBooleanProperty("A", this::getAButton, null);
+    builder.addBooleanProperty("Y", this::getYButton, null);
+    builder.addBooleanProperty("X", this::getXButton, null);
+    builder.addBooleanProperty("Minus", this::getMinusButton, null);
+    builder.addBooleanProperty("Home", this::getHomeButton, null);
+    builder.addBooleanProperty("Plus", this::getPlusButton, null);
+    builder.addBooleanProperty("LeftStick", this::getLeftStickButton, null);
+    builder.addBooleanProperty("RightStick", this::getRightStickButton, null);
+    builder.addBooleanProperty("L", this::getLButton, null);
+    builder.addBooleanProperty("R", this::getRButton, null);
+    builder.addBooleanProperty("DpadUp", this::getDpadUpButton, null);
+    builder.addBooleanProperty("DpadDown", this::getDpadDownButton, null);
+    builder.addBooleanProperty("DpadLeft", this::getDpadLeftButton, null);
+    builder.addBooleanProperty("DpadRight", this::getDpadRightButton, null);
+    builder.addBooleanProperty("Capture", this::getCaptureButton, null);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/DualSenseEdgeControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/DualSenseEdgeControllerSim.java
new file mode 100644
index 0000000000..838f463afd
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/DualSenseEdgeControllerSim.java
@@ -0,0 +1,287 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.DualSenseEdgeController;
+import org.wpilib.driverstation.GenericHID;
+
+
+/** Class to control a simulated DualSenseEdge controller. */
+public class DualSenseEdgeControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a DualSenseEdgeController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public DualSenseEdgeControllerSim(DualSenseEdgeController joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public DualSenseEdgeControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0x73FFFFL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.PS5);
+    setSupportedOutputs(DualSenseEdgeController.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(DualSenseEdgeController.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(DualSenseEdgeController.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(DualSenseEdgeController.Axis.RIGHT_X.value, value);
+  }
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(DualSenseEdgeController.Axis.RIGHT_Y.value, value);
+  }
+
+  /**
+   * Change the L 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setL2(double value) {
+    setRawAxis(DualSenseEdgeController.Axis.L2.value, value);
+  }
+
+  /**
+   * Change the R 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setR2(double value) {
+    setRawAxis(DualSenseEdgeController.Axis.R2.value, value);
+  }
+
+  /**
+   * Change the value of the Cross button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCrossButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.CROSS.value, value);
+  }
+
+  /**
+   * Change the value of the Circle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCircleButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.CIRCLE.value, value);
+  }
+
+  /**
+   * Change the value of the Square button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setSquareButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.SQUARE.value, value);
+  }
+
+  /**
+   * Change the value of the Triangle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTriangleButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.TRIANGLE.value, value);
+  }
+
+  /**
+   * Change the value of the Create button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCreateButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.CREATE.value, value);
+  }
+
+  /**
+   * Change the value of the PS button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setPSButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.PS.value, value);
+  }
+
+  /**
+   * Change the value of the Options button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setOptionsButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.OPTIONS.value, value);
+  }
+
+  /**
+   * Change the value of the L 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL3Button(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.L3.value, value);
+  }
+
+  /**
+   * Change the value of the R 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR3Button(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.R3.value, value);
+  }
+
+  /**
+   * Change the value of the L 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL1Button(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.L1.value, value);
+  }
+
+  /**
+   * Change the value of the R 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR1Button(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.R1.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the Microphone button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setMicrophoneButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.MICROPHONE.value, value);
+  }
+
+  /**
+   * Change the value of the Right Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightPaddle1Button(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.RIGHT_PADDLE_1.value, value);
+  }
+
+  /**
+   * Change the value of the Left Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftPaddle1Button(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.LEFT_PADDLE_1.value, value);
+  }
+
+  /**
+   * Change the value of the Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTouchpadButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.TOUCHPAD.value, value);
+  }
+
+  /**
+   * Change the value of the Left Function button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftFunctionButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.LEFT_FUNCTION.value, value);
+  }
+
+  /**
+   * Change the value of the Right Function button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightFunctionButton(boolean value) {
+    setRawButton(DualSenseEdgeController.Button.RIGHT_FUNCTION.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/DualShock4ControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/DualShock4ControllerSim.java
new file mode 100644
index 0000000000..017cbfa4f8
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/DualShock4ControllerSim.java
@@ -0,0 +1,242 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.DualShock4Controller;
+import org.wpilib.driverstation.GenericHID;
+
+
+/** Class to control a simulated DualShock4 controller. */
+public class DualShock4ControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a DualShock4Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public DualShock4ControllerSim(DualShock4Controller joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public DualShock4ControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0x107FFFL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.PS4);
+    setSupportedOutputs(DualShock4Controller.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(DualShock4Controller.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(DualShock4Controller.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(DualShock4Controller.Axis.RIGHT_X.value, value);
+  }
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(DualShock4Controller.Axis.RIGHT_Y.value, value);
+  }
+
+  /**
+   * Change the L 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setL2(double value) {
+    setRawAxis(DualShock4Controller.Axis.L2.value, value);
+  }
+
+  /**
+   * Change the R 2 value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setR2(double value) {
+    setRawAxis(DualShock4Controller.Axis.R2.value, value);
+  }
+
+  /**
+   * Change the value of the Cross button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCrossButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.CROSS.value, value);
+  }
+
+  /**
+   * Change the value of the Circle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCircleButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.CIRCLE.value, value);
+  }
+
+  /**
+   * Change the value of the Square button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setSquareButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.SQUARE.value, value);
+  }
+
+  /**
+   * Change the value of the Triangle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTriangleButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.TRIANGLE.value, value);
+  }
+
+  /**
+   * Change the value of the Share button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setShareButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.SHARE.value, value);
+  }
+
+  /**
+   * Change the value of the PS button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setPSButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.PS.value, value);
+  }
+
+  /**
+   * Change the value of the Options button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setOptionsButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.OPTIONS.value, value);
+  }
+
+  /**
+   * Change the value of the L 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL3Button(boolean value) {
+    setRawButton(DualShock4Controller.Button.L3.value, value);
+  }
+
+  /**
+   * Change the value of the R 3 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR3Button(boolean value) {
+    setRawButton(DualShock4Controller.Button.R3.value, value);
+  }
+
+  /**
+   * Change the value of the L 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL1Button(boolean value) {
+    setRawButton(DualShock4Controller.Button.L1.value, value);
+  }
+
+  /**
+   * Change the value of the R 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR1Button(boolean value) {
+    setRawButton(DualShock4Controller.Button.R1.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTouchpadButton(boolean value) {
+    setRawButton(DualShock4Controller.Button.TOUCHPAD.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/GameCubeControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/GameCubeControllerSim.java
new file mode 100644
index 0000000000..20bb7f14cb
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/GameCubeControllerSim.java
@@ -0,0 +1,206 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.GameCubeController;
+import org.wpilib.driverstation.GenericHID;
+
+
+/** Class to control a simulated GameCube controller. */
+public class GameCubeControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a GameCubeController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public GameCubeControllerSim(GameCubeController joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public GameCubeControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0xC07C4FL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.STANDARD);
+    setSupportedOutputs(GameCubeController.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(GameCubeController.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(GameCubeController.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the C Stick X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setCStickX(double value) {
+    setRawAxis(GameCubeController.Axis.C_STICK_X.value, value);
+  }
+
+  /**
+   * Change the C Stick Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setCStickY(double value) {
+    setRawAxis(GameCubeController.Axis.C_STICK_Y.value, value);
+  }
+
+  /**
+   * Change the L Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLTrigger(double value) {
+    setRawAxis(GameCubeController.Axis.L_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the R Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRTrigger(double value) {
+    setRawAxis(GameCubeController.Axis.R_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(GameCubeController.Button.A.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(GameCubeController.Button.X.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(GameCubeController.Button.B.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(GameCubeController.Button.Y.value, value);
+  }
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setStartButton(boolean value) {
+    setRawButton(GameCubeController.Button.START.value, value);
+  }
+
+  /**
+   * Change the value of the Z button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setZButton(boolean value) {
+    setRawButton(GameCubeController.Button.Z.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(GameCubeController.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(GameCubeController.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(GameCubeController.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(GameCubeController.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLButton(boolean value) {
+    setRawButton(GameCubeController.Button.L.value, value);
+  }
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRButton(boolean value) {
+    setRawButton(GameCubeController.Button.R.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/LogitechF310ControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/LogitechF310ControllerSim.java
new file mode 100644
index 0000000000..af8997af76
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/LogitechF310ControllerSim.java
@@ -0,0 +1,233 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.LogitechF310Controller;
+
+
+/** Class to control a simulated LogitechF310 controller. */
+public class LogitechF310ControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a LogitechF310Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public LogitechF310ControllerSim(LogitechF310Controller joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public LogitechF310ControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0x7FFFL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.XBOX_360);
+    setSupportedOutputs(LogitechF310Controller.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(LogitechF310Controller.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(LogitechF310Controller.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(LogitechF310Controller.Axis.RIGHT_X.value, value);
+  }
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(LogitechF310Controller.Axis.RIGHT_Y.value, value);
+  }
+
+  /**
+   * Change the Left Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftTrigger(double value) {
+    setRawAxis(LogitechF310Controller.Axis.LEFT_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the Right Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightTrigger(double value) {
+    setRawAxis(LogitechF310Controller.Axis.RIGHT_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.A.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.B.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.X.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.Y.value, value);
+  }
+
+  /**
+   * Change the value of the Back button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBackButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.BACK.value, value);
+  }
+
+  /**
+   * Change the value of the Logitech button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLogitechButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.LOGITECH.value, value);
+  }
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setStartButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.START.value, value);
+  }
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftStickButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.LEFT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightStickButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.RIGHT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the Left Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftBumperButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.LEFT_BUMPER.value, value);
+  }
+
+  /**
+   * Change the value of the Right Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightBumperButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.RIGHT_BUMPER.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(LogitechF310Controller.Button.DPAD_RIGHT.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/SteamControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/SteamControllerSim.java
new file mode 100644
index 0000000000..c2557ced1c
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/SteamControllerSim.java
@@ -0,0 +1,332 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.SteamController;
+
+
+/** Class to control a simulated Steam controller. */
+public class SteamControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a SteamController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public SteamControllerSim(SteamController joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public SteamControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0x3FFFFFFL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.STANDARD);
+    setSupportedOutputs(SteamController.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(SteamController.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(SteamController.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(SteamController.Axis.RIGHT_X.value, value);
+  }
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(SteamController.Axis.RIGHT_Y.value, value);
+  }
+
+  /**
+   * Change the Left Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftTrigger(double value) {
+    setRawAxis(SteamController.Axis.LEFT_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the Right Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightTrigger(double value) {
+    setRawAxis(SteamController.Axis.RIGHT_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(SteamController.Button.A.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(SteamController.Button.B.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(SteamController.Button.X.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(SteamController.Button.Y.value, value);
+  }
+
+  /**
+   * Change the value of the Menu button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setMenuButton(boolean value) {
+    setRawButton(SteamController.Button.MENU.value, value);
+  }
+
+  /**
+   * Change the value of the Steam button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setSteamButton(boolean value) {
+    setRawButton(SteamController.Button.STEAM.value, value);
+  }
+
+  /**
+   * Change the value of the View button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setViewButton(boolean value) {
+    setRawButton(SteamController.Button.VIEW.value, value);
+  }
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftStickButton(boolean value) {
+    setRawButton(SteamController.Button.LEFT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightStickButton(boolean value) {
+    setRawButton(SteamController.Button.RIGHT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the Left Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftBumperButton(boolean value) {
+    setRawButton(SteamController.Button.LEFT_BUMPER.value, value);
+  }
+
+  /**
+   * Change the value of the Right Bumper button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightBumperButton(boolean value) {
+    setRawButton(SteamController.Button.RIGHT_BUMPER.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(SteamController.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(SteamController.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(SteamController.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(SteamController.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the QAM button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setQAMButton(boolean value) {
+    setRawButton(SteamController.Button.QAM.value, value);
+  }
+
+  /**
+   * Change the value of the Right Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightPaddle1Button(boolean value) {
+    setRawButton(SteamController.Button.RIGHT_PADDLE_1.value, value);
+  }
+
+  /**
+   * Change the value of the Left Paddle 1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftPaddle1Button(boolean value) {
+    setRawButton(SteamController.Button.LEFT_PADDLE_1.value, value);
+  }
+
+  /**
+   * Change the value of the Right Paddle 2 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightPaddle2Button(boolean value) {
+    setRawButton(SteamController.Button.RIGHT_PADDLE_2.value, value);
+  }
+
+  /**
+   * Change the value of the Left Paddle 2 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftPaddle2Button(boolean value) {
+    setRawButton(SteamController.Button.LEFT_PADDLE_2.value, value);
+  }
+
+  /**
+   * Change the value of the Left Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftTouchpadButton(boolean value) {
+    setRawButton(SteamController.Button.LEFT_TOUCHPAD.value, value);
+  }
+
+  /**
+   * Change the value of the Right Touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightTouchpadButton(boolean value) {
+    setRawButton(SteamController.Button.RIGHT_TOUCHPAD.value, value);
+  }
+
+  /**
+   * Change the value of the Left Stick Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftStickTouchButton(boolean value) {
+    setRawButton(SteamController.Button.LEFT_STICK_TOUCH.value, value);
+  }
+
+  /**
+   * Change the value of the Right Stick Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightStickTouchButton(boolean value) {
+    setRawButton(SteamController.Button.RIGHT_STICK_TOUCH.value, value);
+  }
+
+  /**
+   * Change the value of the Left Grip Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftGripTouchButton(boolean value) {
+    setRawButton(SteamController.Button.LEFT_GRIP_TOUCH.value, value);
+  }
+
+  /**
+   * Change the value of the Right Grip Touch button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightGripTouchButton(boolean value) {
+    setRawButton(SteamController.Button.RIGHT_GRIP_TOUCH.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/Switch2GCControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/Switch2GCControllerSim.java
new file mode 100644
index 0000000000..a99bfab561
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/Switch2GCControllerSim.java
@@ -0,0 +1,242 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.Switch2GCController;
+
+
+/** Class to control a simulated Switch2GC controller. */
+public class Switch2GCControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a Switch2GCController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public Switch2GCControllerSim(Switch2GCController joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public Switch2GCControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0xE0FE6FL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.SWITCH_PRO);
+    setSupportedOutputs(Switch2GCController.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(Switch2GCController.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(Switch2GCController.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the C Stick X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setCStickX(double value) {
+    setRawAxis(Switch2GCController.Axis.C_STICK_X.value, value);
+  }
+
+  /**
+   * Change the C Stick Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setCStickY(double value) {
+    setRawAxis(Switch2GCController.Axis.C_STICK_Y.value, value);
+  }
+
+  /**
+   * Change the L Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLTrigger(double value) {
+    setRawAxis(Switch2GCController.Axis.L_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the R Trigger value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRTrigger(double value) {
+    setRawAxis(Switch2GCController.Axis.R_TRIGGER.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(Switch2GCController.Button.A.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(Switch2GCController.Button.X.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(Switch2GCController.Button.B.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(Switch2GCController.Button.Y.value, value);
+  }
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setHomeButton(boolean value) {
+    setRawButton(Switch2GCController.Button.HOME.value, value);
+  }
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setStartButton(boolean value) {
+    setRawButton(Switch2GCController.Button.START.value, value);
+  }
+
+  /**
+   * Change the value of the ZL button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setZLButton(boolean value) {
+    setRawButton(Switch2GCController.Button.ZL.value, value);
+  }
+
+  /**
+   * Change the value of the Z button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setZButton(boolean value) {
+    setRawButton(Switch2GCController.Button.Z.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(Switch2GCController.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(Switch2GCController.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(Switch2GCController.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(Switch2GCController.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCaptureButton(boolean value) {
+    setRawButton(Switch2GCController.Button.CAPTURE.value, value);
+  }
+
+  /**
+   * Change the value of the C button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCButton(boolean value) {
+    setRawButton(Switch2GCController.Button.C.value, value);
+  }
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLButton(boolean value) {
+    setRawButton(Switch2GCController.Button.L.value, value);
+  }
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRButton(boolean value) {
+    setRawButton(Switch2GCController.Button.R.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/Switch2ProControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/Switch2ProControllerSim.java
new file mode 100644
index 0000000000..639c26273d
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/Switch2ProControllerSim.java
@@ -0,0 +1,269 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.Switch2ProController;
+
+
+/** Class to control a simulated Switch2Pro controller. */
+public class Switch2ProControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a Switch2ProController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public Switch2ProControllerSim(Switch2ProController joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public Switch2ProControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0x23FFFFL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.SWITCH_PRO);
+    setSupportedOutputs(Switch2ProController.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(Switch2ProController.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(Switch2ProController.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(Switch2ProController.Axis.RIGHT_X.value, value);
+  }
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(Switch2ProController.Axis.RIGHT_Y.value, value);
+  }
+
+  /**
+   * Change the ZL value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setZL(double value) {
+    setRawAxis(Switch2ProController.Axis.ZL.value, value);
+  }
+
+  /**
+   * Change the ZR value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setZR(double value) {
+    setRawAxis(Switch2ProController.Axis.ZR.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(Switch2ProController.Button.B.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(Switch2ProController.Button.A.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(Switch2ProController.Button.Y.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(Switch2ProController.Button.X.value, value);
+  }
+
+  /**
+   * Change the value of the Minus button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setMinusButton(boolean value) {
+    setRawButton(Switch2ProController.Button.MINUS.value, value);
+  }
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setHomeButton(boolean value) {
+    setRawButton(Switch2ProController.Button.HOME.value, value);
+  }
+
+  /**
+   * Change the value of the Plus button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setPlusButton(boolean value) {
+    setRawButton(Switch2ProController.Button.PLUS.value, value);
+  }
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftStickButton(boolean value) {
+    setRawButton(Switch2ProController.Button.LEFT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightStickButton(boolean value) {
+    setRawButton(Switch2ProController.Button.RIGHT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLButton(boolean value) {
+    setRawButton(Switch2ProController.Button.L.value, value);
+  }
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRButton(boolean value) {
+    setRawButton(Switch2ProController.Button.R.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(Switch2ProController.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(Switch2ProController.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(Switch2ProController.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(Switch2ProController.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCaptureButton(boolean value) {
+    setRawButton(Switch2ProController.Button.CAPTURE.value, value);
+  }
+
+  /**
+   * Change the value of the GR button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setGRButton(boolean value) {
+    setRawButton(Switch2ProController.Button.GR.value, value);
+  }
+
+  /**
+   * Change the value of the GL button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setGLButton(boolean value) {
+    setRawButton(Switch2ProController.Button.GL.value, value);
+  }
+
+  /**
+   * Change the value of the C button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCButton(boolean value) {
+    setRawButton(Switch2ProController.Button.C.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/SwitchN64ControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/SwitchN64ControllerSim.java
new file mode 100644
index 0000000000..8a2ac7f99b
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/SwitchN64ControllerSim.java
@@ -0,0 +1,215 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.SwitchN64Controller;
+
+
+/** Class to control a simulated SwitchN64 controller. */
+public class SwitchN64ControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a SwitchN64Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public SwitchN64ControllerSim(SwitchN64Controller joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public SwitchN64ControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x33);
+    setButtonsAvailable(0x20FE7FL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.SWITCH_PRO);
+    setSupportedOutputs(SwitchN64Controller.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(SwitchN64Controller.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(SwitchN64Controller.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the Z Axis value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setZAxis(double value) {
+    setRawAxis(SwitchN64Controller.Axis.Z_AXIS.value, value);
+  }
+
+  /**
+   * Change the ZR value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setZR(double value) {
+    setRawAxis(SwitchN64Controller.Axis.ZR.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.A.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.B.value, value);
+  }
+
+  /**
+   * Change the value of the C Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCLeftButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.C_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the C Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCUpButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.C_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCaptureButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.CAPTURE.value, value);
+  }
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setHomeButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.HOME.value, value);
+  }
+
+  /**
+   * Change the value of the Start button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setStartButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.START.value, value);
+  }
+
+  /**
+   * Change the value of the C Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCDownButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.C_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.L.value, value);
+  }
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.R.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the C Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCRightButton(boolean value) {
+    setRawButton(SwitchN64Controller.Button.C_RIGHT.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/SwitchProControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/SwitchProControllerSim.java
new file mode 100644
index 0000000000..d4d9ce5c66
--- /dev/null
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/SwitchProControllerSim.java
@@ -0,0 +1,242 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.simulation;
+
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.SwitchProController;
+
+
+/** Class to control a simulated SwitchPro controller. */
+public class SwitchProControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a SwitchProController object.
+   *
+   * @param joystick controller to simulate
+   */
+  @SuppressWarnings("this-escape")
+  public SwitchProControllerSim(SwitchProController joystick) {
+    super(joystick.getHID());
+    configureDevice();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  @SuppressWarnings("this-escape")
+  public SwitchProControllerSim(int port) {
+    super(port);
+    configureDevice();
+  }
+
+  private void configureDevice() {
+    setAxesAvailable(0x3F);
+    setButtonsAvailable(0xFFFFL);
+    setPOVsAvailable(0);
+    setGamepadType(GenericHID.HIDType.SWITCH_PRO);
+    setSupportedOutputs(SwitchProController.getSupportedOutputCapabilities());
+  }
+
+  /**
+   * Change the Left X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(SwitchProController.Axis.LEFT_X.value, value);
+  }
+
+  /**
+   * Change the Left Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(SwitchProController.Axis.LEFT_Y.value, value);
+  }
+
+  /**
+   * Change the Right X value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(SwitchProController.Axis.RIGHT_X.value, value);
+  }
+
+  /**
+   * Change the Right Y value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(SwitchProController.Axis.RIGHT_Y.value, value);
+  }
+
+  /**
+   * Change the ZL value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setZL(double value) {
+    setRawAxis(SwitchProController.Axis.ZL.value, value);
+  }
+
+  /**
+   * Change the ZR value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setZR(double value) {
+    setRawAxis(SwitchProController.Axis.ZR.value, value);
+  }
+
+  /**
+   * Change the value of the B button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setBButton(boolean value) {
+    setRawButton(SwitchProController.Button.B.value, value);
+  }
+
+  /**
+   * Change the value of the A button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setAButton(boolean value) {
+    setRawButton(SwitchProController.Button.A.value, value);
+  }
+
+  /**
+   * Change the value of the Y button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setYButton(boolean value) {
+    setRawButton(SwitchProController.Button.Y.value, value);
+  }
+
+  /**
+   * Change the value of the X button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setXButton(boolean value) {
+    setRawButton(SwitchProController.Button.X.value, value);
+  }
+
+  /**
+   * Change the value of the Minus button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setMinusButton(boolean value) {
+    setRawButton(SwitchProController.Button.MINUS.value, value);
+  }
+
+  /**
+   * Change the value of the Home button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setHomeButton(boolean value) {
+    setRawButton(SwitchProController.Button.HOME.value, value);
+  }
+
+  /**
+   * Change the value of the Plus button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setPlusButton(boolean value) {
+    setRawButton(SwitchProController.Button.PLUS.value, value);
+  }
+
+  /**
+   * Change the value of the Left Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLeftStickButton(boolean value) {
+    setRawButton(SwitchProController.Button.LEFT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the Right Stick button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRightStickButton(boolean value) {
+    setRawButton(SwitchProController.Button.RIGHT_STICK.value, value);
+  }
+
+  /**
+   * Change the value of the L button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setLButton(boolean value) {
+    setRawButton(SwitchProController.Button.L.value, value);
+  }
+
+  /**
+   * Change the value of the R button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setRButton(boolean value) {
+    setRawButton(SwitchProController.Button.R.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Up button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadUpButton(boolean value) {
+    setRawButton(SwitchProController.Button.DPAD_UP.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Down button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadDownButton(boolean value) {
+    setRawButton(SwitchProController.Button.DPAD_DOWN.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Left button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadLeftButton(boolean value) {
+    setRawButton(SwitchProController.Button.DPAD_LEFT.value, value);
+  }
+
+  /**
+   * Change the value of the Dpad Right button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setDpadRightButton(boolean value) {
+    setRawButton(SwitchProController.Button.DPAD_RIGHT.value, value);
+  }
+
+  /**
+   * Change the value of the Capture button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCaptureButton(boolean value) {
+    setRawButton(SwitchProController.Button.CAPTURE.value, value);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/DualSenseEdgeControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/DualSenseEdgeControllerTest.java
new file mode 100644
index 0000000000..0c7d1872e4
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/DualSenseEdgeControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.DualSenseEdgeControllerSim;
+
+class DualSenseEdgeControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    DualSenseEdgeController controller = new DualSenseEdgeController(2);
+    DualSenseEdgeControllerSim sim = new DualSenseEdgeControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0x73FFFFL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = DualSenseEdgeController.Button.class)
+  void testButtons(DualSenseEdgeController.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    DualSenseEdgeController joy = new DualSenseEdgeController(2);
+    DualSenseEdgeControllerSim joysim = new DualSenseEdgeControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = DualSenseEdgeController.Axis.class)
+  void testAxes(DualSenseEdgeController.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    DualSenseEdgeController joy = new DualSenseEdgeController(2);
+    DualSenseEdgeControllerSim joysim = new DualSenseEdgeControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/DualShock4ControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/DualShock4ControllerTest.java
new file mode 100644
index 0000000000..e70c2cc8ee
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/DualShock4ControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.DualShock4ControllerSim;
+
+class DualShock4ControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    DualShock4Controller controller = new DualShock4Controller(2);
+    DualShock4ControllerSim sim = new DualShock4ControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0x107FFFL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = DualShock4Controller.Button.class)
+  void testButtons(DualShock4Controller.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    DualShock4Controller joy = new DualShock4Controller(2);
+    DualShock4ControllerSim joysim = new DualShock4ControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = DualShock4Controller.Axis.class)
+  void testAxes(DualShock4Controller.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    DualShock4Controller joy = new DualShock4Controller(2);
+    DualShock4ControllerSim joysim = new DualShock4ControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/GameCubeControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/GameCubeControllerTest.java
new file mode 100644
index 0000000000..d914a42044
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/GameCubeControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.GameCubeControllerSim;
+
+class GameCubeControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    GameCubeController controller = new GameCubeController(2);
+    GameCubeControllerSim sim = new GameCubeControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0xC07C4FL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = GameCubeController.Button.class)
+  void testButtons(GameCubeController.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    GameCubeController joy = new GameCubeController(2);
+    GameCubeControllerSim joysim = new GameCubeControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = GameCubeController.Axis.class)
+  void testAxes(GameCubeController.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    GameCubeController joy = new GameCubeController(2);
+    GameCubeControllerSim joysim = new GameCubeControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/LogitechF310ControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/LogitechF310ControllerTest.java
new file mode 100644
index 0000000000..cccd3f727f
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/LogitechF310ControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.LogitechF310ControllerSim;
+
+class LogitechF310ControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    LogitechF310Controller controller = new LogitechF310Controller(2);
+    LogitechF310ControllerSim sim = new LogitechF310ControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0x7FFFL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = LogitechF310Controller.Button.class)
+  void testButtons(LogitechF310Controller.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    LogitechF310Controller joy = new LogitechF310Controller(2);
+    LogitechF310ControllerSim joysim = new LogitechF310ControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = LogitechF310Controller.Axis.class)
+  void testAxes(LogitechF310Controller.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    LogitechF310Controller joy = new LogitechF310Controller(2);
+    LogitechF310ControllerSim joysim = new LogitechF310ControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/SteamControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/SteamControllerTest.java
new file mode 100644
index 0000000000..9d618e0d5a
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/SteamControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.SteamControllerSim;
+
+class SteamControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    SteamController controller = new SteamController(2);
+    SteamControllerSim sim = new SteamControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0x3FFFFFFL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = SteamController.Button.class)
+  void testButtons(SteamController.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    SteamController joy = new SteamController(2);
+    SteamControllerSim joysim = new SteamControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = SteamController.Axis.class)
+  void testAxes(SteamController.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    SteamController joy = new SteamController(2);
+    SteamControllerSim joysim = new SteamControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/Switch2GCControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/Switch2GCControllerTest.java
new file mode 100644
index 0000000000..4893b48064
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/Switch2GCControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.Switch2GCControllerSim;
+
+class Switch2GCControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    Switch2GCController controller = new Switch2GCController(2);
+    Switch2GCControllerSim sim = new Switch2GCControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0xE0FE6FL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = Switch2GCController.Button.class)
+  void testButtons(Switch2GCController.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    Switch2GCController joy = new Switch2GCController(2);
+    Switch2GCControllerSim joysim = new Switch2GCControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = Switch2GCController.Axis.class)
+  void testAxes(Switch2GCController.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    Switch2GCController joy = new Switch2GCController(2);
+    Switch2GCControllerSim joysim = new Switch2GCControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/Switch2ProControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/Switch2ProControllerTest.java
new file mode 100644
index 0000000000..4b7f433043
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/Switch2ProControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.Switch2ProControllerSim;
+
+class Switch2ProControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    Switch2ProController controller = new Switch2ProController(2);
+    Switch2ProControllerSim sim = new Switch2ProControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0x23FFFFL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = Switch2ProController.Button.class)
+  void testButtons(Switch2ProController.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    Switch2ProController joy = new Switch2ProController(2);
+    Switch2ProControllerSim joysim = new Switch2ProControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = Switch2ProController.Axis.class)
+  void testAxes(Switch2ProController.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    Switch2ProController joy = new Switch2ProController(2);
+    Switch2ProControllerSim joysim = new Switch2ProControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/SwitchN64ControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/SwitchN64ControllerTest.java
new file mode 100644
index 0000000000..04a3040c6d
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/SwitchN64ControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.SwitchN64ControllerSim;
+
+class SwitchN64ControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    SwitchN64Controller controller = new SwitchN64Controller(2);
+    SwitchN64ControllerSim sim = new SwitchN64ControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x33, controller.getHID().getAxesAvailable());
+    assertEquals(0x20FE7FL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = SwitchN64Controller.Button.class)
+  void testButtons(SwitchN64Controller.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    SwitchN64Controller joy = new SwitchN64Controller(2);
+    SwitchN64ControllerSim joysim = new SwitchN64ControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = SwitchN64Controller.Axis.class)
+  void testAxes(SwitchN64Controller.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    SwitchN64Controller joy = new SwitchN64Controller(2);
+    SwitchN64ControllerSim joysim = new SwitchN64ControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}
diff --git a/wpilibj/src/generated/test/java/org/wpilib/driverstation/SwitchProControllerTest.java b/wpilibj/src/generated/test/java/org/wpilib/driverstation/SwitchProControllerTest.java
new file mode 100644
index 0000000000..fbbbcb2dc6
--- /dev/null
+++ b/wpilibj/src/generated/test/java/org/wpilib/driverstation/SwitchProControllerTest.java
@@ -0,0 +1,95 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_first_ds_hids.py. DO NOT MODIFY
+
+package org.wpilib.driverstation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.hardware.hal.HAL;
+import org.wpilib.simulation.SwitchProControllerSim;
+
+class SwitchProControllerTest {
+  @Test
+  void testWrappedHID() {
+    HAL.initialize(500, 0);
+    SwitchProController controller = new SwitchProController(2);
+    SwitchProControllerSim sim = new SwitchProControllerSim(controller);
+    sim.notifyNewData();
+
+    assertEquals(2, controller.getPort());
+    assertEquals(2, controller.getHID().getPort());
+    assertEquals(0x3F, controller.getHID().getAxesAvailable());
+    assertEquals(0xFFFFL, controller.getHID().getButtonsAvailable());
+    assertEquals(0, controller.getHID().getPOVsAvailable());
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = SwitchProController.Button.class)
+  void testButtons(SwitchProController.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    SwitchProController joy = new SwitchProController(2);
+    SwitchProControllerSim joysim = new SwitchProControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = SwitchProController.Axis.class)
+  void testAxes(SwitchProController.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    SwitchProController joy = new SwitchProController(2);
+    SwitchProControllerSim joysim = new SwitchProControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}