[wpilib] Add support for the PS5 DualSense controller (#5257)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
2026-06-24 01:31:46 +00:00 · 2023-10-30 11:25:16 -04:00
parent 8d5e6737fc
commit 9536a311cb
12 changed files with 2730 additions and 1 deletions
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PS5Controller.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PS5Controller.java
@@ -0,0 +1,697 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
+
+/**
+ * Handle input from PS5 controllers connected to the Driver Station.
+ *
+ * <p>This class handles PS5 input that comes from the Driver Station. Each time a value is
+ * requested the most recent value is returned. There is a single class instance for each controller
+ * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
+ */
+public class PS5Controller extends GenericHID {
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
+  public PS5Controller(int port) {
+    super(port);
+    // HAL.report(tResourceType.kResourceType_PS5Controller, port + 1);
+  }
+
+  /** Represents a digital button on a PS5Controller. */
+  public enum Button {
+    kCross(1),
+    kCircle(2),
+    kSquare(3),
+    kTriangle(4),
+    kL1(5),
+    kR1(6),
+    kL2(7),
+    kR2(8),
+    kCreate(9),
+    kOptions(10),
+    kPS(11),
+    kL3(12),
+    kR3(13),
+    kTouchpad(14);
+
+    public final int value;
+
+    Button(int index) {
+      this.value = index;
+    }
+
+    /**
+     * Get the human-friendly name of the button, matching the relevant methods. This is done by
+     * stripping the leading `k`, and if not the touchpad append `Button`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the button.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (this == kTouchpad) {
+        return name;
+      }
+      return name + "Button";
+    }
+  }
+
+  /** Represents an axis on a PS5Controller. */
+  public enum Axis {
+    kLeftX(0),
+    kLeftY(1),
+    kL2(2),
+    kRightX(3),
+    kRightY(4),
+    kR2(5);
+
+    public final int value;
+
+    Axis(int index) {
+      value = index;
+    }
+
+    /**
+     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
+     * stripping the leading `k`, and if one of L2/R2 append `Axis`.
+     *
+     * <p>Primarily used for automated unit tests.
+     *
+     * @return the human-friendly name of the axis.
+     */
+    @Override
+    public String toString() {
+      var name = this.name().substring(1); // Remove leading `k`
+      if (name.endsWith("2")) {
+        return name + "Axis";
+      }
+      return name;
+    }
+  }
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getLeftX() {
+    return getRawAxis(Axis.kLeftX.value);
+  }
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getRightX() {
+    return getRawAxis(Axis.kRightX.value);
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getLeftY() {
+    return getRawAxis(Axis.kLeftY.value);
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  public double getRightY() {
+    return getRawAxis(Axis.kRightY.value);
+  }
+
+  /**
+   * Get the L2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
+   * opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  public double getL2Axis() {
+    return getRawAxis(Axis.kL2.value);
+  }
+
+  /**
+   * Get the R2 axis value of the controller. Note that this axis is bound to the range of [0, 1] as
+   * opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  public double getR2Axis() {
+    return getRawAxis(Axis.kR2.value);
+  }
+
+  /**
+   * Read the value of the left trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL2Button() {
+    return getRawButton(Button.kL2.value);
+  }
+
+  /**
+   * Read the value of the right trigger button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR2Button() {
+    return getRawButton(Button.kR2.value);
+  }
+
+  /**
+   * Whether the L2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL2ButtonPressed() {
+    return getRawButtonPressed(Button.kL2.value);
+  }
+
+  /**
+   * Whether the R2 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR2ButtonPressed() {
+    return getRawButtonPressed(Button.kR2.value);
+  }
+
+  /**
+   * Whether the L2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL2ButtonReleased() {
+    return getRawButtonReleased(Button.kL2.value);
+  }
+
+  /**
+   * Whether the R2 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR2ButtonReleased() {
+    return getRawButtonReleased(Button.kR2.value);
+  }
+
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L2 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L2(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL2Button);
+  }
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R2 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R2(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR2Button);
+  }
+
+  /**
+   * Read the value of the L1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL1Button() {
+    return getRawButton(Button.kL1.value);
+  }
+
+  /**
+   * Read the value of the R1 button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR1Button() {
+    return getRawButton(Button.kR1.value);
+  }
+
+  /**
+   * Whether the L1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL1ButtonPressed() {
+    return getRawButtonPressed(Button.kL1.value);
+  }
+
+  /**
+   * Whether the R1 button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR1ButtonPressed() {
+    return getRawButtonPressed(Button.kR1.value);
+  }
+
+  /**
+   * Whether the L1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL1ButtonReleased() {
+    return getRawButtonReleased(Button.kL1.value);
+  }
+
+  /**
+   * Whether the R1 button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR1ButtonReleased() {
+    return getRawButtonReleased(Button.kR1.value);
+  }
+
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L1 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L1(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL1Button);
+  }
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R1 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R1(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR1Button);
+  }
+
+  /**
+   * Read the value of the L3 button (pressing the left analog stick) on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getL3Button() {
+    return getRawButton(Button.kL3.value);
+  }
+
+  /**
+   * Read the value of the R3 button (pressing the right analog stick) on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getR3Button() {
+    return getRawButton(Button.kR3.value);
+  }
+
+  /**
+   * Whether the L3 (left stick) button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getL3ButtonPressed() {
+    return getRawButtonPressed(Button.kL3.value);
+  }
+
+  /**
+   * Whether the R3 (right stick) button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getR3ButtonPressed() {
+    return getRawButtonPressed(Button.kR3.value);
+  }
+
+  /**
+   * Whether the L3 (left stick) button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getL3ButtonReleased() {
+    return getRawButtonReleased(Button.kL3.value);
+  }
+
+  /**
+   * Whether the R3 (right stick) button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getR3ButtonReleased() {
+    return getRawButtonReleased(Button.kR3.value);
+  }
+
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L3 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L3(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL3Button);
+  }
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R3 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R3(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR3Button);
+  }
+
+  /**
+   * Read the value of the Square button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getSquareButton() {
+    return getRawButton(Button.kSquare.value);
+  }
+
+  /**
+   * Whether the Square button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getSquareButtonPressed() {
+    return getRawButtonPressed(Button.kSquare.value);
+  }
+
+  /**
+   * Whether the Square button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getSquareButtonReleased() {
+    return getRawButtonReleased(Button.kSquare.value);
+  }
+
+  /**
+   * 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 new BooleanEvent(loop, this::getSquareButton);
+  }
+
+  /**
+   * Read the value of the Cross button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCrossButton() {
+    return getRawButton(Button.kCross.value);
+  }
+
+  /**
+   * Whether the Cross button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCrossButtonPressed() {
+    return getRawButtonPressed(Button.kCross.value);
+  }
+
+  /**
+   * Whether the Cross button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCrossButtonReleased() {
+    return getRawButtonReleased(Button.kCross.value);
+  }
+
+  /**
+   * 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 new BooleanEvent(loop, this::getCrossButton);
+  }
+
+  /**
+   * Read the value of the Triangle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getTriangleButton() {
+    return getRawButton(Button.kTriangle.value);
+  }
+
+  /**
+   * Whether the Triangle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getTriangleButtonPressed() {
+    return getRawButtonPressed(Button.kTriangle.value);
+  }
+
+  /**
+   * Whether the Triangle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getTriangleButtonReleased() {
+    return getRawButtonReleased(Button.kTriangle.value);
+  }
+
+  /**
+   * 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 new BooleanEvent(loop, this::getTriangleButton);
+  }
+
+  /**
+   * Read the value of the Circle button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCircleButton() {
+    return getRawButton(Button.kCircle.value);
+  }
+
+  /**
+   * Whether the Circle button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCircleButtonPressed() {
+    return getRawButtonPressed(Button.kCircle.value);
+  }
+
+  /**
+   * Whether the Circle button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCircleButtonReleased() {
+    return getRawButtonReleased(Button.kCircle.value);
+  }
+
+  /**
+   * 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 new BooleanEvent(loop, this::getCircleButton);
+  }
+
+  /**
+   * Read the value of the share button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getCreateButton() {
+    return getRawButton(Button.kCreate.value);
+  }
+
+  /**
+   * Whether the share button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getCreateButtonPressed() {
+    return getRawButtonPressed(Button.kCreate.value);
+  }
+
+  /**
+   * Whether the share button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getCreateButtonReleased() {
+    return getRawButtonReleased(Button.kCreate.value);
+  }
+
+  /**
+   * 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.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent create(EventLoop loop) {
+    return new BooleanEvent(loop, this::getCreateButton);
+  }
+
+  /**
+   * Read the value of the PS button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getPSButton() {
+    return getRawButton(Button.kPS.value);
+  }
+
+  /**
+   * Whether the PS button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getPSButtonPressed() {
+    return getRawButtonPressed(Button.kPS.value);
+  }
+
+  /**
+   * Whether the PS button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getPSButtonReleased() {
+    return getRawButtonReleased(Button.kPS.value);
+  }
+
+  /**
+   * 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.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent PS(EventLoop loop) {
+    return new BooleanEvent(loop, this::getPSButton);
+  }
+
+  /**
+   * Read the value of the options button on the controller.
+   *
+   * @return The state of the button.
+   */
+  public boolean getOptionsButton() {
+    return getRawButton(Button.kOptions.value);
+  }
+
+  /**
+   * Whether the options button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  public boolean getOptionsButtonPressed() {
+    return getRawButtonPressed(Button.kOptions.value);
+  }
+
+  /**
+   * Whether the options button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  public boolean getOptionsButtonReleased() {
+    return getRawButtonReleased(Button.kOptions.value);
+  }
+
+  /**
+   * 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 new BooleanEvent(loop, this::getOptionsButton);
+  }
+
+  /**
+   * Read the value of the touchpad on the controller.
+   *
+   * @return The state of the touchpad.
+   */
+  public boolean getTouchpad() {
+    return getRawButton(Button.kTouchpad.value);
+  }
+
+  /**
+   * Whether the touchpad was pressed since the last check.
+   *
+   * @return Whether the touchpad was pressed since the last check.
+   */
+  public boolean getTouchpadPressed() {
+    return getRawButtonPressed(Button.kTouchpad.value);
+  }
+
+  /**
+   * Whether the touchpad was released since the last check.
+   *
+   * @return Whether the touchpad was released since the last check.
+   */
+  public boolean getTouchpadReleased() {
+    return getRawButtonReleased(Button.kTouchpad.value);
+  }
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the touchpad's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent touchpad(EventLoop loop) {
+    return new BooleanEvent(loop, this::getTouchpad);
+  }
+}
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS5ControllerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS5ControllerSim.java
@@ -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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.PS5Controller;
+
+/** Class to control a simulated PS5 controller. */
+public class PS5ControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a PS5Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  public PS5ControllerSim(PS5Controller joystick) {
+    super(joystick);
+    setAxisCount(6);
+    setButtonCount(14);
+    setPOVCount(1);
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  public PS5ControllerSim(int port) {
+    super(port);
+    setAxisCount(6);
+    setButtonCount(14);
+    setPOVCount(1);
+  }
+
+  /**
+   * Change the X axis value of the controller's left stick.
+   *
+   * @param value the new value
+   */
+  public void setLeftX(double value) {
+    setRawAxis(PS5Controller.Axis.kLeftX.value, value);
+  }
+
+  /**
+   * Change the X axis value of the controller's right stick.
+   *
+   * @param value the new value
+   */
+  public void setRightX(double value) {
+    setRawAxis(PS5Controller.Axis.kRightX.value, value);
+  }
+
+  /**
+   * Change the Y axis value of the controller's left stick.
+   *
+   * @param value the new value
+   */
+  public void setLeftY(double value) {
+    setRawAxis(PS5Controller.Axis.kLeftY.value, value);
+  }
+
+  /**
+   * Change the Y axis value of the controller's right stick.
+   *
+   * @param value the new value
+   */
+  public void setRightY(double value) {
+    setRawAxis(PS5Controller.Axis.kRightY.value, value);
+  }
+
+  /**
+   * Change the L2 axis value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setL2Axis(double value) {
+    setRawAxis(PS5Controller.Axis.kL2.value, value);
+  }
+
+  /**
+   * Change the R2 axis value of the controller.
+   *
+   * @param value the new value
+   */
+  public void setR2Axis(double value) {
+    setRawAxis(PS5Controller.Axis.kR2.value, value);
+  }
+
+  /**
+   * Change the value of the Square button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setSquareButton(boolean value) {
+    setRawButton(PS5Controller.Button.kSquare.value, value);
+  }
+
+  /**
+   * Change the value of the Cross button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCrossButton(boolean value) {
+    setRawButton(PS5Controller.Button.kCross.value, value);
+  }
+
+  /**
+   * Change the value of the Circle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCircleButton(boolean value) {
+    setRawButton(PS5Controller.Button.kCircle.value, value);
+  }
+
+  /**
+   * Change the value of the Triangle button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTriangleButton(boolean value) {
+    setRawButton(PS5Controller.Button.kTriangle.value, value);
+  }
+
+  /**
+   * Change the value of the L1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL1Button(boolean value) {
+    setRawButton(PS5Controller.Button.kL1.value, value);
+  }
+
+  /**
+   * Change the value of the R1 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR1Button(boolean value) {
+    setRawButton(PS5Controller.Button.kR1.value, value);
+  }
+
+  /**
+   * Change the value of the L2 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL2Button(boolean value) {
+    setRawButton(PS5Controller.Button.kL2.value, value);
+  }
+
+  /**
+   * Change the value of the R2 button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR2Button(boolean value) {
+    setRawButton(PS5Controller.Button.kR2.value, value);
+  }
+
+  /**
+   * Change the value of the Create button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setCreateButton(boolean value) {
+    setRawButton(PS5Controller.Button.kCreate.value, value);
+  }
+
+  /**
+   * Change the value of the Options button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setOptionsButton(boolean value) {
+    setRawButton(PS5Controller.Button.kOptions.value, value);
+  }
+
+  /**
+   * Change the value of the L3 (left stick) button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setL3Button(boolean value) {
+    setRawButton(PS5Controller.Button.kL3.value, value);
+  }
+
+  /**
+   * Change the value of the R3 (right stick) button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setR3Button(boolean value) {
+    setRawButton(PS5Controller.Button.kR3.value, value);
+  }
+
+  /**
+   * Change the value of the PS button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setPSButton(boolean value) {
+    setRawButton(PS5Controller.Button.kPS.value, value);
+  }
+
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  public void setTouchpad(boolean value) {
+    setRawButton(PS5Controller.Button.kTouchpad.value, value);
+  }
+}