diff --git a/wpilibc/src/main/native/cpp/buttons/CancelButtonScheduler.cpp b/wpilibc/src/main/native/cpp/buttons/CancelButtonScheduler.cpp
index f00378f10a..39d1d256c6 100644
--- a/wpilibc/src/main/native/cpp/buttons/CancelButtonScheduler.cpp
+++ b/wpilibc/src/main/native/cpp/buttons/CancelButtonScheduler.cpp
@@ -14,17 +14,14 @@ using namespace frc;
 
 CancelButtonScheduler::CancelButtonScheduler(bool last, Trigger* button,
                                              Command* orders)
-    : ButtonScheduler(last, button, orders) {
-  pressedLast = m_button->Grab();
-}
+    : ButtonScheduler(last, button, orders) {}
 
 void CancelButtonScheduler::Execute() {
-  if (m_button->Grab()) {
-    if (!pressedLast) {
-      pressedLast = true;
-      m_command->Cancel();
-    }
-  } else {
-    pressedLast = false;
+  bool pressed = m_button->Grab();
+
+  if (!m_pressedLast && pressed) {
+    m_command->Cancel();
   }
+
+  m_pressedLast = pressed;
 }
diff --git a/wpilibc/src/main/native/cpp/buttons/HeldButtonScheduler.cpp b/wpilibc/src/main/native/cpp/buttons/HeldButtonScheduler.cpp
index 1d5e3f6c9e..d386b5870c 100644
--- a/wpilibc/src/main/native/cpp/buttons/HeldButtonScheduler.cpp
+++ b/wpilibc/src/main/native/cpp/buttons/HeldButtonScheduler.cpp
@@ -17,13 +17,13 @@ HeldButtonScheduler::HeldButtonScheduler(bool last, Trigger* button,
     : ButtonScheduler(last, button, orders) {}
 
 void HeldButtonScheduler::Execute() {
-  if (m_button->Grab()) {
-    m_pressedLast = true;
+  bool pressed = m_button->Grab();
+
+  if (!m_pressedLast && pressed) {
     m_command->Start();
-  } else {
-    if (m_pressedLast) {
-      m_pressedLast = false;
-      m_command->Cancel();
-    }
+  } else if (m_pressedLast && !pressed) {
+    m_command->Cancel();
   }
+
+  m_pressedLast = pressed;
 }
diff --git a/wpilibc/src/main/native/cpp/buttons/PressedButtonScheduler.cpp b/wpilibc/src/main/native/cpp/buttons/PressedButtonScheduler.cpp
index 63da57f781..a964117ebd 100644
--- a/wpilibc/src/main/native/cpp/buttons/PressedButtonScheduler.cpp
+++ b/wpilibc/src/main/native/cpp/buttons/PressedButtonScheduler.cpp
@@ -17,12 +17,11 @@ PressedButtonScheduler::PressedButtonScheduler(bool last, Trigger* button,
     : ButtonScheduler(last, button, orders) {}
 
 void PressedButtonScheduler::Execute() {
-  if (m_button->Grab()) {
-    if (!m_pressedLast) {
-      m_pressedLast = true;
-      m_command->Start();
-    }
-  } else {
-    m_pressedLast = false;
+  bool pressed = m_button->Grab();
+
+  if (!m_pressedLast && pressed) {
+    m_command->Start();
   }
+
+  m_pressedLast = pressed;
 }
diff --git a/wpilibc/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp b/wpilibc/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp
index 4edd09ae6a..6d67004e68 100644
--- a/wpilibc/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp
+++ b/wpilibc/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp
@@ -17,12 +17,11 @@ ReleasedButtonScheduler::ReleasedButtonScheduler(bool last, Trigger* button,
     : ButtonScheduler(last, button, orders) {}
 
 void ReleasedButtonScheduler::Execute() {
-  if (m_button->Grab()) {
-    m_pressedLast = true;
-  } else {
-    if (m_pressedLast) {
-      m_pressedLast = false;
-      m_command->Start();
-    }
+  bool pressed = m_button->Grab();
+
+  if (m_pressedLast && !pressed) {
+    m_command->Start();
   }
+
+  m_pressedLast = pressed;
 }
diff --git a/wpilibc/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp b/wpilibc/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp
index 059077291a..b722d45331 100644
--- a/wpilibc/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp
+++ b/wpilibc/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp
@@ -14,21 +14,18 @@ using namespace frc;
 
 ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger* button,
                                              Command* orders)
-    : ButtonScheduler(last, button, orders) {
-  pressedLast = m_button->Grab();
-}
+    : ButtonScheduler(last, button, orders) {}
 
 void ToggleButtonScheduler::Execute() {
-  if (m_button->Grab()) {
-    if (!pressedLast) {
-      pressedLast = true;
-      if (m_command->IsRunning()) {
-        m_command->Cancel();
-      } else {
-        m_command->Start();
-      }
+  bool pressed = m_button->Grab();
+
+  if (!m_pressedLast && pressed) {
+    if (m_command->IsRunning()) {
+      m_command->Cancel();
+    } else {
+      m_command->Start();
     }
-  } else {
-    pressedLast = false;
   }
+
+  m_pressedLast = pressed;
 }
diff --git a/wpilibc/src/main/native/include/frc/buttons/CancelButtonScheduler.h b/wpilibc/src/main/native/include/frc/buttons/CancelButtonScheduler.h
index 8e4413a9c6..69b8a117b2 100644
--- a/wpilibc/src/main/native/include/frc/buttons/CancelButtonScheduler.h
+++ b/wpilibc/src/main/native/include/frc/buttons/CancelButtonScheduler.h
@@ -23,9 +23,6 @@ class CancelButtonScheduler : public ButtonScheduler {
   CancelButtonScheduler& operator=(CancelButtonScheduler&&) = default;
 
   virtual void Execute();
-
- private:
-  bool pressedLast;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/buttons/ToggleButtonScheduler.h b/wpilibc/src/main/native/include/frc/buttons/ToggleButtonScheduler.h
index 4c7a2037bb..aeb93b37ea 100644
--- a/wpilibc/src/main/native/include/frc/buttons/ToggleButtonScheduler.h
+++ b/wpilibc/src/main/native/include/frc/buttons/ToggleButtonScheduler.h
@@ -23,9 +23,6 @@ class ToggleButtonScheduler : public ButtonScheduler {
   ToggleButtonScheduler& operator=(ToggleButtonScheduler&&) = default;
 
   virtual void Execute();
-
- private:
-  bool pressedLast;
 };
 
 }  // namespace frc
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
index a33e5cfca9..795778b45f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
@@ -56,14 +56,13 @@ public abstract class Trigger extends SendableBase {
 
       @Override
       public void execute() {
-        if (grab()) {
-          if (!m_pressedLast) {
-            m_pressedLast = true;
-            command.start();
-          }
-        } else {
-          m_pressedLast = false;
+        boolean pressed = grab();
+
+        if (!m_pressedLast && pressed) {
+          command.start();
         }
+
+        m_pressedLast = pressed;
       }
     }.start();
   }
@@ -82,15 +81,15 @@ public abstract class Trigger extends SendableBase {
 
       @Override
       public void execute() {
-        if (grab()) {
-          m_pressedLast = true;
+        boolean pressed = grab();
+
+        if (!m_pressedLast && pressed) {
           command.start();
-        } else {
-          if (m_pressedLast) {
-            m_pressedLast = false;
-            command.cancel();
-          }
+        } else if (m_pressedLast && !pressed) {
+          command.cancel();
         }
+
+        m_pressedLast = pressed;
       }
     }.start();
   }
@@ -106,14 +105,13 @@ public abstract class Trigger extends SendableBase {
 
       @Override
       public void execute() {
-        if (grab()) {
-          m_pressedLast = true;
-        } else {
-          if (m_pressedLast) {
-            m_pressedLast = false;
-            command.start();
-          }
+        boolean pressed = grab();
+
+        if (m_pressedLast && !pressed) {
+          command.start();
         }
+
+        m_pressedLast = pressed;
       }
     }.start();
   }
@@ -129,18 +127,17 @@ public abstract class Trigger extends SendableBase {
 
       @Override
       public void execute() {
-        if (grab()) {
-          if (!m_pressedLast) {
-            m_pressedLast = true;
-            if (command.isRunning()) {
-              command.cancel();
-            } else {
-              command.start();
-            }
+        boolean pressed = grab();
+
+        if (!m_pressedLast && pressed) {
+          if (command.isRunning()) {
+            command.cancel();
+          } else {
+            command.start();
           }
-        } else {
-          m_pressedLast = false;
         }
+
+        m_pressedLast = pressed;
       }
     }.start();
   }
@@ -156,14 +153,13 @@ public abstract class Trigger extends SendableBase {
 
       @Override
       public void execute() {
-        if (grab()) {
-          if (!m_pressedLast) {
-            m_pressedLast = true;
-            command.cancel();
-          }
-        } else {
-          m_pressedLast = false;
+        boolean pressed = grab();
+
+        if (!m_pressedLast && pressed) {
+          command.cancel();
         }
+
+        m_pressedLast = pressed;
       }
     }.start();
   }