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commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS4Controller.java

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+// 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.commands3.button;
+
+import edu.wpi.first.wpilibj.PS4Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import org.wpilib.commands3.Scheduler;
+import org.wpilib.commands3.Trigger;
+
+/**
+ * A version of {@link PS4Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see PS4Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandPS4Controller extends CommandGenericHID {
+  private final PS4Controller m_hid;
+
+  /**
+   * 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 CommandPS4Controller(int port) {
+    super(port);
+    m_hid = new PS4Controller(port);
+  }
+
+  /**
+   * 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 CommandPS4Controller(Scheduler scheduler, int port) {
+    super(scheduler, port);
+    m_hid = new PS4Controller(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public PS4Controller getHID() {
+    return m_hid;
+  }
+
+  /**
+   * 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(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 button(PS4Controller.Button.kSquare.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 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(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 button(PS4Controller.Button.kCross.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(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 button(PS4Controller.Button.kCircle.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(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 button(PS4Controller.Button.kTriangle.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 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(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return button(PS4Controller.Button.kL1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 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(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return button(PS4Controller.Button.kR1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 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 #L2(EventLoop)
+   */
+  public Trigger L2() {
+    return L2(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L2(EventLoop loop) {
+    return button(PS4Controller.Button.kL2.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 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 #R2(EventLoop)
+   */
+  public Trigger R2() {
+    return R2(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R2(EventLoop loop) {
+    return button(PS4Controller.Button.kR2.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(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 button(PS4Controller.Button.kShare.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(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 button(PS4Controller.Button.kOptions.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the L3 (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 #L3(EventLoop)
+   */
+  public Trigger L3() {
+    return L3(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L3 (left stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return button(PS4Controller.Button.kL3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the R3 (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 #R3(EventLoop)
+   */
+  public Trigger R3() {
+    return R3(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R3 (right stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return button(PS4Controller.Button.kR3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @return a Trigger instance representing the PlayStation 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(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PlayStation button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return button(PS4Controller.Button.kPS.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(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 button(PS4Controller.Button.kTouchpad.value, loop);
+  }
+
+  /**
+   * Get the X axis value of left side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+
+  /**
+   * Get the left trigger 2 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 m_hid.getL2Axis();
+  }
+
+  /**
+   * Get the right trigger 2 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 m_hid.getR2Axis();
+  }
+}

commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS5Controller.java

@@ -0,0 +1,447 @@
+// 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.commands3.button;
+
+import edu.wpi.first.wpilibj.PS5Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import org.wpilib.commands3.Scheduler;
+import org.wpilib.commands3.Trigger;
+
+/**
+ * A version of {@link PS5Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see PS5Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandPS5Controller extends CommandGenericHID {
+  private final PS5Controller m_hid;
+
+  /**
+   * 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 CommandPS5Controller(int port) {
+    super(port);
+    m_hid = new PS5Controller(port);
+  }
+
+  /**
+   * 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 CommandPS5Controller(Scheduler scheduler, int port) {
+    super(scheduler, port);
+    m_hid = new PS5Controller(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public PS5Controller getHID() {
+    return m_hid;
+  }
+
+  /**
+   * 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(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 button(PS5Controller.Button.kSquare.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 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(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 button(PS5Controller.Button.kCross.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(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 button(PS5Controller.Button.kCircle.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(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 button(PS5Controller.Button.kTriangle.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 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(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return button(PS5Controller.Button.kL1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 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(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return button(PS5Controller.Button.kR1.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 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 #L2(EventLoop)
+   */
+  public Trigger L2() {
+    return L2(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L2(EventLoop loop) {
+    return button(PS5Controller.Button.kL2.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 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 #R2(EventLoop)
+   */
+  public Trigger R2() {
+    return R2(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger 2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger 2 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R2(EventLoop loop) {
+    return button(PS5Controller.Button.kR2.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(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 button(PS5Controller.Button.kCreate.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(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 button(PS5Controller.Button.kOptions.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the L3 (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 #L3(EventLoop)
+   */
+  public Trigger L3() {
+    return L3(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L3 (left stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L3 (left stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return button(PS5Controller.Button.kL3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @return a Trigger instance representing the R3 (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 #R3(EventLoop)
+   */
+  public Trigger R3() {
+    return R3(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R3 (right stick) button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R3 (right stick) button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return button(PS5Controller.Button.kR3.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @return a Trigger instance representing the PlayStation 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(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the PlayStation button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PlayStation button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return button(PS5Controller.Button.kPS.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(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 button(PS5Controller.Button.kTouchpad.value, loop);
+  }
+
+  /**
+   * Get the X axis value of left side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+
+  /**
+   * Get the left trigger 2 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 m_hid.getL2Axis();
+  }
+
+  /**
+   * Get the right trigger 2 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 m_hid.getR2Axis();
+  }
+}

commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandStadiaController.java

@@ -0,0 +1,451 @@
+// 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.commands3.button;
+
+import edu.wpi.first.wpilibj.StadiaController;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import org.wpilib.commands3.Scheduler;
+import org.wpilib.commands3.Trigger;
+
+/**
+ * A version of {@link StadiaController} with {@link Trigger} factories for command-based.
+ *
+ * @see StadiaController
+ */
+@SuppressWarnings("MethodName")
+public class CommandStadiaController extends CommandGenericHID {
+  private final StadiaController m_hid;
+
+  /**
+   * 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 CommandStadiaController(int port) {
+    super(port);
+    m_hid = new StadiaController(port);
+  }
+
+  /**
+   * 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 CommandStadiaController(Scheduler scheduler, int port) {
+    super(scheduler, port);
+    m_hid = new StadiaController(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public StadiaController getHID() {
+    return m_hid;
+  }
+
+  /**
+   * 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(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 button(StadiaController.Button.kA.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(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 button(StadiaController.Button.kB.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(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 button(StadiaController.Button.kX.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(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 button(StadiaController.Button.kY.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(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 button(StadiaController.Button.kLeftBumper.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(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 button(StadiaController.Button.kRightBumper.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(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 button(StadiaController.Button.kLeftStick.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(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 button(StadiaController.Button.kRightStick.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the ellipses button's digital signal.
+   *
+   * @return a Trigger instance representing the ellipses 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 #ellipses(EventLoop)
+   */
+  public Trigger ellipses() {
+    return ellipses(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the ellipses button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the ellipses button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger ellipses(EventLoop loop) {
+    return button(StadiaController.Button.kEllipses.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the hamburger button's digital signal.
+   *
+   * @return a Trigger instance representing the hamburger 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 #hamburger(EventLoop)
+   */
+  public Trigger hamburger() {
+    return hamburger(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the hamburger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the hamburger button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger hamburger(EventLoop loop) {
+    return button(StadiaController.Button.kHamburger.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the stadia button's digital signal.
+   *
+   * @return a Trigger instance representing the stadia 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 #stadia(EventLoop)
+   */
+  public Trigger stadia() {
+    return stadia(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the stadia button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the stadia button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger stadia(EventLoop loop) {
+    return button(StadiaController.Button.kStadia.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger button's digital signal.
+   *
+   * @return a Trigger instance representing the right trigger 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 #rightTrigger(EventLoop)
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the right trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the right trigger button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightTrigger(EventLoop loop) {
+    return button(StadiaController.Button.kRightTrigger.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger button's digital signal.
+   *
+   * @return a Trigger instance representing the left trigger 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 #leftTrigger(EventLoop)
+   */
+  public Trigger leftTrigger() {
+    return leftTrigger(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the left trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the left trigger button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftTrigger(EventLoop loop) {
+    return button(StadiaController.Button.kLeftTrigger.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the google button's digital signal.
+   *
+   * @return a Trigger instance representing the google 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 #google(EventLoop)
+   */
+  public Trigger google() {
+    return google(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the google button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the google button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger google(EventLoop loop) {
+    return button(StadiaController.Button.kGoogle.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the frame button's digital signal.
+   *
+   * @return a Trigger instance representing the frame 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 #frame(EventLoop)
+   */
+  public Trigger frame() {
+    return frame(getScheduler().getDefaultEventLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the frame button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the frame button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger frame(EventLoop loop) {
+    return button(StadiaController.Button.kFrame.value, loop);
+  }
+
+  /**
+   * Get the X axis value of left side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+}

commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandXboxController.java

@@ -0,0 +1,435 @@
+// 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.commands3.button;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import org.wpilib.commands3.Scheduler;
+import org.wpilib.commands3.Trigger;
+
+/**
+ * A version of {@link XboxController} with {@link Trigger} factories for command-based.
+ *
+ * @see XboxController
+ */
+@SuppressWarnings("MethodName")
+public class CommandXboxController extends CommandGenericHID {
+  private final XboxController m_hid;
+
+  /**
+   * 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 CommandXboxController(int port) {
+    super(port);
+    m_hid = new XboxController(port);
+  }
+
+  /**
+   * 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 CommandXboxController(Scheduler scheduler, int port) {
+    super(scheduler, port);
+    m_hid = new XboxController(port);
+  }
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  @Override
+  public XboxController getHID() {
+    return m_hid;
+  }
+
+  /**
+   * 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(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 button(XboxController.Button.kA.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(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 button(XboxController.Button.kB.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(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 button(XboxController.Button.kX.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(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 button(XboxController.Button.kY.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(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 button(XboxController.Button.kLeftBumper.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(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 button(XboxController.Button.kRightBumper.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(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 button(XboxController.Button.kBack.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(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 button(XboxController.Button.kStart.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(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 button(XboxController.Button.kLeftStick.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(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 button(XboxController.Button.kRightStick.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's axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger leftTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(XboxController.Axis.kLeftTrigger.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's 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, 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's 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's axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger rightTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(XboxController.Axis.kRightTrigger.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's 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, 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's 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 X axis value of left side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_hid.getLeftX();
+  }
+
+  /**
+   * Get the X axis value of right side of the controller. Right is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_hid.getRightX();
+  }
+
+  /**
+   * Get the Y axis value of left side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_hid.getLeftY();
+  }
+
+  /**
+   * Get the Y axis value of right side of the controller. Back is positive.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_hid.getRightY();
+  }
+
+  /**
+   * Get the left trigger 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 getLeftTriggerAxis() {
+    return m_hid.getLeftTriggerAxis();
+  }
+
+  /**
+   * Get the right trigger 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 getRightTriggerAxis() {
+    return m_hid.getRightTriggerAxis();
+  }
+}