diff --git a/wpilibc/src/main/native/cpp/GenericHID.cpp b/wpilibc/src/main/native/cpp/GenericHID.cpp
index bee557a20a..39db699cc4 100644
--- a/wpilibc/src/main/native/cpp/GenericHID.cpp
+++ b/wpilibc/src/main/native/cpp/GenericHID.cpp
@@ -134,15 +134,17 @@ void GenericHID::SetOutputs(int value) {
 }
 
 void GenericHID::SetRumble(RumbleType type, double value) {
-  if (value < 0) {
-    value = 0;
-  } else if (value > 1) {
-    value = 1;
-  }
+  value = std::clamp(value, 0.0, 1.0);
+  double rumbleValue = value * 65535;
+
   if (type == kLeftRumble) {
-    m_leftRumble = value * 65535;
+    m_leftRumble = rumbleValue;
+  } else if (type == kRightRumble) {
+    m_rightRumble = rumbleValue;
   } else {
-    m_rightRumble = value * 65535;
+    m_leftRumble = rumbleValue;
+    m_rightRumble = rumbleValue;
   }
+
   HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
 }
diff --git a/wpilibc/src/main/native/include/frc/GenericHID.h b/wpilibc/src/main/native/include/frc/GenericHID.h
index ee9daf621b..a2a96cdc6e 100644
--- a/wpilibc/src/main/native/include/frc/GenericHID.h
+++ b/wpilibc/src/main/native/include/frc/GenericHID.h
@@ -23,7 +23,7 @@ class EventLoop;
  */
 class GenericHID {
  public:
-  enum RumbleType { kLeftRumble, kRightRumble };
+  enum RumbleType { kLeftRumble, kRightRumble, kBothRumble };
 
   enum HIDType {
     kUnknown = -1,
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
index 2d62841c4d..686dd88ad6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.DriverStationJNI;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import java.util.HashMap;
@@ -21,7 +22,8 @@ public class GenericHID {
   /** Represents a rumble output on the JoyStick. */
   public enum RumbleType {
     kLeftRumble,
-    kRightRumble
+    kRightRumble,
+    kBothRumble
   }
 
   public enum HIDType {
@@ -397,16 +399,24 @@ public class GenericHID {
    * @param value The normalized value (0 to 1) to set the rumble to
    */
   public void setRumble(RumbleType type, double value) {
-    if (value < 0) {
-      value = 0;
-    } else if (value > 1) {
-      value = 1;
+    value = MathUtil.clamp(value, 0, 1);
+    short rumbleValue = (short) (value * 65535);
+
+    switch (type) {
+      case kLeftRumble:
+        this.m_leftRumble = rumbleValue;
+        break;
+      case kRightRumble:
+        this.m_rightRumble = rumbleValue;
+        break;
+      case kBothRumble:
+      default:
+        this.m_leftRumble = rumbleValue;
+        this.m_rightRumble = rumbleValue;
+        break;
     }
-    if (type == RumbleType.kLeftRumble) {
-      m_leftRumble = (short) (value * 65535);
-    } else {
-      m_rightRumble = (short) (value * 65535);
-    }
-    DriverStationJNI.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+
+    DriverStationJNI.setJoystickOutputs(
+        (byte) this.m_port, this.m_outputs, this.m_leftRumble, this.m_rightRumble);
   }
 }