diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
index ea5696ed62..b7f1d5a28a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
@@ -6,8 +6,14 @@
 
 using namespace frc2;
 
+CommandGenericHID::CommandGenericHID(int port) : m_hid{port} {}
+
+frc::GenericHID& CommandGenericHID::GetHID() {
+  return m_hid;
+}
+
 Trigger CommandGenericHID::Button(int button, frc::EventLoop* loop) const {
-  return GenericHID::Button(button, loop).CastTo<Trigger>();
+  return m_hid.Button(button, loop).CastTo<Trigger>();
 }
 
 Trigger CommandGenericHID::POV(int angle, frc::EventLoop* loop) const {
@@ -16,7 +22,7 @@ Trigger CommandGenericHID::POV(int angle, frc::EventLoop* loop) const {
 
 Trigger CommandGenericHID::POV(int pov, int angle, frc::EventLoop* loop) const {
   return Trigger(loop,
-                 [this, pov, angle] { return this->GetPOV(pov) == angle; });
+                 [this, pov, angle] { return m_hid.GetPOV(pov) == angle; });
 }
 
 Trigger CommandGenericHID::POVUp(frc::EventLoop* loop) const {
@@ -58,13 +64,13 @@ Trigger CommandGenericHID::POVCenter(frc::EventLoop* loop) const {
 Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,
                                         frc::EventLoop* loop) const {
   return Trigger(loop, [this, axis, threshold]() {
-    return this->GetRawAxis(axis) < threshold;
+    return m_hid.GetRawAxis(axis) < threshold;
   });
 }
 
 Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
                                            frc::EventLoop* loop) const {
   return Trigger(loop, [this, axis, threshold]() {
-    return this->GetRawAxis(axis) > threshold;
+    return m_hid.GetRawAxis(axis) > threshold;
   });
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
index 9b8ec76511..03cb6d89d2 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
@@ -6,14 +6,25 @@
 
 using namespace frc2;
 
-Trigger CommandJoystick::Button(int button, frc::EventLoop* loop) const {
-  return GenericHID::Button(button, loop).CastTo<class Trigger>();
+CommandJoystick::CommandJoystick(int port)
+    : CommandGenericHID(port), m_hid{frc::Joystick(port)} {}
+
+frc::Joystick& CommandJoystick::GetHID() {
+  return m_hid;
 }
 
 Trigger CommandJoystick::Trigger(frc::EventLoop* loop) const {
-  return Joystick::Trigger(loop).CastTo<class Trigger>();
+  return m_hid.Trigger(loop).CastTo<class Trigger>();
 }
 
 Trigger CommandJoystick::Top(frc::EventLoop* loop) const {
-  return Joystick::Top(loop).CastTo<class Trigger>();
+  return m_hid.Top(loop).CastTo<class Trigger>();
+}
+
+double CommandJoystick::GetMagnitude() const {
+  return m_hid.GetMagnitude();
+}
+
+units::radian_t CommandJoystick::GetDirection() const {
+  return m_hid.GetDirection();
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
index d04ab66d5e..8388682f8b 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
@@ -6,58 +6,85 @@
 
 using namespace frc2;
 
-Trigger CommandPS4Controller::Button(int button, frc::EventLoop* loop) const {
-  return GenericHID::Button(button, loop).CastTo<Trigger>();
+CommandPS4Controller::CommandPS4Controller(int port)
+    : CommandGenericHID(port), m_hid{frc::PS4Controller(port)} {}
+
+frc::PS4Controller& CommandPS4Controller::GetHID() {
+  return m_hid;
 }
 
 Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
-  return PS4Controller::Square(loop).CastTo<Trigger>();
+  return m_hid.Square(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::Cross(frc::EventLoop* loop) const {
-  return PS4Controller::Cross(loop).CastTo<Trigger>();
+  return m_hid.Cross(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::Circle(frc::EventLoop* loop) const {
-  return PS4Controller::Circle(loop).CastTo<Trigger>();
+  return m_hid.Circle(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::Triangle(frc::EventLoop* loop) const {
-  return PS4Controller::Triangle(loop).CastTo<Trigger>();
+  return m_hid.Triangle(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::L1(frc::EventLoop* loop) const {
-  return PS4Controller::L1(loop).CastTo<Trigger>();
+  return m_hid.L1(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::R1(frc::EventLoop* loop) const {
-  return PS4Controller::R1(loop).CastTo<Trigger>();
+  return m_hid.R1(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::L2(frc::EventLoop* loop) const {
-  return PS4Controller::L2(loop).CastTo<Trigger>();
+  return m_hid.L2(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::R2(frc::EventLoop* loop) const {
-  return PS4Controller::R2(loop).CastTo<Trigger>();
+  return m_hid.R2(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::Options(frc::EventLoop* loop) const {
-  return PS4Controller::Options(loop).CastTo<Trigger>();
+  return m_hid.Options(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::L3(frc::EventLoop* loop) const {
-  return PS4Controller::L3(loop).CastTo<Trigger>();
+  return m_hid.L3(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::R3(frc::EventLoop* loop) const {
-  return PS4Controller::R3(loop).CastTo<Trigger>();
+  return m_hid.R3(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::PS(frc::EventLoop* loop) const {
-  return PS4Controller::PS(loop).CastTo<Trigger>();
+  return m_hid.PS(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
-  return PS4Controller::Touchpad(loop).CastTo<Trigger>();
+  return m_hid.Touchpad(loop).CastTo<Trigger>();
+}
+
+double CommandPS4Controller::GetR2Axis() {
+  return m_hid.GetR2Axis();
+}
+
+double CommandPS4Controller::GetL2Axis() {
+  return m_hid.GetL2Axis();
+}
+
+double CommandPS4Controller::GetRightY() {
+  return m_hid.GetRightY();
+}
+
+double CommandPS4Controller::GetLeftY() {
+  return m_hid.GetLeftY();
+}
+
+double CommandPS4Controller::GetRightX() {
+  return m_hid.GetRightX();
+}
+
+double CommandPS4Controller::GetLeftX() {
+  return m_hid.GetLeftX();
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
index 399a771ddc..d98cc23780 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
@@ -6,58 +6,85 @@
 
 using namespace frc2;
 
-Trigger CommandPS5Controller::Button(int button, frc::EventLoop* loop) const {
-  return GenericHID::Button(button, loop).CastTo<Trigger>();
+CommandPS5Controller::CommandPS5Controller(int port)
+    : CommandGenericHID(port), m_hid{frc::PS5Controller(port)} {}
+
+frc::PS5Controller& CommandPS5Controller::GetHID() {
+  return m_hid;
 }
 
 Trigger CommandPS5Controller::Square(frc::EventLoop* loop) const {
-  return PS5Controller::Square(loop).CastTo<Trigger>();
+  return m_hid.Square(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::Cross(frc::EventLoop* loop) const {
-  return PS5Controller::Cross(loop).CastTo<Trigger>();
+  return m_hid.Cross(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::Circle(frc::EventLoop* loop) const {
-  return PS5Controller::Circle(loop).CastTo<Trigger>();
+  return m_hid.Circle(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::Triangle(frc::EventLoop* loop) const {
-  return PS5Controller::Triangle(loop).CastTo<Trigger>();
+  return m_hid.Triangle(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::L1(frc::EventLoop* loop) const {
-  return PS5Controller::L1(loop).CastTo<Trigger>();
+  return m_hid.L1(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::R1(frc::EventLoop* loop) const {
-  return PS5Controller::R1(loop).CastTo<Trigger>();
+  return m_hid.R1(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::L2(frc::EventLoop* loop) const {
-  return PS5Controller::L2(loop).CastTo<Trigger>();
+  return m_hid.L2(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::R2(frc::EventLoop* loop) const {
-  return PS5Controller::R2(loop).CastTo<Trigger>();
+  return m_hid.R2(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::Options(frc::EventLoop* loop) const {
-  return PS5Controller::Options(loop).CastTo<Trigger>();
+  return m_hid.Options(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::L3(frc::EventLoop* loop) const {
-  return PS5Controller::L3(loop).CastTo<Trigger>();
+  return m_hid.L3(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::R3(frc::EventLoop* loop) const {
-  return PS5Controller::R3(loop).CastTo<Trigger>();
+  return m_hid.R3(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::PS(frc::EventLoop* loop) const {
-  return PS5Controller::PS(loop).CastTo<Trigger>();
+  return m_hid.PS(loop).CastTo<Trigger>();
 }
 
 Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
-  return PS5Controller::Touchpad(loop).CastTo<Trigger>();
+  return m_hid.Touchpad(loop).CastTo<Trigger>();
+}
+
+double CommandPS5Controller::GetR2Axis() {
+  return m_hid.GetR2Axis();
+}
+
+double CommandPS5Controller::GetL2Axis() {
+  return m_hid.GetL2Axis();
+}
+
+double CommandPS5Controller::GetRightY() {
+  return m_hid.GetRightY();
+}
+
+double CommandPS5Controller::GetLeftY() {
+  return m_hid.GetLeftY();
+}
+
+double CommandPS5Controller::GetRightX() {
+  return m_hid.GetRightX();
+}
+
+double CommandPS5Controller::GetLeftX() {
+  return m_hid.GetLeftX();
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandStadiaController.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
index 86c34bad21..6568b8253f 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
@@ -6,67 +6,85 @@
 
 using namespace frc2;
 
-Trigger CommandStadiaController::Button(int button,
-                                        frc::EventLoop* loop) const {
-  return GenericHID::Button(button, loop).CastTo<Trigger>();
+CommandStadiaController::CommandStadiaController(int port)
+    : CommandGenericHID(port), m_hid{frc::StadiaController(port)} {}
+
+frc::StadiaController& CommandStadiaController::GetHID() {
+  return m_hid;
 }
 
 Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
-  return StadiaController::LeftBumper(loop).CastTo<Trigger>();
+  return m_hid.LeftBumper(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
-  return StadiaController::RightBumper(loop).CastTo<Trigger>();
+  return m_hid.RightBumper(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
-  return StadiaController::LeftStick(loop).CastTo<Trigger>();
+  return m_hid.LeftStick(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
-  return StadiaController::RightStick(loop).CastTo<Trigger>();
+  return m_hid.RightStick(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
-  return StadiaController::A(loop).CastTo<Trigger>();
+  return m_hid.A(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::B(frc::EventLoop* loop) const {
-  return StadiaController::B(loop).CastTo<Trigger>();
+  return m_hid.B(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::X(frc::EventLoop* loop) const {
-  return StadiaController::X(loop).CastTo<Trigger>();
+  return m_hid.X(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::Y(frc::EventLoop* loop) const {
-  return StadiaController::Y(loop).CastTo<Trigger>();
+  return m_hid.Y(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::Ellipses(frc::EventLoop* loop) const {
-  return StadiaController::Ellipses(loop).CastTo<Trigger>();
+  return m_hid.Ellipses(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::Hamburger(frc::EventLoop* loop) const {
-  return StadiaController::Hamburger(loop).CastTo<Trigger>();
+  return m_hid.Hamburger(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
-  return StadiaController::Stadia(loop).CastTo<Trigger>();
+  return m_hid.Stadia(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
-  return StadiaController::Google(loop).CastTo<Trigger>();
+  return m_hid.Google(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
-  return StadiaController::Frame(loop).CastTo<Trigger>();
+  return m_hid.Frame(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::LeftTrigger(frc::EventLoop* loop) const {
-  return StadiaController::LeftTrigger(loop).CastTo<Trigger>();
+  return m_hid.LeftTrigger(loop).CastTo<Trigger>();
 }
 
 Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
-  return StadiaController::RightTrigger(loop).CastTo<Trigger>();
+  return m_hid.RightTrigger(loop).CastTo<Trigger>();
+}
+
+double CommandStadiaController::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandStadiaController::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+double CommandStadiaController::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandStadiaController::GetRightY() const {
+  return m_hid.GetRightY();
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp
index 8c4eba0fd2..2e366d27e2 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp
@@ -6,56 +6,83 @@
 
 using namespace frc2;
 
-Trigger CommandXboxController::Button(int button, frc::EventLoop* loop) const {
-  return GenericHID::Button(button, loop).CastTo<Trigger>();
+CommandXboxController::CommandXboxController(int port)
+    : CommandGenericHID(port), m_hid{frc::XboxController(port)} {}
+
+frc::XboxController& CommandXboxController::GetHID() {
+  return m_hid;
 }
 
 Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
-  return XboxController::LeftBumper(loop).CastTo<Trigger>();
+  return m_hid.LeftBumper(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
-  return XboxController::RightBumper(loop).CastTo<Trigger>();
+  return m_hid.RightBumper(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
-  return XboxController::LeftStick(loop).CastTo<Trigger>();
+  return m_hid.LeftStick(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
-  return XboxController::RightStick(loop).CastTo<Trigger>();
+  return m_hid.RightStick(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::A(frc::EventLoop* loop) const {
-  return XboxController::A(loop).CastTo<Trigger>();
+  return m_hid.A(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::B(frc::EventLoop* loop) const {
-  return XboxController::B(loop).CastTo<Trigger>();
+  return m_hid.B(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::X(frc::EventLoop* loop) const {
-  return XboxController::X(loop).CastTo<Trigger>();
+  return m_hid.X(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::Y(frc::EventLoop* loop) const {
-  return XboxController::Y(loop).CastTo<Trigger>();
+  return m_hid.Y(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
-  return XboxController::Back(loop).CastTo<Trigger>();
+  return m_hid.Back(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
-  return XboxController::Start(loop).CastTo<Trigger>();
+  return m_hid.Start(loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::LeftTrigger(double threshold,
                                            frc::EventLoop* loop) const {
-  return XboxController::LeftTrigger(threshold, loop).CastTo<Trigger>();
+  return m_hid.LeftTrigger(threshold, loop).CastTo<Trigger>();
 }
 
 Trigger CommandXboxController::RightTrigger(double threshold,
                                             frc::EventLoop* loop) const {
-  return XboxController::RightTrigger(threshold, loop).CastTo<Trigger>();
+  return m_hid.RightTrigger(threshold, loop).CastTo<Trigger>();
+}
+
+double CommandXboxController::GetRightTriggerAxis() {
+  return m_hid.GetRightTriggerAxis();
+}
+
+double CommandXboxController::GetLeftTriggerAxis() {
+  return m_hid.GetLeftTriggerAxis();
+}
+
+double CommandXboxController::GetRightY() {
+  return m_hid.GetRightY();
+}
+
+double CommandXboxController::GetLeftY() {
+  return m_hid.GetLeftY();
+}
+
+double CommandXboxController::GetRightX() {
+  return m_hid.GetRightX();
+}
+
+double CommandXboxController::GetLeftX() {
+  return m_hid.GetLeftX();
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
index 5c986dde2b..56fb377f1d 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
@@ -9,15 +9,29 @@
 #include "frc2/command/CommandScheduler.h"
 
 namespace frc2 {
+
 /**
- * A subclass of {@link GenericHID} with {@link Trigger} factories for
+ * A version of {@link frc::GenericHID} with {@link Trigger} factories for
  * command-based.
  *
  * @see GenericHID
  */
-class CommandGenericHID : public frc::GenericHID {
+class CommandGenericHID {
  public:
-  using GenericHID::GenericHID;
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged
+   * into.
+   */
+  explicit CommandGenericHID(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::GenericHID& GetHID();
 
   /**
    * Constructs an event instance around this button's digital signal.
@@ -215,5 +229,8 @@ class CommandGenericHID : public frc::GenericHID {
       int axis, double threshold,
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+ private:
+  frc::GenericHID m_hid;
 };
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandJoystick.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandJoystick.h
index 5b51e86604..d1eeadfc2c 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandJoystick.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandJoystick.h
@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link Joystick} with {@link Trigger} factories for
+ * A version of {@link frc::Joystick} with {@link Trigger} factories for
  * command-based.
  *
- * @see Joystick
+ * @see frc::Joystick
  */
-class CommandJoystick : public frc::Joystick {
+class CommandJoystick : public CommandGenericHID {
  public:
-  using Joystick::Joystick;
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandJoystick(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @param button the button index
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the button's digital signal attached
-   * to the given loop.
+   * @return the wrapped GenericHID object
    */
-  class Trigger Button(
-      int button, frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                             .GetDefaultButtonLoop()) const;
+  frc::Joystick& GetHID();
 
   /**
    * Constructs an event instance around the trigger button's digital signal.
@@ -54,5 +55,22 @@ class CommandJoystick : public frc::Joystick {
    */
   class Trigger Top(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
+  /**
+   * Get the magnitude of the direction vector formed by the joystick's
+   * current position relative to its origin.
+   *
+   * @return The magnitude of the direction vector
+   */
+  double GetMagnitude() const;
+
+  /**
+   * Get the direction of the vector formed by the joystick and its origin.
+   *
+   * @return The direction of the vector.
+   */
+  units::radian_t GetDirection() const;
+
+ private:
+  frc::Joystick m_hid;
 };
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h
index 22c54ad22e..476828d26f 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h
@@ -7,17 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link PS4Controller} with {@link Trigger} factories for
+ * A version of {@link frc::PS4Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see PS4Controller
+ * @see frc::PS4Controller
  */
-class CommandPS4Controller : public frc::PS4Controller {
+class CommandPS4Controller : public frc2::CommandGenericHID {
  public:
-  using PS4Controller::PS4Controller;
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged
+   * into.
+   */
+  explicit CommandPS4Controller(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::PS4Controller& GetHID();
 
   /**
    * Constructs an event instance around this button's digital signal.
@@ -174,5 +188,52 @@ class CommandPS4Controller : public frc::PS4Controller {
    */
   Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
+
+  /**
+   * 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.
+   */
+  double GetR2Axis();
+
+  /**
+   * 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.
+   */
+  double GetL2Axis();
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY();
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY();
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX();
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX();
+
+ private:
+  frc::PS4Controller m_hid;
 };
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS5Controller.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS5Controller.h
index d86d38388b..badf55cd50 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS5Controller.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS5Controller.h
@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link PS5Controller} with {@link Trigger} factories for
+ * A version of {@link frc::PS5Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see PS5Controller
+ * @see frc::PS5Controller
  */
-class CommandPS5Controller : public frc::PS5Controller {
+class CommandPS5Controller : public CommandGenericHID {
  public:
-  using PS5Controller::PS5Controller;
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged
+   * into.
+   */
+  explicit CommandPS5Controller(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @param button the button index
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the button's digital signal attached
-   * to the given loop.
+   * @return the wrapped GenericHID object
    */
-  Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
+  frc::PS5Controller& GetHID();
 
   /**
    * Constructs an event instance around the square button's digital signal.
@@ -174,5 +175,52 @@ class CommandPS5Controller : public frc::PS5Controller {
    */
   Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
+
+  /**
+   * 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.
+   */
+  double GetR2Axis();
+
+  /**
+   * 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.
+   */
+  double GetL2Axis();
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY();
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY();
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX();
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX();
+
+ private:
+  frc::PS5Controller m_hid;
 };
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandStadiaController.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandStadiaController.h
index 7a1b54934c..17e57a2dc2 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandStadiaController.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandStadiaController.h
@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link StadiaController} with {@link Trigger} factories for
+ * A version of {@link frc::StadiaController} with {@link Trigger} factories for
  * command-based.
  *
- * @see StadiaController
+ * @see frc::StadiaController
  */
-class CommandStadiaController : public frc::StadiaController {
+class CommandStadiaController : public CommandGenericHID {
  public:
-  using StadiaController::StadiaController;
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandStadiaController(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @param button the button index
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the button's digital signal attached
-   * to the given loop.
+   * @return the wrapped GenericHID object
    */
-  Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
+  frc::StadiaController& GetHID();
 
   /**
    * Constructs an event instance around the left bumper's digital signal.
@@ -197,5 +198,36 @@ class CommandStadiaController : public frc::StadiaController {
   Trigger RightTrigger(
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetRightY() const;
+
+ private:
+  frc::StadiaController m_hid;
 };
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h
index 94a3c2c505..f22681440b 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h
@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link XboxController} with {@link Trigger} factories for
+ * A version of {@link frc::XboxController} with {@link Trigger} factories for
  * command-based.
  *
- * @see XboxController
+ * @see frc::XboxController
  */
-class CommandXboxController : public frc::XboxController {
+class CommandXboxController : CommandGenericHID {
  public:
-  using XboxController::XboxController;
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandXboxController(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @param button the button index
-   * @param loop the event loop instance to attach the event to. Defaults to the
-   * CommandScheduler's default loop.
-   * @return an event instance representing the button's digital signal attached
-   * to the given loop.
+   * @return the wrapped GenericHID object
    */
-  Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
+  frc::XboxController& GetHID();
 
   /**
    * Constructs an event instance around the left bumper's digital signal.
@@ -176,5 +177,52 @@ class CommandXboxController : public frc::XboxController {
       double threshold = 0.5,
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the right trigger (RT) 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.
+   */
+  double GetRightTriggerAxis();
+
+  /**
+   * Get the left trigger (LT) 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.
+   */
+  double GetLeftTriggerAxis();
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightY();
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftY();
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightX();
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftX();
+
+ private:
+  frc::XboxController m_hid;
 };
 }  // namespace frc2