[wpilib] Add BooleanEvent/Trigger factories on HID classes (#4247)

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link GenericHID} with {@link Trigger} factories for command-based.
+ *
+ * @see GenericHID
+ */
+public class CommandGenericHID extends GenericHID {
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
+  public CommandGenericHID(int port) {
+    super(port);
+  }
+
+  @Override
+  public Trigger button(int button, EventLoop loop) {
+    return super.button(button, loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(int, EventLoop)
+   */
+  public Trigger button(int button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java

@@ -0,0 +1,74 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link Joystick} with {@link Trigger} factories for command-based.
+ *
+ * @see Joystick
+ */
+public class CommandJoystick extends Joystick {
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandJoystick(int port) {
+    super(port);
+  }
+
+  @Override
+  public Trigger button(int button, EventLoop loop) {
+    return super.button(button, loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(int, EventLoop)
+   */
+  public Trigger button(int button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the trigger button's digital signal.
+   *
+   * @return an event instance representing the trigger button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #trigger(EventLoop)
+   */
+  public Trigger trigger() {
+    return trigger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger trigger(EventLoop loop) {
+    return super.trigger(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the top button's digital signal.
+   *
+   * @return an event instance representing the top button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #top(EventLoop)
+   */
+  public Trigger top() {
+    return top(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger top(EventLoop loop) {
+    return super.top(loop).castTo(Trigger::new);
+  }
+}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java

@@ -0,0 +1,221 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.PS4Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link PS4Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see PS4Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandPS4Controller extends PS4Controller {
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
+  public CommandPS4Controller(int port) {
+    super(port);
+  }
+
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @return an event instance representing the L2 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L2() {
+    return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger L2(EventLoop loop) {
+    return super.L2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @return an event instance representing the R2 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R2() {
+    return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger R2(EventLoop loop) {
+    return super.R2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @return an event instance representing the L1 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L1() {
+    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger L1(EventLoop loop) {
+    return super.L1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @return an event instance representing the R1 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R1() {
+    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger R1(EventLoop loop) {
+    return super.R1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @return an event instance representing the L3 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L3() {
+    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger L3(EventLoop loop) {
+    return super.L3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @return an event instance representing the R3 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R3() {
+    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger R3(EventLoop loop) {
+    return super.R3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @return an event instance representing the square button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger square() {
+    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger square(EventLoop loop) {
+    return super.square(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @return an event instance representing the cross button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger cross() {
+    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger cross(EventLoop loop) {
+    return super.cross(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @return an event instance representing the circle button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger circle() {
+    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger circle(EventLoop loop) {
+    return super.circle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the share button's digital signal.
+   *
+   * @return an event instance representing the share button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger share() {
+    return share(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger share(EventLoop loop) {
+    return super.share(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @return an event instance representing the PS button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger PS() {
+    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger PS(EventLoop loop) {
+    return super.PS(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @return an event instance representing the options button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger options() {
+    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger options(EventLoop loop) {
+    return super.options(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @return an event instance representing the touchpad's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger touchpad() {
+    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger touchpad(EventLoop loop) {
+    return super.touchpad(loop).castTo(Trigger::new);
+  }
+}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java

@@ -0,0 +1,186 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link XboxController} with {@link Trigger} factories for command-based.
+ *
+ * @see XboxController
+ */
+@SuppressWarnings("MethodName")
+public class CommandXboxController extends XboxController {
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandXboxController(int port) {
+    super(port);
+  }
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @return an event instance representing the left bumper's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftBumper(EventLoop)
+   */
+  public Trigger leftBumper() {
+    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger leftBumper(EventLoop loop) {
+    return super.leftBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @return an event instance representing the right bumper's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger rightBumper(EventLoop loop) {
+    return super.rightBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the left stick button's digital signal.
+   *
+   * @return an event instance representing the left stick button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger leftStick(EventLoop loop) {
+    return super.leftStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @return an event instance representing the right stick button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger rightStick(EventLoop loop) {
+    return super.rightStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @return an event instance representing the X button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger x(EventLoop loop) {
+    return super.x(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @return an event instance representing the Y button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger y(EventLoop loop) {
+    return super.y(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @return an event instance representing the A button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger a(EventLoop loop) {
+    return super.a(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @return an event instance representing the B button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger b(EventLoop loop) {
+    return super.b(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the start button's digital signal.
+   *
+   * @return an event instance representing the start button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #start(EventLoop)
+   */
+  public Trigger start() {
+    return start(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger start(EventLoop loop) {
+    return super.start(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the back button's digital signal.
+   *
+   * @return an event instance representing the back button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #back(EventLoop)
+   */
+  public Trigger back() {
+    return back(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger back(EventLoop loop) {
+    return super.back(loop).castTo(Trigger::new);
+  }
+}

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp

@@ -0,0 +1,11 @@
+// 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.
+
+#include "frc2/command/button/CommandGenericHID.h"
+
+using namespace frc2;
+
+Trigger CommandGenericHID::Button(int button, frc::EventLoop* loop) const {
+  return GenericHID::Button(button, loop).CastTo<Trigger>();
+}

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp

@@ -0,0 +1,19 @@
+// 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.
+
+#include "frc2/command/button/CommandJoystick.h"
+
+using namespace frc2;
+
+Trigger CommandJoystick::Button(int button, frc::EventLoop* loop) const {
+  return GenericHID::Button(button, loop).CastTo<class Trigger>();
+}
+
+Trigger CommandJoystick::Trigger(frc::EventLoop* loop) const {
+  return Joystick::Trigger(loop).CastTo<class Trigger>();
+}
+
+Trigger CommandJoystick::Top(frc::EventLoop* loop) const {
+  return Joystick::Top(loop).CastTo<class Trigger>();
+}

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp

@@ -0,0 +1,59 @@
+// 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.
+
+#include "frc2/command/button/CommandPS4Controller.h"
+
+using namespace frc2;
+
+Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
+  return PS4Controller::Square(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Cross(frc::EventLoop* loop) const {
+  return PS4Controller::Cross(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Circle(frc::EventLoop* loop) const {
+  return PS4Controller::Circle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Triangle(frc::EventLoop* loop) const {
+  return PS4Controller::Triangle(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::L1(frc::EventLoop* loop) const {
+  return PS4Controller::L1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::R1(frc::EventLoop* loop) const {
+  return PS4Controller::R1(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::L2(frc::EventLoop* loop) const {
+  return PS4Controller::L2(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::R2(frc::EventLoop* loop) const {
+  return PS4Controller::R2(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Options(frc::EventLoop* loop) const {
+  return PS4Controller::Options(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::L3(frc::EventLoop* loop) const {
+  return PS4Controller::L3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::R3(frc::EventLoop* loop) const {
+  return PS4Controller::R3(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::PS(frc::EventLoop* loop) const {
+  return PS4Controller::PS(loop).CastTo<Trigger>();
+}
+
+Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
+  return PS4Controller::Touchpad(loop).CastTo<Trigger>();
+}

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp

@@ -0,0 +1,47 @@
+// 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.
+
+#include "frc2/command/button/CommandXboxController.h"
+
+using namespace frc2;
+
+Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
+  return XboxController::LeftBumper(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
+  return XboxController::RightBumper(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
+  return XboxController::LeftStick(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
+  return XboxController::RightStick(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::A(frc::EventLoop* loop) const {
+  return XboxController::A(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::B(frc::EventLoop* loop) const {
+  return XboxController::B(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::X(frc::EventLoop* loop) const {
+  return XboxController::X(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::Y(frc::EventLoop* loop) const {
+  return XboxController::Y(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
+  return XboxController::Back(loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
+  return XboxController::Start(loop).CastTo<Trigger>();
+}

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h

@@ -0,0 +1,35 @@
+// 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.
+
+#pragma once
+#include <frc/GenericHID.h>
+
+#include "Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+
+namespace frc2 {
+/**
+ * A subclass of {@link GenericHID} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see GenericHID
+ */
+class CommandGenericHID : public frc::GenericHID {
+ public:
+  using GenericHID::GenericHID;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @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.
+   */
+  Trigger Button(int button,
+                 frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+};
+}  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandJoystick.h

@@ -0,0 +1,58 @@
+// 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.
+
+#pragma once
+#include <frc/Joystick.h>
+
+#include "Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+
+namespace frc2 {
+/**
+ * A subclass of {@link Joystick} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see Joystick
+ */
+class CommandJoystick : public frc::Joystick {
+ public:
+  using Joystick::Joystick;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @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.
+   */
+  class Trigger Button(
+      int button, frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                             .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the trigger button's digital signal
+   * attached to the given loop.
+   */
+  class Trigger Trigger(
+      frc::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the top button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the top button's digital signal
+   * attached to the given loop.
+   */
+  class Trigger Top(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                               .GetDefaultButtonLoop()) const;
+};
+}  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h

@@ -0,0 +1,165 @@
+// 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.
+
+#pragma once
+#include <frc/PS4Controller.h>
+
+#include "Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+
+namespace frc2 {
+/**
+ * A subclass of {@link PS4Controller} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see PS4Controller
+ */
+class CommandPS4Controller : public frc::PS4Controller {
+ public:
+  using PS4Controller::PS4Controller;
+
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the square button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the cross button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                           .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the circle button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the triangle button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                              .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the L1 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger L1(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the R1 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger R1(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the L2 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger L2(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the R2 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger R2(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the options button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                             .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the L3 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger L3(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the R3 button's digital signal
+   * attached to the given loop.
+   */
+  Trigger R3(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the PS button's digital signal
+   * attached to the given loop.
+   */
+  Trigger PS(frc::EventLoop* loop =
+                 CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the touchpad's digital signal
+   * attached to the given loop.
+   */
+  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                              .GetDefaultButtonLoop()) const;
+};
+}  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h

@@ -0,0 +1,132 @@
+// 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.
+
+#pragma once
+#include <frc/XboxController.h>
+
+#include "Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+
+namespace frc2 {
+/**
+ * A subclass of {@link XboxController} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see XboxController
+ */
+class CommandXboxController : public frc::XboxController {
+ public:
+  using XboxController::XboxController;
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the left bumper's digital signal
+   * attached to the given loop.
+   */
+  Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the right bumper's digital signal
+   * attached to the given loop.
+   */
+  Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the left stick's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the left stick's digital signal
+   * attached to the given loop.
+   */
+  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                               .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the right stick's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the right stick's digital signal
+   * attached to the given loop.
+   */
+  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the A button's digital signal
+   * attached to the given loop.
+   */
+  Trigger A(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the B button's digital signal
+   * attached to the given loop.
+   */
+  Trigger B(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the X button's digital signal
+   * attached to the given loop.
+   */
+  Trigger X(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the Y button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Y(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the back button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the back button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Back(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                          .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the start button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Start(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                           .GetDefaultButtonLoop()) const;
+};
+}  // namespace frc2

wpilibc/src/main/native/cpp/GenericHID.cpp

@@ -8,6 +8,7 @@
 
 #include "frc/DriverStation.h"
 #include "frc/Errors.h"
+#include "frc/event/BooleanEvent.h"
 
 using namespace frc;
 
@@ -30,6 +31,11 @@ bool GenericHID::GetRawButtonReleased(int button) {
   return DriverStation::GetStickButtonReleased(m_port, button);
 }
 
+BooleanEvent GenericHID::Button(int button, EventLoop* loop) const {
+  return BooleanEvent(loop,
+                      [this, button]() { return this->GetRawButton(button); });
+}
+
 double GenericHID::GetRawAxis(int axis) const {
   return DriverStation::GetStickAxis(m_port, axis);
 }

wpilibc/src/main/native/cpp/Joystick.cpp

@@ -9,6 +9,8 @@
 #include <hal/FRCUsageReporting.h>
 #include <wpi/numbers>
 
+#include "frc/event/BooleanEvent.h"
+
 using namespace frc;
 
 Joystick::Joystick(int port) : GenericHID(port) {
@@ -93,6 +95,10 @@ bool Joystick::GetTriggerReleased() {
   return GetRawButtonReleased(Button::kTrigger);
 }
 
+BooleanEvent Joystick::Trigger(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTrigger(); });
+}
+
 bool Joystick::GetTop() const {
   return GetRawButton(Button::kTop);
 }
@@ -105,6 +111,10 @@ bool Joystick::GetTopReleased() {
   return GetRawButtonReleased(Button::kTop);
 }
 
+BooleanEvent Joystick::Top(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTop(); });
+}
+
 double Joystick::GetMagnitude() const {
   return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
 }

wpilibc/src/main/native/cpp/PS4Controller.cpp

@@ -6,6 +6,8 @@
 
 #include <hal/FRCUsageReporting.h>
 
+#include "frc/event/BooleanEvent.h"
+
 using namespace frc;
 
 PS4Controller::PS4Controller(int port) : GenericHID(port) {
@@ -48,6 +50,10 @@ bool PS4Controller::GetSquareButtonReleased() {
   return GetRawButtonReleased(Button::kSquare);
 }
 
+BooleanEvent PS4Controller::Square(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetSquareButton(); });
+}
+
 bool PS4Controller::GetCrossButton() const {
   return GetRawButton(Button::kCross);
 }
@@ -60,6 +66,10 @@ bool PS4Controller::GetCrossButtonReleased() {
   return GetRawButtonReleased(Button::kCross);
 }
 
+BooleanEvent PS4Controller::Cross(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetCrossButton(); });
+}
+
 bool PS4Controller::GetCircleButton() const {
   return GetRawButton(Button::kCircle);
 }
@@ -72,6 +82,10 @@ bool PS4Controller::GetCircleButtonReleased() {
   return GetRawButtonReleased(Button::kCircle);
 }
 
+BooleanEvent PS4Controller::Circle(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetCircleButton(); });
+}
+
 bool PS4Controller::GetTriangleButton() const {
   return GetRawButton(Button::kTriangle);
 }
@@ -84,6 +98,10 @@ bool PS4Controller::GetTriangleButtonReleased() {
   return GetRawButtonReleased(Button::kTriangle);
 }
 
+BooleanEvent PS4Controller::Triangle(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTriangleButton(); });
+}
+
 bool PS4Controller::GetL1Button() const {
   return GetRawButton(Button::kL1);
 }
@@ -96,6 +114,10 @@ bool PS4Controller::GetL1ButtonReleased() {
   return GetRawButtonReleased(Button::kL1);
 }
 
+BooleanEvent PS4Controller::L1(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetL1Button(); });
+}
+
 bool PS4Controller::GetR1Button() const {
   return GetRawButton(Button::kR1);
 }
@@ -108,6 +130,10 @@ bool PS4Controller::GetR1ButtonReleased() {
   return GetRawButtonReleased(Button::kR1);
 }
 
+BooleanEvent PS4Controller::R1(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetR1Button(); });
+}
+
 bool PS4Controller::GetL2Button() const {
   return GetRawButton(Button::kL2);
 }
@@ -120,6 +146,10 @@ bool PS4Controller::GetL2ButtonReleased() {
   return GetRawButtonReleased(Button::kL2);
 }
 
+BooleanEvent PS4Controller::L2(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetL2Button(); });
+}
+
 bool PS4Controller::GetR2Button() const {
   return GetRawButton(Button::kR2);
 }
@@ -132,6 +162,10 @@ bool PS4Controller::GetR2ButtonReleased() {
   return GetRawButtonReleased(Button::kR2);
 }
 
+BooleanEvent PS4Controller::R2(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetR2Button(); });
+}
+
 bool PS4Controller::GetShareButton() const {
   return GetRawButton(Button::kShare);
 }
@@ -144,6 +178,10 @@ bool PS4Controller::GetShareButtonReleased() {
   return GetRawButtonReleased(Button::kShare);
 }
 
+BooleanEvent PS4Controller::Share(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetShareButton(); });
+}
+
 bool PS4Controller::GetOptionsButton() const {
   return GetRawButton(Button::kOptions);
 }
@@ -156,6 +194,10 @@ bool PS4Controller::GetOptionsButtonReleased() {
   return GetRawButtonReleased(Button::kOptions);
 }
 
+BooleanEvent PS4Controller::Options(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetOptionsButton(); });
+}
+
 bool PS4Controller::GetL3Button() const {
   return GetRawButton(Button::kL3);
 }
@@ -168,6 +210,10 @@ bool PS4Controller::GetL3ButtonReleased() {
   return GetRawButtonReleased(Button::kL3);
 }
 
+BooleanEvent PS4Controller::L3(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetL3Button(); });
+}
+
 bool PS4Controller::GetR3Button() const {
   return GetRawButton(Button::kR3);
 }
@@ -180,6 +226,10 @@ bool PS4Controller::GetR3ButtonReleased() {
   return GetRawButtonReleased(Button::kR3);
 }
 
+BooleanEvent PS4Controller::R3(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetR3Button(); });
+}
+
 bool PS4Controller::GetPSButton() const {
   return GetRawButton(Button::kPS);
 }
@@ -192,6 +242,10 @@ bool PS4Controller::GetPSButtonReleased() {
   return GetRawButtonReleased(Button::kPS);
 }
 
+BooleanEvent PS4Controller::PS(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetPSButton(); });
+}
+
 bool PS4Controller::GetTouchpad() const {
   return GetRawButton(Button::kTouchpad);
 }
@@ -203,3 +257,7 @@ bool PS4Controller::GetTouchpadPressed() {
 bool PS4Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
+
+BooleanEvent PS4Controller::Touchpad(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTouchpad(); });
+}

wpilibc/src/main/native/cpp/XboxController.cpp

@@ -6,6 +6,8 @@
 
 #include <hal/FRCUsageReporting.h>
 
+#include "frc/event/BooleanEvent.h"
+
 using namespace frc;
 
 XboxController::XboxController(int port) : GenericHID(port) {
@@ -60,6 +62,14 @@ bool XboxController::GetRightBumperReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
 
+BooleanEvent XboxController::LeftBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftBumper(); });
+}
+
+BooleanEvent XboxController::RightBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightBumper(); });
+}
+
 bool XboxController::GetLeftStickButton() const {
   return GetRawButton(Button::kLeftStick);
 }
@@ -84,6 +94,14 @@ bool XboxController::GetRightStickButtonReleased() {
   return GetRawButtonReleased(Button::kRightStick);
 }
 
+BooleanEvent XboxController::LeftStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
+}
+
+BooleanEvent XboxController::RightStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
+}
+
 bool XboxController::GetAButton() const {
   return GetRawButton(Button::kA);
 }
@@ -96,6 +114,10 @@ bool XboxController::GetAButtonReleased() {
   return GetRawButtonReleased(Button::kA);
 }
 
+BooleanEvent XboxController::A(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetAButton(); });
+}
+
 bool XboxController::GetBButton() const {
   return GetRawButton(Button::kB);
 }
@@ -108,6 +130,10 @@ bool XboxController::GetBButtonReleased() {
   return GetRawButtonReleased(Button::kB);
 }
 
+BooleanEvent XboxController::B(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetBButton(); });
+}
+
 bool XboxController::GetXButton() const {
   return GetRawButton(Button::kX);
 }
@@ -120,6 +146,10 @@ bool XboxController::GetXButtonReleased() {
   return GetRawButtonReleased(Button::kX);
 }
 
+BooleanEvent XboxController::X(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetXButton(); });
+}
+
 bool XboxController::GetYButton() const {
   return GetRawButton(Button::kY);
 }
@@ -132,6 +162,10 @@ bool XboxController::GetYButtonReleased() {
   return GetRawButtonReleased(Button::kY);
 }
 
+BooleanEvent XboxController::Y(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetYButton(); });
+}
+
 bool XboxController::GetBackButton() const {
   return GetRawButton(Button::kBack);
 }
@@ -144,6 +178,10 @@ bool XboxController::GetBackButtonReleased() {
   return GetRawButtonReleased(Button::kBack);
 }
 
+BooleanEvent XboxController::Back(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetBackButton(); });
+}
+
 bool XboxController::GetStartButton() const {
   return GetRawButton(Button::kStart);
 }
@@ -155,3 +193,7 @@ bool XboxController::GetStartButtonPressed() {
 bool XboxController::GetStartButtonReleased() {
   return GetRawButtonReleased(Button::kStart);
 }
+
+BooleanEvent XboxController::Start(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetStartButton(); });
+}

wpilibc/src/main/native/include/frc/GenericHID.h

@@ -10,7 +10,8 @@
 
 namespace frc {
 
-class DriverStation;
+class BooleanEvent;
+class EventLoop;
 
 /**
  * Handle input from standard HID devices connected to the Driver Station.
@@ -91,6 +92,16 @@ class GenericHID {
    */
   bool GetRawButtonReleased(int button);
 
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  BooleanEvent Button(int button, EventLoop* loop) const;
+
   /**
    * Get the value of the axis.
    *

wpilibc/src/main/native/include/frc/Joystick.h

@@ -172,6 +172,15 @@ class Joystick : public GenericHID {
    */
   bool GetTriggerReleased();
 
+  /**
+   * Constructs an event instance around the trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the trigger button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Trigger(EventLoop* loop) const;
+
   /**
    * Read the state of the top button on the joystick.
    *
@@ -195,6 +204,15 @@ class Joystick : public GenericHID {
    */
   bool GetTopReleased();
 
+  /**
+   * Constructs an event instance around the top button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the top button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Top(EventLoop* loop) const;
+
   /**
    * Get the magnitude of the direction vector formed by the joystick's
    * current position relative to its origin.

wpilibc/src/main/native/include/frc/PS4Controller.h

@@ -98,6 +98,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetSquareButtonReleased();
 
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the square button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Square(EventLoop* loop) const;
+
   /**
    * Read the value of the Cross button on the controller.
    *
@@ -119,6 +128,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetCrossButtonReleased();
 
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the cross button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Cross(EventLoop* loop) const;
+
   /**
    * Read the value of the Circle button on the controller.
    *
@@ -140,6 +158,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetCircleButtonReleased();
 
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the circle button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Circle(EventLoop* loop) const;
+
   /**
    * Read the value of the Triangle button on the controller.
    *
@@ -161,6 +188,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetTriangleButtonReleased();
 
+  /**
+   * Constructs an event instance around the triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the triangle button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Triangle(EventLoop* loop) const;
+
   /**
    * Read the value of the L1 button on the controller.
    *
@@ -182,6 +218,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetL1ButtonReleased();
 
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L1 button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent L1(EventLoop* loop) const;
+
   /**
    * Read the value of the R1 button on the controller.
    *
@@ -203,6 +248,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetR1ButtonReleased();
 
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R1 button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent R1(EventLoop* loop) const;
+
   /**
    * Read the value of the L2 button on the controller.
    *
@@ -224,6 +278,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetL2ButtonReleased();
 
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L2 button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent L2(EventLoop* loop) const;
+
   /**
    * Read the value of the R2 button on the controller.
    *
@@ -245,6 +308,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetR2ButtonReleased();
 
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R2 button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent R2(EventLoop* loop) const;
+
   /**
    * Read the value of the Share button on the controller.
    *
@@ -266,6 +338,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetShareButtonReleased();
 
+  /**
+   * Constructs an event instance around the share button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the share button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Share(EventLoop* loop) const;
+
   /**
    * Read the value of the Options button on the controller.
    *
@@ -287,6 +368,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetOptionsButtonReleased();
 
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the options button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Options(EventLoop* loop) const;
+
   /**
    * Read the value of the L3 button (pressing the left analog stick) on the
    * controller.
@@ -309,6 +399,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetL3ButtonReleased();
 
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L3 button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent L3(EventLoop* loop) const;
+
   /**
    * Read the value of the R3 button (pressing the right analog stick) on the
    * controller.
@@ -331,6 +430,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetR3ButtonReleased();
 
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R3 button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent R3(EventLoop* loop) const;
+
   /**
    * Read the value of the PS button on the controller.
    *
@@ -352,6 +460,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetPSButtonReleased();
 
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent PS(EventLoop* loop) const;
+
   /**
    * Read the value of the touchpad button on the controller.
    *
@@ -373,6 +490,15 @@ class PS4Controller : public GenericHID {
    */
   bool GetTouchpadReleased();
 
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the touchpad's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Touchpad(EventLoop* loop) const;
+
   struct Button {
     static constexpr int kSquare = 1;
     static constexpr int kCross = 2;

wpilibc/src/main/native/include/frc/XboxController.h

@@ -96,6 +96,24 @@ class XboxController : public GenericHID {
    */
   bool GetRightBumperReleased();
 
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent LeftBumper(EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent RightBumper(EventLoop* loop) const;
+
   /**
    * Read the value of the left stick button (LSB) on the controller.
    */
@@ -126,6 +144,24 @@ class XboxController : public GenericHID {
    */
   bool GetRightStickButtonReleased();
 
+  /**
+   * Constructs an event instance around the left stick's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left stick's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent LeftStick(EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance around the right stick's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent RightStick(EventLoop* loop) const;
+
   /**
    * Read the value of the A button on the controller.
    *
@@ -147,6 +183,15 @@ class XboxController : public GenericHID {
    */
   bool GetAButtonReleased();
 
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent A(EventLoop* loop) const;
+
   /**
    * Read the value of the B button on the controller.
    *
@@ -168,6 +213,15 @@ class XboxController : public GenericHID {
    */
   bool GetBButtonReleased();
 
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent B(EventLoop* loop) const;
+
   /**
    * Read the value of the X button on the controller.
    *
@@ -189,6 +243,15 @@ class XboxController : public GenericHID {
    */
   bool GetXButtonReleased();
 
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent X(EventLoop* loop) const;
+
   /**
    * Read the value of the Y button on the controller.
    *
@@ -210,6 +273,15 @@ class XboxController : public GenericHID {
    */
   bool GetYButtonReleased();
 
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Y(EventLoop* loop) const;
+
   /**
    * Whether the Y button was released since the last check.
    *
@@ -231,6 +303,15 @@ class XboxController : public GenericHID {
    */
   bool GetBackButtonReleased();
 
+  /**
+   * Constructs an event instance around the back button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the back button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Back(EventLoop* loop) const;
+
   /**
    * Read the value of the start button on the controller.
    *
@@ -252,6 +333,15 @@ class XboxController : public GenericHID {
    */
   bool GetStartButtonReleased();
 
+  /**
+   * Constructs an event instance around the start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the start button's digital signal
+   * attached to the given loop.
+   */
+  BooleanEvent Start(EventLoop* loop) const;
+
   struct Button {
     static constexpr int kLeftBumper = 5;
     static constexpr int kRightBumper = 6;

wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java

@@ -5,6 +5,8 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 import java.util.HashMap;
 import java.util.Map;
 
@@ -119,6 +121,17 @@ public class GenericHID {
     return DriverStation.getStickButtonReleased(m_port, button);
   }
 
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(int button, EventLoop loop) {
+    return new BooleanEvent(loop, () -> getRawButton(button));
+  }
+
   /**
    * Get the value of the axis.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 
 /**
  * Handle input from Flight Joysticks connected to the Driver Station.
@@ -233,6 +235,17 @@ public class Joystick extends GenericHID {
     return getRawButtonReleased(ButtonType.kTrigger.value);
   }
 
+  /**
+   * Constructs an event instance around the trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the trigger button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent trigger(EventLoop loop) {
+    return new BooleanEvent(loop, this::getTrigger);
+  }
+
   /**
    * Read the state of the top button on the joystick.
    *
@@ -260,6 +273,17 @@ public class Joystick extends GenericHID {
     return getRawButtonReleased(ButtonType.kTop.value);
   }
 
+  /**
+   * Constructs an event instance around the top button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the top button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent top(EventLoop loop) {
+    return new BooleanEvent(loop, this::getTop);
+  }
+
   /**
    * Get the magnitude of the direction vector formed by the joystick's current position relative to
    * its origin.

wpilibj/src/main/java/edu/wpi/first/wpilibj/PS4Controller.java

@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 
 /**
  * Handle input from PS4 controllers connected to the Driver Station.
@@ -209,6 +211,30 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kR2.value);
   }
 
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L2 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L2(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL2Button);
+  }
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R2 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R2(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR2Button);
+  }
+
   /**
    * Read the value of the L1 button on the controller.
    *
@@ -263,6 +289,30 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kR1.value);
   }
 
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L1 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L1(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL1Button);
+  }
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R1 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R1(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR1Button);
+  }
+
   /**
    * Read the value of the L3 button (pressing the left analog stick) on the controller.
    *
@@ -317,6 +367,30 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kR3.value);
   }
 
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L3 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L3(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL3Button);
+  }
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R3 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R3(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR3Button);
+  }
+
   /**
    * Read the value of the Square button on the controller.
    *
@@ -344,6 +418,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kSquare.value);
   }
 
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the square button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent square(EventLoop loop) {
+    return new BooleanEvent(loop, this::getSquareButton);
+  }
+
   /**
    * Read the value of the Cross button on the controller.
    *
@@ -371,6 +456,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kCross.value);
   }
 
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the cross button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent cross(EventLoop loop) {
+    return new BooleanEvent(loop, this::getCrossButton);
+  }
+
   /**
    * Read the value of the Triangle button on the controller.
    *
@@ -425,6 +521,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kCircle.value);
   }
 
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the circle button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent circle(EventLoop loop) {
+    return new BooleanEvent(loop, this::getCircleButton);
+  }
+
   /**
    * Read the value of the share button on the controller.
    *
@@ -452,6 +559,18 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kShare.value);
   }
 
+  /**
+   * Constructs an event instance around the share button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the share button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent share(EventLoop loop) {
+    return new BooleanEvent(loop, this::getShareButton);
+  }
+
   /**
    * Read the value of the PS button on the controller.
    *
@@ -479,6 +598,18 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kPS.value);
   }
 
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent PS(EventLoop loop) {
+    return new BooleanEvent(loop, this::getPSButton);
+  }
+
   /**
    * Read the value of the options button on the controller.
    *
@@ -506,6 +637,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kOptions.value);
   }
 
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the options button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent options(EventLoop loop) {
+    return new BooleanEvent(loop, this::getOptionsButton);
+  }
+
   /**
    * Read the value of the touchpad on the controller.
    *
@@ -532,4 +674,15 @@ public class PS4Controller extends GenericHID {
   public boolean getTouchpadReleased() {
     return getRawButtonReleased(Button.kTouchpad.value);
   }
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the touchpad's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent touchpad(EventLoop loop) {
+    return new BooleanEvent(loop, this::getTouchpad);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java

@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 
 /**
  * Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station.
@@ -208,6 +210,28 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kRightBumper.value);
   }
 
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent leftBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftBumper);
+  }
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent rightBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightBumper);
+  }
+
   /**
    * Read the value of the left stick button (LSB) on the controller.
    *
@@ -262,6 +286,28 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kRightStick.value);
   }
 
+  /**
+   * Constructs an event instance around the left stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left stick button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent leftStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftStickButton);
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightStickButton);
+  }
+
   /**
    * Read the value of the A button on the controller.
    *
@@ -289,6 +335,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kA.value);
   }
 
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent a(EventLoop loop) {
+    return new BooleanEvent(loop, this::getAButton);
+  }
+
   /**
    * Read the value of the B button on the controller.
    *
@@ -316,6 +374,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kB.value);
   }
 
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent b(EventLoop loop) {
+    return new BooleanEvent(loop, this::getBButton);
+  }
+
   /**
    * Read the value of the X button on the controller.
    *
@@ -343,6 +413,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kX.value);
   }
 
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent x(EventLoop loop) {
+    return new BooleanEvent(loop, this::getXButton);
+  }
+
   /**
    * Read the value of the Y button on the controller.
    *
@@ -370,6 +452,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kY.value);
   }
 
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent y(EventLoop loop) {
+    return new BooleanEvent(loop, this::getYButton);
+  }
+
   /**
    * Read the value of the back button on the controller.
    *
@@ -397,6 +491,17 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kBack.value);
   }
 
+  /**
+   * Constructs an event instance around the back button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the back button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent back(EventLoop loop) {
+    return new BooleanEvent(loop, this::getBackButton);
+  }
+
   /**
    * Read the value of the start button on the controller.
    *
@@ -423,4 +528,15 @@ public class XboxController extends GenericHID {
   public boolean getStartButtonReleased() {
     return getRawButtonReleased(Button.kStart.value);
   }
+
+  /**
+   * Constructs an event instance around the start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the start button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent start(EventLoop loop) {
+    return new BooleanEvent(loop, this::getStartButton);
+  }
 }