[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