[wpimath] Use triangular solves to compute UKF Kalman gain (#9009)

TL;DR: kill https://github.com/wpilibsuite/bzlmodRio-libssh, update
versions, and make things easier for a script to update.

The main motivation behind this was that libssh was out of date with the
gradle version. Using these "external" dependencies can cause agita as
we churn through toolchain updates. Unlike the toolchains and opencv,
which can be used by external users (i.e. a all bazel robot, if a vendor
wanted to use bazel) a C++ wrapper around libssh maven deps almost
certainly wouldn't be pulled in, much like ceres and mrclib.

As a result of vendor'ing libssh, and knowing some potential pitfalls
and annoyances, this PR does the following:
- Vendor libssh, akin to how mrclib is pulled in
- Moves the vendor'd ceres to `shared/bazel/thirdparty`, and refactors
it to better match mrclib. To me it doesn't necessarily belong in its
`thirdparty` location because it is bazel only.
- Due to the refactoring, libssh and ceres can now be pulled into
`MODULE.bazel` instead of the `WORKSPACE.bzlmod` helper. This is good
prep for a potential upgrade to killing `--enable_workspace` / bazel 9
- Write a python script that can deal with the integrity / sha256 of the
http_archives. I suggested this be added to davo's mrclib PR, but this
one is a little bit more robust and will actually edit the files in
place. This makes upgrading versions substantially easier.
- Upgrade libssh version to what gradle is using, and mrclib to the
version in #8858. These changes have been tested against that PR.

.bazelrc

@@ -68,7 +68,6 @@ build:remote_user --config=remote_cache_readonly
 build:remote_user --remote_download_toplevel
 
 common:ci --color=yes
-build:ci --config=remote_cache
 build:ci --remote_download_minimal
 build:ci --progress_report_interval=60 --show_progress_rate_limit=60
 

.github/actions/setup-bazel-cache/action.yml

@@ -0,0 +1,38 @@
+name: 'Setup Bazel Cache'
+description: 'Configures the Bazel remote cache. Prefers WPI bazel-remote (R/W), falls back to BuildBuddy, then readonly WPI cache.'
+
+inputs:
+  bazel_remote_username:
+    description: 'WPI Bazel remote cache username'
+  bazel_remote_password:
+    description: 'WPI Bazel remote cache password'
+  bazel_remote_url:
+    description: 'WPI Bazel remote cache base URL (no credentials or protocol, e.g. gitlib-bazel.wpi.edu)'
+    default: 'gitlib-bazel.wpi.edu'
+  buildbuddy_token:
+    description: 'BuildBuddy API token'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Resolve Bazel cache configuration
+      env:
+        CACHE_USER: ${{ inputs.bazel_remote_username }}
+        CACHE_PASS: ${{ inputs.bazel_remote_password }}
+        REMOTE_URL: ${{ inputs.bazel_remote_url }}
+        BB_TOKEN: ${{ inputs.buildbuddy_token }}
+      shell: bash
+      run: |
+        if [ -n "${CACHE_USER}" ] && [ -n "${CACHE_PASS}" ]; then
+          echo "WPI bazel-remote credentials detected; configuring R/W access"
+          echo "build:remote_cache --remote_cache=grpcs://${CACHE_USER}:${CACHE_PASS}@${REMOTE_URL}" > bazel_auth.rc
+          echo "build:ci --config=remote_cache" >> bazel_auth.rc
+        elif [ -n "${BB_TOKEN}" ]; then
+          echo "BuildBuddy token detected; configuring BuildBuddy cache"
+          echo "build:build_buddy --remote_header=x-buildbuddy-api-key=${BB_TOKEN}" > bazel_auth.rc
+          echo "build:ci --config=build_buddy" >> bazel_auth.rc
+        else
+          echo "No cache credentials detected; falling back to readonly WPI cache"
+          echo "build:ci --config=remote_cache" > bazel_auth.rc
+          echo "build:ci --config=remote_cache_readonly" >> bazel_auth.rc
+        fi

.github/actions/setup-bazel-remote/action.yml

@@ -1,37 +0,0 @@
-name: 'Setup Bazel Remote cache'
-description: 'Sets up bazel-remote cache using basic auth from GitHub secrets'
-
-inputs:
-  username:
-    description: 'Bazel remote cache username'
-  password:
-    description: 'Bazel remote cache password'
-  remote_url:
-    description: 'Bazel remote cache base URL (no credentials or protocol, e.g. gitlib-bazel.wpi.edu)'
-    default: 'gitlib-bazel.wpi.edu'
-
-runs:
-  using: "composite"
-  steps:
-    - name: Setup bazel-remote (skip when no creds)
-      env:
-        CACHE_USER: ${{ inputs.username }}
-        CACHE_PASS: ${{ inputs.password }}
-        REMOTE_URL: ${{ inputs.remote_url }}
-      if: ${{ env.CACHE_USER == '' || env.CACHE_PASS == '' }}
-      shell: bash
-      run: |
-        echo "No bazel-remote credentials detected; leaving caching as previously configured"
-        echo "build:ci --config=remote_cache_readonly" >> bazel_auth.rc
-
-    - name: Setup bazel-remote (with creds)
-      env:
-        CACHE_USER: ${{ inputs.username }}
-        CACHE_PASS: ${{ inputs.password }}
-        REMOTE_URL: ${{ inputs.remote_url }}
-      if: ${{ env.CACHE_USER != '' && env.CACHE_PASS != '' }}
-      shell: bash
-      run: |
-        echo "Bazel-remote credentials detected; configuring bazel_auth.rc"
-        URL_WITH_CREDS="grpcs://${CACHE_USER}:${CACHE_PASS}@${REMOTE_URL}"
-        echo "build:remote_cache --remote_cache=${URL_WITH_CREDS}" >> bazel_auth.rc

.github/actions/setup-build-buddy/action.yml

@@ -1,38 +0,0 @@
-name: 'Setup BuildBuddy acache'
-description: 'Sets up the build buddy cache to be readonly / writing based on the presence of environment variables'
-
-inputs:
-  token:
-    description: 'Build Buddy API token'
-
-runs:
-  using: "composite"
-  steps:
-    # Sets up build buddy when no secret is found for the API key. This is most likely because this is triggered from an action from a fork instead of the main allwpilib repo.
-    - name: Setup without key
-      env:
-        API_KEY: ${{ inputs.token }}
-      if: ${{ env.API_KEY == '' }}
-      shell: bash
-      run: |
-          echo "No API key secret detected, will setup readonly cache"
-          echo "build:ci --config=build_buddy_readonly" > bazel_auth.rc
-
-          # Set up the readonly key only if this build is for a pull request. Push builds happen in the forks repository,
-          # so the user should set their own buildbuddy api keys up there. Only enabling it for PR's should reduce heavy
-          # and more random load on the cache.
-          if [ "${{ github.event_name }}" = "pull_request" ]; then
-            echo "Assuming this is a pull request from a fork. Setting up the readonly api key"
-            echo "build:ci --remote_header=x-buildbuddy-api-key=QIOV65PTW1tVal3AJbe7" >> bazel_auth.rc
-          else
-            echo "Not setting up readonly key for trigger ${{ github.event_name }} since this is not a pull request, it is most likely a forks push. See the buildbuddy setup guide in README-Bazel.md to set up caching on your fork"
-          fi
-
-    - name: Set with key
-      env:
-        API_KEY: ${{ inputs.token }}
-      if: ${{ env.API_KEY != '' }}
-      shell: bash
-      run: |
-          echo "API Key detected!"
-          echo "build:build_buddy --remote_header=x-buildbuddy-api-key=${{ env.API_KEY }}" > bazel_auth.rc

.github/labeler.yml

@@ -1,62 +1,96 @@
-'2027':
-- base-branch: '2027'
-'component: apriltag':
-- changed-files:
-  - any-glob-to-any-file: apriltag/**
-'component: command-based':
-- changed-files:
-  - any-glob-to-any-file: commandsv2/**
-'component: cscore':
-- changed-files:
-  - any-glob-to-any-file: cscore/**
-'component: datalogtool':
-- changed-files:
-  - any-glob-to-any-file: datalogtool/**
-'component: epilogue':
-- changed-files:
-  - any-glob-to-any-file: epilogue-*/**
-'component: examples':
-- changed-files:
-  - any-glob-to-any-file: wpilib*Examples/**
-'component: glass':
-- changed-files:
-  - any-glob-to-any-file: glass/**
-'component: hal':
-- changed-files:
-  - any-glob-to-any-file: hal/**
-'component: ntcore':
-- changed-files:
-  - any-glob-to-any-file: ntcore/**
-'component: outlineviewer':
-- changed-files:
-  - any-glob-to-any-file: outlineviewer/**
-'component: sysid':
-- changed-files:
-  - any-glob-to-any-file: sysid/**
-'component: wpilibc':
-- changed-files:
-  - any-glob-to-any-file: wpilibc/**
-'component: wpilibj':
-- changed-files:
-  - any-glob-to-any-file: wpilibj/**
-'component: wpimath':
-- changed-files:
-  - any-glob-to-any-file: wpimath/**
-'component: wpinet':
-- changed-files:
-  - any-glob-to-any-file: wpinet/**
-'component: wpiunits':
-- changed-files:
-  - any-glob-to-any-file: wpiunits/**
-'component: wpiutil':
-- changed-files:
-  - any-glob-to-any-file: wpiutil/**
-'component: wpical':
-- changed-files:
-  - any-glob-to-any-file: wpical/**
-'component: usage reporting':
-- changed-files:
-  - any-glob-to-any-file: hal/src/generate/**
-'attn: NI':
-- changed-files:
-  - any-glob-to-any-file: hal/src/generate/**
+"build":
+  - changed-files:
+      - any-glob-to-any-file:
+          [
+            .github/actions/**,
+            .github/workflows/**,
+            cmake/*,
+            shared/**,
+            upstream_utils/**,
+            "**/*.bzl",
+            "**/*.cmake",
+            "**/*.gradle",
+            "**/CMakeLists.txt",
+            "**/BUILD.bazel",
+          ]
+"component: apriltag":
+  - changed-files:
+      - any-glob-to-any-file: apriltag/**
+"component: command-based":
+  - changed-files:
+      - any-glob-to-any-file: commandsv2/**
+"component: commands v3":
+  - changed-files:
+      - any-glob-to-any-file: commandsv3/**
+"component: cscore":
+  - changed-files:
+      - any-glob-to-any-file: cscore/**
+"component: datalogtool":
+  - changed-files:
+      - any-glob-to-any-file: tools/datalogtool/**
+"component: epilogue":
+  - changed-files:
+      - any-glob-to-any-file: epilogue-*/**
+"component: examples":
+  - changed-files:
+      - any-glob-to-any-file: wpilib*Examples/**
+"component: glass":
+  - changed-files:
+      - any-glob-to-any-file: glass/**
+"component: hal":
+  - changed-files:
+      - any-glob-to-any-file: hal/**
+"component: javac plugin":
+  - changed-files:
+      - any-glob-to-any-file: javacPlugin/**
+"component: ntcore":
+  - changed-files:
+      - any-glob-to-any-file: ntcore/**
+"component: outlineviewer":
+  - changed-files:
+      - any-glob-to-any-file: tools/outlineviewer/**
+"component: romi":
+  - changed-files:
+      - any-glob-to-any-file: romiVendordep/**
+"component: sysid":
+  - changed-files:
+      - any-glob-to-any-file: tools/sysid/**
+"component: wpiannotations":
+  - changed-files:
+      - any-glob-to-any-file: wpiannotations/**
+"component: wpilibc":
+  - changed-files:
+      - any-glob-to-any-file: wpilibc/**
+"component: wpilibj":
+  - changed-files:
+      - any-glob-to-any-file: wpilibj/**
+"component: wpimath":
+  - changed-files:
+      - any-glob-to-any-file: wpimath/**
+"component: wpinet":
+  - changed-files:
+      - any-glob-to-any-file: wpinet/**
+"component: wpiunits":
+  - changed-files:
+      - any-glob-to-any-file: wpiunits/**
+"component: wpiutil":
+  - changed-files:
+      - any-glob-to-any-file: wpiutil/**
+"component: wpical":
+  - changed-files:
+      - any-glob-to-any-file: tools/wpical/**
+"component: xrp":
+  - changed-files:
+      - any-glob-to-any-file: xrpVendordep/**
+"component: usage reporting":
+  - changed-files:
+      - any-glob-to-any-file: hal/src/generate/**
+"os: simulation":
+  - changed-files:
+      - any-glob-to-any-file: "**/simulation/**"
+"robotpy":
+  - changed-files:
+      - any-glob-to-any-file: "**python/**"
+"type: testing":
+  - changed-files:
+      - any-glob-to-any-file: "**/test/**"

.github/workflows/bazel.yml

@@ -12,33 +12,35 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - { name: "Linux System Core", classifier: "linuxsystemcore",                 os: ubuntu-24.04, action: "build" }
-          - { name: "Linux System Core Debug", classifier: "linuxsystemcoredebug",            os: ubuntu-24.04, action: "build" }
-          - { name: "Linux System Core Static", classifier: "linuxsystemcorestatic",           os: ubuntu-24.04, action: "build" }
-          - { name: "Linux System Core Static Debug", classifier: "linuxsystemcorestaticdebug",    os: ubuntu-24.04, action: "build" }
-          - { name: "Linux x86-64",      classifier: "linuxx86-64,headers,sources",     os: ubuntu-24.04, action: "test" }
-          - { name: "Linux x86-64 Debug",  classifier: "linuxx86-64debug",                os: ubuntu-24.04, action: "test" }
-          - { name: "Linux x86-64 Static", classifier: "linuxx86-64static",               os: ubuntu-24.04, action: "test" }
-          - { name: "Linux x86-64 Static Debug", classifier: "linuxx86-64staticdebug",        os: ubuntu-24.04, action: "test" }
+          - { name: "Linux System Core", classifier: "linuxsystemcore",                 os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux System Core Debug", classifier: "linuxsystemcoredebug",            os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux System Core Static", classifier: "linuxsystemcorestatic",           os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux System Core Static Debug", classifier: "linuxsystemcorestaticdebug",    os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux x86-64",      classifier: "linuxx86-64,headers,sources",     os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
+          - { name: "Linux x86-64 Debug",  classifier: "linuxx86-64debug",                os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
+          - { name: "Linux x86-64 Static", classifier: "linuxx86-64static",               os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
+          - { name: "Linux x86-64 Static Debug", classifier: "linuxx86-64staticdebug",        os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
 
-          - { name: "macOS", classifier: "osxuniversal,osxuniversaldebug,headers,sources,osxuniversalstatic,osxuniversalstaticdebug,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug", os: macOS-15, action: "test" }
+          - { name: "macOS", classifier: "osxuniversal,osxuniversaldebug,headers,sources,osxuniversalstatic,osxuniversalstaticdebug,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug", os: macOS-15, container: "", action: "test" }
 
-          - { name: "Windows x86-64",      classifier: "windowsx86-64,windowsx86-64static,headers,sources",   os: windows-2022, action: "test" }
-          - { name: "Windows x86-64 Debug", classifier: "windowsx86-64debug,windowsx86-64staticdebug",        os: windows-2022, action: "test" }
+          - { name: "Windows x86-64",      classifier: "windowsx86-64,windowsx86-64static,headers,sources",   os: windows-2022, container: "", action: "test" }
+          - { name: "Windows x86-64 Debug", classifier: "windowsx86-64debug,windowsx86-64staticdebug",        os: windows-2022, container: "", action: "test" }
 
-          - { name: "Windows ARM64",       classifier: "windowsarm64,windowsarm64static",                    os: windows-2022, action: "build" }
-          - { name: "Windows ARM64 Debug",  classifier: "windowsarm64debug,windowsarm64staticdebug",         os: windows-2022, action: "build" }
+          - { name: "Windows ARM64",       classifier: "windowsarm64,windowsarm64static",                    os: windows-2022, container: "", action: "build" }
+          - { name: "Windows ARM64 Debug",  classifier: "windowsarm64debug,windowsarm64staticdebug",         os: windows-2022, container: "", action: "build" }
 
-          - { name: "Windows System Core", classifier: "linuxsystemcore,linuxsystemcorestatic", os: windows-2022, action: "build" }
-          - { name: "Windows System Core Debug", classifier: "linuxsystemcoredebug,linuxsystemcorestaticdebug", os: windows-2022, action: "build" }
+          - { name: "Windows System Core", classifier: "linuxsystemcore,linuxsystemcorestatic", os: windows-2022, container: "", action: "build" }
+          - { name: "Windows System Core Debug", classifier: "linuxsystemcoredebug,linuxsystemcorestaticdebug", os: windows-2022, container: "", action: "build" }
 
     name: "${{ matrix.action == 'test' && 'Test' || 'Build' }} ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
+    container: ${{ matrix.container }}
     steps:
       - name: Check disk free space pre-cleanup
         run: df -h
 
       - name: Free disk space (Linux)
+        if: runner.os == 'Linux'
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -48,8 +50,9 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-        if: startsWith(matrix.os, 'ubuntu')
+
       - name: Free disk space (macOS)
+        if: runner.os == 'macOS'
         # CodeQL: 5G
         # go: 748M
         # Android: 12G
@@ -57,7 +60,6 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: startsWith(matrix.os, 'macOS')
 
       - name: Check disk free space post-cleanup
         run: df -h
@@ -65,17 +67,24 @@ jobs:
       - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
-      - id: Setup_bazel_remote
-        uses: ./.github/actions/setup-bazel-remote
+      - id: Setup_bazel_cache
+        uses: ./.github/actions/setup-bazel-cache
         with:
-          username: ${{ secrets.BAZEL_CACHE_USERNAME }}
-          password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       - name: Install apt dependencies
-        if: matrix.os == 'ubuntu-24.04'
+        if: runner.os == 'Linux'
         run: sudo apt-get update && sudo apt-get install -y libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev avahi-daemon
 
-      - if: matrix.os == 'ubuntu-24.04'
+      - name: Setup avahi-daemon
+        if: runner.os == 'Linux'
+        run: |
+          sudo service dbus start
+          sudo avahi-daemon -D
+
+      - if: runner.os == 'Linux'
         uses: bazel-contrib/setup-bazel@0.15.0
         with:
           bazelisk-cache: true
@@ -85,12 +94,12 @@ jobs:
       - name: bazel ${{ matrix.action }}
         run: |
           ACTION='${{ matrix.action }}'
-          if [[ "${ACTION}" == "build" ]]; then
+          if [ "${ACTION}" = "build" ]; then
             TARGETS=:publish
           else
             TARGETS=...
           fi
-          if [[ "${{ matrix.os }}" == "windows-2022" ]]; then
+          if [ "${{ runner.os }}" = "Windows" ]; then
             bazel --output_user_root=C:\\bazelroot ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
           else
             bazel ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
@@ -136,6 +145,27 @@ jobs:
           path: "*-bazel-lint-fixes.patch"
         if: ${{ failure() }}
 
+  mod-lock:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Check lockfile
+        run: bazel mod deps --lockfile_mode=error
+
+      - run: bazel mod deps --lockfile_mode=update
+        if: ${{ failure() }}
+
+      - name: Generate diff
+        run: git diff HEAD > bazel-mod-lock-fixes.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v7
+        with:
+          archive: false
+          path: "bazel-mod-lock-fixes.patch"
+        if: ${{ failure() }}
+
   non_robotpy_pregeneration:
     name: "Non-RobotPy Pregen"
     runs-on: ubuntu-24.04
@@ -143,14 +173,15 @@ jobs:
       - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
-      - id: Setup_bazel_remote
-        uses: ./.github/actions/setup-bazel-remote
+      - id: Setup_bazel_cache
+        uses: ./.github/actions/setup-bazel-cache
         with:
-          username: ${{ secrets.BAZEL_CACHE_USERNAME }}
-          password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       - name: Run Non-RobotPy pregeneration
-        run: bazel run //:write_pregenerated_files
+        run: bazel run --config=ci //:write_pregenerated_files
 
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD
@@ -172,21 +203,23 @@ jobs:
       - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
+      - id: Setup_bazel_cache
+        uses: ./.github/actions/setup-bazel-cache
         with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       # You should ensure the headers are correct before trying to pregen files
       - name: Test Scan Headers
-        run: bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
+        run: bazel test --config=ci //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
         shell: bash
 
       - name: Run yaml file generation
-        run: bazel run //:write_robotpy_update_yaml_files
+        run: bazel run --config=ci //:write_robotpy_update_yaml_files
 
       - name: Run build file generation
-        run: bazel run //:write_robotpy_generated_pybind_files
+        run: bazel run --config=ci //:write_robotpy_generated_pybind_files
 
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD

.github/workflows/cmake-android.yml

@@ -33,11 +33,6 @@ jobs:
           ndk-version: r27d
           add-to-path: false
 
-      - uses: actions/setup-java@v5
-        with:
-          distribution: 'temurin'
-          java-version: 25
-
       - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.9
 
@@ -45,7 +40,7 @@ jobs:
         run: sudo apt-get update && sudo apt-get install -y ninja-build
 
       - name: configure
-        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
         env:
           SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/cmake.yml

@@ -18,8 +18,8 @@ jobs:
         include:
           - os: ubuntu-24.04
             name: Linux
-            container: wpilib/systemcore-cross-ubuntu:2027-24.04
-            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+            container: wpilib/systemcore-cross-debian:trixie
+            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: macOS-15
             name: macOS
             container: ""
@@ -35,7 +35,7 @@ jobs:
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev ninja-build
 
       - name: Setup avahi-daemon
         if: runner.os == 'Linux'
@@ -55,7 +55,7 @@ jobs:
         uses: lukka/get-cmake@v3.29.3
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.9
+        uses: mozilla-actions/sccache-action@v0.0.10
 
       - uses: actions/checkout@v6
 

.github/workflows/gradle.yml

@@ -19,13 +19,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+          - container: wpilib/systemcore-cross-debian:trixie
             artifact-name: Systemcore
             build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
+          - container: wpilib/aarch64-cross-debian:trixie
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+          - container: wpilib/systemcore-cross-debian:trixie
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
@@ -54,7 +54,7 @@ jobs:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v2027')
+        if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
         uses: wpilibsuite/docker-run-action@v4
         with:
@@ -127,6 +127,7 @@ jobs:
         run: df -h
 
       - name: Free disk space (macOS)
+        if: runner.os == 'macOS'
         # CodeQL: 5G
         # go: 748M
         # Android: 12G
@@ -134,7 +135,6 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: startsWith(matrix.os, 'macOS')
 
       - name: Check disk free space post-cleanup
         run: df -h
@@ -155,16 +155,16 @@ jobs:
           keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Set Keychain Lock Timeout
         run: security set-keychain-settings -lut 21600
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
-        if: startsWith(github.ref, 'refs/tags/v2027')
+        if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -174,7 +174,7 @@ jobs:
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - uses: actions/upload-artifact@v7
         with:
           name: ${{ matrix.artifact-name }}
@@ -195,10 +195,10 @@ jobs:
       - uses: actions/setup-java@v5
         with:
           distribution: 'temurin'
-          java-version: 25
+          java-version: 26
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v2027')
+        if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs --build-cache -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -240,17 +240,12 @@ jobs:
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
           echo "BRANCH=beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+        if: startsWith(github.ref, 'refs/tags/v')
       - name: Set environment variables (Release)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
           echo "BRANCH=release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
-      - name: Set environment variables (2027)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=2027" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && contains(github.ref, '2027')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
       - name: Install SSH Client 🔑
         uses: webfactory/ssh-agent@v0.9.1
         with:
@@ -284,7 +279,7 @@ jobs:
       - name: Free disk space
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -298,47 +293,47 @@ jobs:
       - uses: actions/checkout@v6
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v7
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
       - name: Check version number exists
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
       - uses: actions/setup-java@v5
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           distribution: 'temurin'
           java-version: 25
-      - name: Combine (2027)
+      - name: Combine
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          github.ref == 'refs/heads/2027'
+          github.ref == 'refs/heads/main'
         run: cd combiner && ./gradlew publish -Pallwpilib -Pbuild2027
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Combine (2027 Release)
+      - name: Combine (Release)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v2027')
+          startsWith(github.ref, 'refs/tags/v')
         run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish -Pbuild2027
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
@@ -347,7 +342,7 @@ jobs:
       - uses: actions/upload-artifact@v7
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           name: Maven
           path: ~/releases

.github/workflows/lint-format.yml

@@ -28,7 +28,7 @@ jobs:
       - name: Fetch all history and metadata
         run: |
           git checkout -b pr
-          git branch -f 2027 origin/2027
+          git branch -f main origin/main
       - name: Set up Python 3.12
         uses: actions/setup-python@v6
         with:
@@ -36,9 +36,9 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.57
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
       - name: Run
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -61,7 +61,7 @@ jobs:
     name: "clang-tidy"
     runs-on: ubuntu-24.04
     needs: [validation]
-    container: wpilib/ubuntu-base:24.04
+    container: wpilib/debian-base:trixie
     steps:
       - uses: actions/checkout@v6
         with:
@@ -70,7 +70,7 @@ jobs:
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
-          git branch -f 2027 origin/2027
+          git branch -f main origin/main
       - name: Set up Python 3.12
         uses: actions/setup-python@v6
         with:
@@ -78,23 +78,23 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.57
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64debug/compile_commands.json
       - name: List changed files
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027 -list-changed-files
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -list-changed-files
       - name: Run clang-tidy release
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027 -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release
       - name: Run clang-tidy debug
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027 -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug
   javaformat:
     name: "Java format"
     runs-on: ubuntu-24.04
     needs: [validation]
-    container: wpilib/systemcore-cross-ubuntu:2027-24.04
+    container: wpilib/debian-base:trixie
     steps:
       - uses: actions/checkout@v6
         with:
@@ -103,7 +103,7 @@ jobs:
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
-          git branch -f 2027 origin/2027
+          git branch -f main origin/main
       - name: Run Java format
         run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
       - name: Check output
@@ -123,3 +123,27 @@ jobs:
           echo '' >> $GITHUB_STEP_SUMMARY
           echo '```' >> $GITHUB_STEP_SUMMARY
         if: ${{ failure() }}
+
+  check-spelling:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - name: misspell
+        uses: reviewdog/action-misspell@v1
+        with:
+          reporter: "github-check"
+          fail_level: "error"
+          exclude: |
+            **/*.svg
+            **/thirdparty/**
+            **/upstream_utils/**
+            **/generated/**
+            ./wpigui/src/main/native/cpp/portable-file-dialogs.*
+            ./wpimath/src/main/native/include/wpi/units/base.hpp
+            ./wpinet/src/main/native/linux/AvahiClient.*
+            ./wpinet/src/main/native/cpp/http_parser.cpp
+            ./wpinet/src/main/native/include/wpi/net/http_parser.hpp
+            ./wpiutil/src/main/native/include/wpi/util/FastQueue.hpp
+            ./wpiutil/src/test/native/cpp/json/**
+            ./wpiutil/src/test/native/cpp/llvm/**
+            ./wpiutil/src/test/native/cpp/span/**

.github/workflows/sanitizers.yml

@@ -19,7 +19,7 @@ jobs:
           - name: asan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
             ctest-env: ""
-            ctest-flags: "-E 'wpilibc'"
+            ctest-flags: ""
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
             ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1:suppressions=$GITHUB_WORKSPACE/tsan_suppressions.txt"
@@ -30,18 +30,18 @@ jobs:
             ctest-flags: ""
     name: "${{ matrix.name }}"
     runs-on: ubuntu-24.04
-    container: wpilib/roborio-cross-ubuntu:2025-24.04
+    container: wpilib/debian-base:trixie
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-18 ninja-build avahi-daemon
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev clang-18 ninja-build avahi-daemon
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.9
+        uses: mozilla-actions/sccache-action@v0.0.10
 
       - uses: actions/checkout@v6
 
       - name: configure
-        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-18 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-18 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-18 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-18 ${{ matrix.cmake-flags }} ..
         env:
           SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/sentinel-build.yml

@@ -23,13 +23,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+          - container: wpilib/systemcore-cross-debian:trixie
             artifact-name: Systemcore
             build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
+          - container: wpilib/aarch64-cross-debian:trixie
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+          - container: wpilib/systemcore-cross-debian:trixie
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
@@ -54,7 +54,11 @@ jobs:
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+          # Start avahi-daemon and build
+          run: |
+            service dbus start
+            avahi-daemon -D
+            ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Check free disk space
         run: df .
       - uses: actions/upload-artifact@v7
@@ -130,12 +134,13 @@ jobs:
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
       - name: Check disk free space (Windows)
+        if: runner.os == 'Windows'
         run: wmic logicaldisk get caption, freespace
-        if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
+        if: runner.os == 'macOS'
         run: df -h .
-        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
+        if: runner.os == 'macOS'
         # CodeQL: 5G
         # go: 748M
         # Android: 12G
@@ -143,10 +148,9 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
+        if: runner.os == 'macOS'
         run: df -h .
-        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Sign Libraries with Developer ID
@@ -154,11 +158,11 @@ jobs:
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
       - name: Check disk free space (Windows)
+        if: runner.os == 'Windows'
         run: wmic logicaldisk get caption, freespace
-        if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
+        if: runner.os == 'macOS'
         run: df -h .
-        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v7
         with:
           name: ${{ matrix.artifact-name }}

.gitignore

@@ -261,3 +261,8 @@ bazel_auth.rc
 
 # Copybara user config
 shared/bazel/copybara/.copybara.json
+
+# Nix files
+shell.nix
+flake.nix
+flake.lock

.wpiformat

@@ -40,4 +40,5 @@ licenseUpdateExclude {
   wpiutil/src/main/native/cpp/Base64\.cpp$
   wpiutil/src/main/native/cpp/sha1\.cpp$
   wpiutil/src/main/native/include/wpi/util/sha1\.hpp$
+  wpinet/src/main/native/linux/AvahiClient\.hpp$
 }

CMakeLists.txt

@@ -63,9 +63,7 @@ set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # Options for building certain parts of the repo. Everything is built by default.
-option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
-option(WITH_JAVA "Include Java and JNI in the build" OFF)
-option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
+option(BUILD_SHARED_LIBS "Build with shared libs" ON)
 option(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
 cmake_dependent_option(
     DOCS_WARNINGS_AS_ERRORS
@@ -78,13 +76,6 @@ option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPICAL "Build wpical" OFF)
 option(WITH_WPIMATH "Build wpimath" ON)
-cmake_dependent_option(
-    WITH_WPIUNITS
-    "Build wpiunits"
-    ON
-    WITH_JAVA
-    OFF
-)
 option(WITH_WPILIB "Build hal, wpilibc/j, and developerRobot (needs OpenCV)" ON)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
@@ -98,26 +89,9 @@ option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
 option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
 option(USE_LINKED_AVAHI "Use directly linked Avahi instead of loading at runtime" OFF)
 
-# Options for location of OpenCV Java.
-set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
-
 # Options for compilation flags.
 option(NO_WERROR "Disable -Werror flag during compilation" OFF)
 
-if(NOT WITH_JAVA OR NOT WITH_CSCORE)
-    if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
-        message(
-            WARNING
-            "
-WARNING: OpenCV Java dir set but java is not enabled!
-It will be ignored.
-"
-        )
-    endif()
-endif()
-
-wpilib_config(OPTIONS WITH_JAVA REQUIRES BUILD_SHARED_LIBS)
-
 wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
 
 wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
@@ -126,17 +100,7 @@ wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
 
 wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
 
-wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
-
 set(include_dest include)
-set(java_lib_dest java)
-if(WITH_JAVA OR WITH_JAVA_SOURCE)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked" "-proc:full")
-    find_package(Java REQUIRED COMPONENTS Development)
-    if(NOT ANDROID)
-        find_package(JNI REQUIRED COMPONENTS JVM)
-    endif()
-endif()
 
 if(WITH_DOCS)
     find_package(Doxygen REQUIRED)
@@ -283,13 +247,8 @@ endif()
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
-set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
-set(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 set(DATALOG_DEP_REPLACE "find_dependency(datalog)")
-if(WITH_JAVA)
-    add_subdirectory(wpiannotations)
-endif()
 
 add_subdirectory(wpiutil)
 
@@ -303,20 +262,10 @@ if(WITH_NTCORE)
 endif()
 
 if(WITH_WPIMATH)
-    if(WITH_JAVA)
-        set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
-        add_subdirectory(wpiunits)
-    endif()
     set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
     add_subdirectory(wpimath)
 endif()
 
-if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
-    # In case of building wpiunits standalone
-    set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
-    add_subdirectory(wpiunits)
-endif()
-
 if(WITH_GUI)
     add_subdirectory(fields)
     add_subdirectory(thirdparty/imgui_suite)
@@ -347,16 +296,10 @@ endif()
 
 if(WITH_WPILIB)
     set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
-    set(COMMANDSV3_DEP_REPLACE "find_dependency(commandsv3)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
-    if(WITH_JAVA)
-        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
-    endif()
     set(COMMAND_DEP_REPLACE "find_dependency(commandsv2)")
     add_subdirectory(apriltag)
-    add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
-    add_subdirectory(commandsv3) # must be after wpilibj
     add_subdirectory(commandsv2)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)

CMakePresets.json

@@ -24,27 +24,6 @@
         "CMAKE_C_COMPILER_LAUNCHER": "sccache",
         "CMAKE_CXX_COMPILER_LAUNCHER": "sccache"
       }
-    },
-    {
-      "name": "with-java",
-      "displayName": "",
-      "description": "Ninja config with Java",
-      "generator": "Ninja",
-      "binaryDir": "build-cmake",
-      "cacheVariables": {
-        "WITH_JAVA": "ON"
-      }
-    },
-    {
-      "name": "with-java-and-sccache",
-      "displayName": "",
-      "description": "Ninja config with Java and sccache",
-      "generator": "Ninja",
-      "inherits": "with-sccache",
-      "binaryDir": "build-cmake",
-      "cacheVariables": {
-        "WITH_JAVA": "ON"
-      }
     }
   ]
 }

CONTRIBUTING.md

@@ -21,7 +21,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
     - Some features, such the addition of C++26 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only. New language features added to C++ must be wrappable in Python for [RobotPy](https://github.com/robotpy).
 - Changes should have tests.
 - Code should be well documented.
-    - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [frc-docs repository](https://github.com/wpilibsuite/frc-docs) for more information.
+    - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [wpilib-docs repository](https://github.com/wpilibsuite/wpilib-docs) for more information.
 
 ## What to Contribute
 

MODULE.bazel

@@ -5,19 +5,14 @@ module(
 
 include("//docs:doxygen.MODULE.bazel")
 
+include("//shared/bazel/thirdparty/ceres:ceres.MODULE.bazel")
+
+include("//shared/bazel/thirdparty/libssh:libssh.MODULE.bazel")
+
+include("//shared/bazel/thirdparty/mrclib:mrclib.MODULE.bazel")
+
 bazel_dep(name = "apple_support", version = "2.0.0", repo_name = "build_bazel_apple_support")
-
-# TODO(austin): Upgrade when the patches land.
-# https://github.com/bazelbuild/rules_cc/pull/430
-# https://github.com/bazelbuild/rules_cc/pull/431
-# https://github.com/bazelbuild/rules_cc/pull/432
-bazel_dep(name = "rules_cc", version = "0.2.13")
-single_version_override(
-    module_name = "rules_cc",
-    patch_strip = 1,
-    patches = ["//:shared/bazel/patches/rules_cc_windows.patch"],
-)
-
+bazel_dep(name = "rules_cc", version = "0.2.17")
 bazel_dep(name = "rules_pkg", version = "1.1.0")
 bazel_dep(name = "bazel_features", version = "1.33.0")
 bazel_dep(name = "aspect_bazel_lib", version = "2.14.0")
@@ -53,8 +48,8 @@ maven.install(
     name = "maven",
     artifacts = [
         "org.ejml:ejml-simple:0.44.0",
-        "io.avaje:avaje-jsonb:3.11",
-        "io.avaje:avaje-jsonb-generator:3.11",
+        "io.avaje:avaje-jsonb:3.14",
+        "io.avaje:avaje-jsonb-generator:3.14",
         "us.hebi.quickbuf:quickbuf-runtime:1.4",
         "com.google.code.gson:gson:2.13.1",
         "org.wpilib.thirdparty.opencv:opencv-java:2027-4.13.0-1",

MODULE.bazel.lock

@@ -117,7 +117,8 @@
     "https://bcr.bazel.build/modules/rules_cc/0.2.0/MODULE.bazel": "b5c17f90458caae90d2ccd114c81970062946f49f355610ed89bebf954f5783c",
     "https://bcr.bazel.build/modules/rules_cc/0.2.13/MODULE.bazel": "eecdd666eda6be16a8d9dc15e44b5c75133405e820f620a234acc4b1fdc5aa37",
     "https://bcr.bazel.build/modules/rules_cc/0.2.14/MODULE.bazel": "353c99ed148887ee89c54a17d4100ae7e7e436593d104b668476019023b58df8",
-    "https://bcr.bazel.build/modules/rules_cc/0.2.14/source.json": "55d0a4587c5592fad350f6e698530f4faf0e7dd15e69d43f8d87e220c78bea54",
+    "https://bcr.bazel.build/modules/rules_cc/0.2.17/MODULE.bazel": "1849602c86cb60da8613d2de887f9566a6d354a6df6d7009f9d04a14402f9a84",
+    "https://bcr.bazel.build/modules/rules_cc/0.2.17/source.json": "3832f45d145354049137c0090df04629d9c2b5493dc5c2bf46f1834040133a07",
     "https://bcr.bazel.build/modules/rules_cc/0.2.8/MODULE.bazel": "f1df20f0bf22c28192a794f29b501ee2018fa37a3862a1a2132ae2940a23a642",
     "https://bcr.bazel.build/modules/rules_foreign_cc/0.9.0/MODULE.bazel": "c9e8c682bf75b0e7c704166d79b599f93b72cfca5ad7477df596947891feeef6",
     "https://bcr.bazel.build/modules/rules_fuzzing/0.5.2/MODULE.bazel": "40c97d1144356f52905566c55811f13b299453a14ac7769dfba2ac38192337a8",
@@ -204,6 +205,156 @@
   },
   "selectedYankedVersions": {},
   "moduleExtensions": {
+    "@@pybind11_bazel+//:internal_configure.bzl%internal_configure_extension": {
+      "general": {
+        "bzlTransitiveDigest": "uxP2cZuW027Q8wpZbeJeuW5MXcNBO8GcOK/LNN2sPvQ=",
+        "usagesDigest": "D1r3lfzMuUBFxgG8V6o0bQTLMk3GkaGOaPzw53wrwyw=",
+        "recordedFileInputs": {
+          "@@pybind11_bazel+//MODULE.bazel": "e6f4c20442eaa7c90d7190d8dc539d0ab422f95c65a57cc59562170c58ae3d34"
+        },
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "pybind11": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "build_file": "@@pybind11_bazel+//:pybind11-BUILD.bazel",
+              "strip_prefix": "pybind11-2.12.0",
+              "urls": [
+                "https://github.com/pybind/pybind11/archive/v2.12.0.zip"
+              ]
+            }
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "pybind11_bazel+",
+            "bazel_tools",
+            "bazel_tools"
+          ]
+        ]
+      }
+    },
+    "@@rules_apple+//apple:apple.bzl%provisioning_profile_repository_extension": {
+      "general": {
+        "bzlTransitiveDigest": "JNyWptXQtF/Vu+dUIk3wLLXiS47h7sDP2eYWSsD28xU=",
+        "usagesDigest": "vsJl8Rw5NL+5Ag2wdUDoTeRF/5klkXO8545Iy7U1Q08=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "local_provisioning_profiles": {
+            "repoRuleId": "@@rules_apple+//apple/internal:local_provisioning_profiles.bzl%provisioning_profile_repository",
+            "attributes": {}
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "apple_support+",
+            "bazel_skylib",
+            "bazel_skylib+"
+          ],
+          [
+            "bazel_tools",
+            "rules_cc",
+            "rules_cc+"
+          ],
+          [
+            "rules_apple+",
+            "bazel_skylib",
+            "bazel_skylib+"
+          ],
+          [
+            "rules_apple+",
+            "bazel_tools",
+            "bazel_tools"
+          ],
+          [
+            "rules_apple+",
+            "build_bazel_apple_support",
+            "apple_support+"
+          ],
+          [
+            "rules_apple+",
+            "build_bazel_rules_swift",
+            "rules_swift+"
+          ],
+          [
+            "rules_cc+",
+            "bazel_tools",
+            "bazel_tools"
+          ],
+          [
+            "rules_cc+",
+            "cc_compatibility_proxy",
+            "rules_cc++compatibility_proxy+cc_compatibility_proxy"
+          ],
+          [
+            "rules_cc+",
+            "rules_cc",
+            "rules_cc+"
+          ],
+          [
+            "rules_cc++compatibility_proxy+cc_compatibility_proxy",
+            "rules_cc",
+            "rules_cc+"
+          ],
+          [
+            "rules_swift+",
+            "bazel_skylib",
+            "bazel_skylib+"
+          ],
+          [
+            "rules_swift+",
+            "bazel_tools",
+            "bazel_tools"
+          ],
+          [
+            "rules_swift+",
+            "build_bazel_apple_support",
+            "apple_support+"
+          ],
+          [
+            "rules_swift+",
+            "build_bazel_rules_swift",
+            "rules_swift+"
+          ],
+          [
+            "rules_swift+",
+            "build_bazel_rules_swift_local_config",
+            "rules_swift++non_module_deps+build_bazel_rules_swift_local_config"
+          ]
+        ]
+      }
+    },
+    "@@rules_apple+//apple:extensions.bzl%non_module_deps": {
+      "general": {
+        "bzlTransitiveDigest": "UsflLeiazyu2v5pvibcvOeIdDV95S25rT96h4XU1nhY=",
+        "usagesDigest": "M3VqFpeTCo4qmrNKGZw0dxBHvTYDrfV3cscGzlSAhQ4=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "xctestrunner": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/google/xctestrunner/archive/b7698df3d435b6491b4b4c0f9fc7a63fbed5e3a6.tar.gz"
+              ],
+              "strip_prefix": "xctestrunner-b7698df3d435b6491b4b4c0f9fc7a63fbed5e3a6",
+              "sha256": "ae3a063c985a8633cb7eb566db21656f8db8eb9a0edb8c182312c7f0db53730d"
+            }
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "rules_apple+",
+            "bazel_tools",
+            "bazel_tools"
+          ]
+        ]
+      }
+    },
     "@@rules_bzlmodrio_toolchains+//:extensions.bzl%sh_configure": {
       "general": {
         "bzlTransitiveDigest": "q+0LgnvjpZ9Y2r2JYzNeYCKGLphbczG73lZ3rBg+XhM=",
@@ -852,6 +1003,165 @@
           ]
         ]
       }
+    },
+    "@@rules_swift+//swift:extensions.bzl%non_module_deps": {
+      "general": {
+        "bzlTransitiveDigest": "WQxCEBSXJEaQYe860JXZvAQug2B6+/VbBtRIDMF0pOc=",
+        "usagesDigest": "mhACFnrdMv9Wi0Mt67bxocJqviRkDSV+Ee5Mqdj5akA=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "com_github_apple_swift_protobuf": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-protobuf/archive/1.20.2.tar.gz"
+              ],
+              "sha256": "3fb50bd4d293337f202d917b6ada22f9548a0a0aed9d9a4d791e6fbd8a246ebb",
+              "strip_prefix": "swift-protobuf-1.20.2/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_protobuf/BUILD.overlay"
+            }
+          },
+          "com_github_grpc_grpc_swift": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/grpc/grpc-swift/archive/1.16.0.tar.gz"
+              ],
+              "sha256": "58b60431d0064969f9679411264b82e40a217ae6bd34e17096d92cc4e47556a5",
+              "strip_prefix": "grpc-swift-1.16.0/",
+              "build_file": "@@rules_swift+//third_party:com_github_grpc_grpc_swift/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_docc_symbolkit": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-docc-symbolkit/archive/refs/tags/swift-5.10-RELEASE.tar.gz"
+              ],
+              "sha256": "de1d4b6940468ddb53b89df7aa1a81323b9712775b0e33e8254fa0f6f7469a97",
+              "strip_prefix": "swift-docc-symbolkit-swift-5.10-RELEASE",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_docc_symbolkit/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_nio": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-nio/archive/2.42.0.tar.gz"
+              ],
+              "sha256": "e3304bc3fb53aea74a3e54bd005ede11f6dc357117d9b1db642d03aea87194a0",
+              "strip_prefix": "swift-nio-2.42.0/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_nio/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_nio_http2": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-nio-http2/archive/1.26.0.tar.gz"
+              ],
+              "sha256": "f0edfc9d6a7be1d587e5b403f2d04264bdfae59aac1d74f7d974a9022c6d2b25",
+              "strip_prefix": "swift-nio-http2-1.26.0/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_nio_http2/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_nio_transport_services": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-nio-transport-services/archive/1.15.0.tar.gz"
+              ],
+              "sha256": "f3498dafa633751a52b9b7f741f7ac30c42bcbeb3b9edca6d447e0da8e693262",
+              "strip_prefix": "swift-nio-transport-services-1.15.0/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_nio_transport_services/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_nio_extras": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-nio-extras/archive/1.4.0.tar.gz"
+              ],
+              "sha256": "4684b52951d9d9937bb3e8ccd6b5daedd777021ef2519ea2f18c4c922843b52b",
+              "strip_prefix": "swift-nio-extras-1.4.0/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_nio_extras/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_log": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-log/archive/1.4.4.tar.gz"
+              ],
+              "sha256": "48fe66426c784c0c20031f15dc17faf9f4c9037c192bfac2f643f65cb2321ba0",
+              "strip_prefix": "swift-log-1.4.4/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_log/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_nio_ssl": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-nio-ssl/archive/2.23.0.tar.gz"
+              ],
+              "sha256": "4787c63f61dd04d99e498adc3d1a628193387e41efddf8de19b8db04544d016d",
+              "strip_prefix": "swift-nio-ssl-2.23.0/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_nio_ssl/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_collections": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-collections/archive/1.0.4.tar.gz"
+              ],
+              "sha256": "d9e4c8a91c60fb9c92a04caccbb10ded42f4cb47b26a212bc6b39cc390a4b096",
+              "strip_prefix": "swift-collections-1.0.4/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_collections/BUILD.overlay"
+            }
+          },
+          "com_github_apple_swift_atomics": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "urls": [
+                "https://github.com/apple/swift-atomics/archive/1.1.0.tar.gz"
+              ],
+              "sha256": "1bee7f469f7e8dc49f11cfa4da07182fbc79eab000ec2c17bfdce468c5d276fb",
+              "strip_prefix": "swift-atomics-1.1.0/",
+              "build_file": "@@rules_swift+//third_party:com_github_apple_swift_atomics/BUILD.overlay"
+            }
+          },
+          "build_bazel_rules_swift_index_import": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "build_file": "@@rules_swift+//third_party:build_bazel_rules_swift_index_import/BUILD.overlay",
+              "canonical_id": "index-import-5.8",
+              "urls": [
+                "https://github.com/MobileNativeFoundation/index-import/releases/download/5.8.0.1/index-import.tar.gz"
+              ],
+              "sha256": "28c1ffa39d99e74ed70623899b207b41f79214c498c603915aef55972a851a15"
+            }
+          },
+          "build_bazel_rules_swift_local_config": {
+            "repoRuleId": "@@rules_swift+//swift/internal:swift_autoconfiguration.bzl%swift_autoconfiguration",
+            "attributes": {}
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "rules_swift+",
+            "bazel_tools",
+            "bazel_tools"
+          ],
+          [
+            "rules_swift+",
+            "build_bazel_rules_swift",
+            "rules_swift+"
+          ]
+        ]
+      }
     }
   },
   "facts": {}

README-CMake.md

@@ -1,12 +1,11 @@
 # WPILib CMake Support
 
-WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although macOS is supported, these docs will only go over Linux and Windows builds, but should mostly work for macOS as well. If you are stuck, you can look at the GitHub workflows for any OS to see how it works.
+WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although macOS is supported, these docs will only go over Linux and Windows builds, but should mostly work for macOS as well. If you are stuck, you can look at the GitHub workflows for any OS to see how it works. The CMake build does not build Java or Python, only C++.
 
 ## Libraries that get built
 * apriltag
 * cameraserver
 * commandsv2
-* commandsv3
 * cscore
 * datalog
 * fields
@@ -18,7 +17,6 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * wpilib (wpilibc, wpilibj, and developerRobot)
 * wpimath
 * wpinet
-* wpiunits
 * wpiutil
 * xrpVendordep
 
@@ -30,30 +28,24 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * wpical
 * halsim_gui (if simulation extensions are enabled)
 
-By default, all libraries get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs. Data Log Tool is only built if libssh is available.
+By default, all libraries get built with a default CMake setup. The libraries are built as shared libraries. Data Log Tool is only built if libssh is available.
 
 ## Prerequisites
 
 OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
 
-If you want JNI and Java, you will need a JDK of at least version 25 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
-
 ## Build Options
 
 The following build options are available:
 
 * `BUILD_SHARED_LIBS` (ON Default)
-  * This option will cause CMake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
+  * This option will cause CMake to build static libraries instead of shared libraries.
 * `WITH_CSCORE` (ON Default)
   * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver. If this is off, the OpenCV build requirement is removed.
 * `WITH_EXAMPLES` (OFF Default)
   * This option will build C++ examples.
 * `WITH_GUI` (ON Default)
   * This option will build GUI items. If this is off, and `WITH_SIMULATION_MODULES` is on, the simulation GUI will not be built.
-* `WITH_JAVA` (OFF Default)
-  * This option will enable Java and JNI builds. If this is on, `BUILD_SHARED_LIBS` must be on. Otherwise CMake will error.
-* `WITH_JAVA_SOURCE` (`WITH_JAVA` Default)
-  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
 * `WITH_NTCORE` (ON Default)
   * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet, and will cause an error if `WITH_WPILIB` is enabled.
 * `WITH_SIMULATION_MODULES` (ON Default)
@@ -61,13 +53,9 @@ The following build options are available:
 * `WITH_TESTS` (ON Default)
   * This option will build C++ unit tests. These can be run via `ctest -C <config>`, where `<config>` is the build configuration, e.g. `Debug` or `Release`.
 * `WITH_WPILIB` (ON Default)
-  * This option will build the HAL and wpilibc/j during the build. The HAL is the simulation HAL, unless the external HAL options are used. The CMake build has no capability to build for Systemcore.
+  * This option will build the HAL and wpilibc during the build. The HAL is the simulation HAL, unless the external HAL options are used. The CMake build has no capability to build for Systemcore.
 * `WITH_WPIMATH` (ON Default)
   * This option will build the wpimath library. This option must be on to build wpilib.
-* `WITH_WPIUNITS` (`WITH_JAVA` Default)
-  * This option will build the wpiunits library. This option must be on to build the Java wpimath library and requires `WITH_JAVA` to also be on.
-* `OPENCV_JAVA_INSTALL_DIR`
-  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
 * `NO_WERROR` (OFF Default)
   * This option will disable the `-Werror` compilation flag for non-MSVC builds.
 * `WPILIB_TARGET_WARNINGS`
@@ -89,7 +77,7 @@ If you want, you can also use `ccmake` in order to visually set these properties
 
 ## Presets
 
-The WPILib CMake setup has a variety of presets for common configurations and options used. The default sets the generator to Ninja and build directory to `build-cmake`. The other presets are `with-java` (sets `WITH_JAVA=ON`), `sccache` (sets the C/C++ compiler launcher to sccache), and `with-java-sccache` (a combination of `with-java` and `sccache`).
+The WPILib CMake setup has a variety of presets for common configurations and options used. The default sets the generator to Ninja and build directory to `build-cmake`. The other preset is `sccache` (sets the C/C++ compiler launcher to sccache).
 
 ## Building
 
@@ -115,7 +103,7 @@ sudo cmake --build . --target install
 
 On Windows, make sure the directories for the libraries you built are on PATH. For wpilib, the default install location is `C:\Program Files (x86)\allwpilib`. If you built other libraries like OpenCV from source, install them, and add the install directories to PATH. This ensures CMake can locate the libraries.
 
-You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program. If you are using OpenCV and Java, the `opencv_java` DLL is located in either the `lib` subdirectory if you built but didn't install OpenCV, or the `java` subdirectory if you did install OpenCV.
+You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program.
 
 ## Using the installed libraries for C++.
 
@@ -143,40 +131,9 @@ cmake /path/to/folder/containing/CMakeLists
 
 After that, run `cmake --build .`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
 
-## Using the installed libraries for Java
-
-Using the built JARs is more involved than using the C++ libraries, but the additional work involves providing the paths to various libraries and JARs when needed.
-
-Create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
-
-```cmake
-cmake_minimum_required(VERSION 3.11)
-project(robot)
-
-find_package(Java REQUIRED COMPONENTS Development)
-include(UseJava)
-find_package(wpilib REQUIRED)
-find_jar(opencvJar opencv-xxx PATHS ENV PATH) # Change to OpenCV version
-
-file(GLOB_RECURSE JAVA_SOURCES *.java)
-# If you want Gradle compatibility or you are using one of the templates/examples, comment out the above line and uncomment this line instead:
-# file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-add_jar(robot ${JAVA_SOURCES}
-    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar commandsv2_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
-export_jars(TARGETS robot FILE robot.jar)
-```
-This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
-Add a `Main.java` file to contain your code, and create a build folder. Move into the build folder, and run
-
-```
-cmake /path/to/folder/containing/CMakeLists
-```
-
-After that, run `cmake --build .` to create your JAR file. To execute the JAR file, you need to include the wpilib JARs and your JAR in the classpath, and execute your Java program's entry point. If you are using cscore or cameraserver, you also need to include the path to the OpenCV JAR. If you built it from source, it will be in your OpenCV build directory. If it's installed on the system, CMake may find it from PATH, but you will likely need to locate the JAR and manually give CMake the JAR directory. If you are on Linux, you will also need to add the path of the libraries to `LD_LIBRARY_PATH`. This can be done by prepending `LD_LIBRARY_PATH=/path/to/libraries` to the Java command. If you need to add more paths, separate them with colons. The final command should look like `java -cp "robot.jar:/path/to/library_jars/*" main.package.Main`, using a semicolon to separate paths instead of a colon if you are on Windows. If you are on Linux, the final command should look more like `LD_LIBRARY_PATH=/path/to/libraries java -cp robot.jar:/path/to/library_jars/* main.package.Main`.
-
 ## Using vendordeps
 
-Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that commandsv2, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that commandsv2, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal (using `target_link_libraries`).
 
 ## Troubleshooting
 Below are some common issues that are run into when building.
@@ -204,32 +161,3 @@ CMake Error at cscore/CMakeLists.txt:3 (find_package):
 ```
 
 If you get that, you need make sure OpenCV was installed, and then reattempt to configure. If that doesn't work, set the `OpenCV_DIR` variable to the directory where you built OpenCV.
-
-#### Missing Java
-
-If you are missing Java, you will get a message like the following.
-```
-CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
-  Could NOT find Java (missing: Java_JAVA_EXECUTABLE Java_JAR_EXECUTABLE
-  Java_JAVAC_EXECUTABLE Java_JAVAH_EXECUTABLE Java_JAVADOC_EXECUTABLE
-  Development)
-```
-
-If this happens, make sure you have a JDK of at least version 25 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
-
-In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.
-
-#### Java: Can't find dependent libraries
-
-If one of the libraries can't be found, you will get an error similar to this one:
-
-```
-java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
-        attempted to load for platform windows-x86_64
-Last Load Error:
-C:\Program Files (x86)\allwpilib\bin\wpiHaljni.dll: Can't find dependent libraries
-```
-
-If you get this error, that's usually an indication that not all your libraries are in your PATH. If the error is coming from cscore specifically, it's likely you're missing OpenCV. Otherwise, it's likely the wpilib libraries are not in a directory on PATH.
-
-Note that Linux will not have this specific type of error, as it will usually tell you the dependent library you are missing. In that case, you most likely need to add the library to `LD_LIBRARY_PATH`.

ThirdPartyNotices.txt

@@ -49,6 +49,7 @@ mrcal                 tools/wpical/src/main/native/thirdparty/mrcal
 libdogleg             tools/wpical/src/main/native/thirdparty/libdogleg
 Simd                  hal/src/main/native/systemcore/simd
 AdvantageScope        fields/src/main/native/resources/org/wpilib/fields/ftc
+Avahi                 wpinet/src/main/native/linux/AvahiClient.hpp
 
 Additionally, glfw and nanopb were modified for use in WPILib.
 
@@ -1595,3 +1596,509 @@ DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
 OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+=============
+Avahi License
+=============
+
+                  GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 2.1, February 1999
+
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+ <https://fsf.org/>
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+
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+
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+possible use to the public, we recommend making it free software that
+everyone can redistribute and change.  You can do so by permitting
+redistribution under these terms (or, alternatively, under the terms of the
+ordinary General Public License).
+
+  To apply these terms, attach the following notices to the library.  It is
+safest to attach them to the start of each source file to most effectively
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+"copyright" line and a pointer to where the full notice is found.
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+    Copyright (C) <year>  <name of author>
+
+    This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+    This library is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+    Lesser General Public License for more details.
+
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+
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+
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+
+  <signature of Moe Ghoul>, 1 April 1990
+  Moe Ghoul, President of Vice
+
+That's all there is to it!

WORKSPACE.bzlmod

@@ -1,9 +1,5 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
-load("//thirdparty/ceres:repositories.bzl", "ceres_repositories")
-
-ceres_repositories()
-
 http_archive(
     name = "pybind11_bazel",
     integrity = "sha256-iwRj1wuX2pDS6t6DqiCfhIXisv4y+7CvxSJtZoSAzGw=",
@@ -29,16 +25,6 @@ load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cp
 
 setup_legacy_bzlmodrio_opencv_cpp_dependencies()
 
-http_archive(
-    name = "bzlmodrio-libssh",
-    sha256 = "f8fef627c7b393f7f6ed638e12b80ff90b2cfea11488b15214f25ce1e470723a",
-    url = "https://github.com/wpilibsuite/bzlmodRio-libssh/releases/download/2024.0.105-1.bcr1/bzlmodrio-libssh-2024.0.105-1.bcr1.tar.gz",
-)
-
-load("@bzlmodrio-libssh//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_libssh_cpp_dependencies")
-
-setup_legacy_bzlmodrio_libssh_cpp_dependencies()
-
 # Capture the repository environmental variables which specify the filter list for what architectures to build in CI.
 load("//shared/bazel/rules:publishing_rule.bzl", "publishing_repo")
 

apriltag/BUILD.bazel

@@ -164,13 +164,13 @@ pkg_files(
 cc_test(
     name = "apriltag-cpp-test",
     size = "small",
-    srcs = glob(["src/test/native/cpp/**"]),
+    srcs = glob(["src/test/native/cpp/**/*.cpp"]),
     tags = [
         "no-asan",
     ],
     deps = [
         ":apriltag",
-        "//thirdparty/googletest",
+        "//thirdparty/catch2",
     ],
 )
 

apriltag/CMakeLists.txt

@@ -31,81 +31,6 @@ else()
     )
 endif()
 
-file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
-
-if(WITH_JAVA)
-    include(UseJava)
-
-    set(CMAKE_JNI_TARGET true)
-
-    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
-    find_file(
-        OPENCV_JAR_FILE
-        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
-        PATHS
-            ${OPENCV_JAVA_INSTALL_DIR}
-            ${OpenCV_INSTALL_PATH}/bin
-            ${OpenCV_INSTALL_PATH}/share/java
-            ${OpenCV_INSTALL_PATH}/share/java/opencv4
-            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
-        NO_DEFAULT_PATH
-    )
-
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-    file(
-        GLOB_RECURSE JAVA_RESOURCES
-        RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-        src/main/native/resources/*.json
-    )
-    add_jar(
-        apriltag_jar
-        SOURCES ${JAVA_SOURCES}
-        RESOURCES
-        NAMESPACE "org/wpilib/vision/apriltag" ${JAVA_RESOURCES}
-        INCLUDE_JARS
-            wpimath_jar
-            wpiunits_jar
-            wpiutil_jar
-            ${EJML_JARS}
-            ${OPENCV_JAR_FILE}
-            ${AVAJE_JARS}
-        OUTPUT_NAME apriltag
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-        GENERATE_NATIVE_HEADERS apriltag_jni_headers
-    )
-    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
-
-    install_jar(apriltag_jar DESTINATION ${java_lib_dest})
-    install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
-
-    add_library(apriltagjni ${apriltag_jni_src} ${apriltaglib_src})
-    wpilib_target_warnings(apriltagjni)
-    target_link_libraries(apriltagjni PUBLIC apriltag)
-
-    set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
-
-    target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
-    add_dependencies(apriltagjni apriltag_jar)
-
-    install(TARGETS apriltagjni EXPORT apriltagjni)
-    export(TARGETS apriltagjni FILE apriltagjni.cmake NAMESPACE apriltagjni::)
-endif()
-
-if(WITH_JAVA_SOURCE)
-    include(UseJava)
-    include(CreateSourceJar)
-    add_source_jar(
-        apriltag_src_jar
-        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
-        OUTPUT_NAME apriltag-sources
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-    )
-    set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
-
-    install_jar(apriltag_src_jar DESTINATION ${java_lib_dest})
-endif()
-
 generate_resources(
     src/main/native/resources/org/wpilib/vision/apriltag
     generated/main/cpp
@@ -152,7 +77,7 @@ install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION share/april
 install(EXPORT apriltag DESTINATION share/apriltag)
 
 if(WITH_TESTS)
-    wpilib_add_test(apriltag src/test/native/cpp)
+    wpilib_add_test_catch2(apriltag src/test/native/cpp)
     target_include_directories(apriltag_test PRIVATE src/test/native/include)
-    target_link_libraries(apriltag_test apriltag googletest)
+    target_link_libraries(apriltag_test apriltag)
 endif()

apriltag/apriltag-config.cmake.in

@@ -5,6 +5,3 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/apriltag.cmake)
-if(@WITH_JAVA@)
-    include(${SELF_DIR}/apriltag_jar.cmake)
-endif()

apriltag/build.gradle

@@ -5,11 +5,12 @@ apply plugin: 'c'
 ext {
     nativeName = 'apriltag'
     devMain = 'org.wpilib.vision.apriltag.DevMain'
+    nativeTestSuiteName = "${nativeName}Catch2Test"
     useJava = true
     useCpp = true
     sharedCvConfigs = [
         apriltagDev : [],
-        apriltagTest: []]
+        (nativeTestSuiteName): []]
     staticCvConfigs = []
 
     def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'wpi::apriltag', project)

apriltag/robotpy_native_build_info.bzl

@@ -1,9 +1,11 @@
 # THIS FILE IS AUTO GENERATED
 
 load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
-load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
+load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "copy_native_file", "generate_native_files", "robotpy_library")
 
 def define_native_wrapper(name, pyproject_toml = None):
+    pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml"
+
     copy_to_directory(
         name = "{}.copy_headers".format(name),
         srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True) + native.glob([
@@ -20,25 +22,42 @@ def define_native_wrapper(name, pyproject_toml = None):
         visibility = ["//visibility:public"],
     )
 
-    native_wrappery_library(
+    libinit_files = ["native/apriltag/_init_robotpy_native_apriltag.py"]
+
+    generate_native_files(
         name = name,
-        pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
-        libinit_file = "native/apriltag/_init_robotpy_native_apriltag.py",
-        pc_file = "native/apriltag/robotpy-native-apriltag.pc",
+        pyproject_toml = pyproject_toml,
         pc_deps = [
             "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
             "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
         ],
+        libinit_files = libinit_files,
+        pc_files = ["native/apriltag/robotpy-native-apriltag.pc"],
+    )
+
+    copy_native_file(
+        name = "apriltag",
+        library = "shared/apriltag",
+        base_path = "native/apriltag/",
+    )
+
+    robotpy_library(
+        name = name,
+        distribution = "robotpy-native-apriltag",
+        srcs = libinit_files,
+        data = [
+            name + ".pc_wrapper",
+            ":apriltag.copy_lib",
+            "{}.copy_headers".format(name),
+        ],
         deps = [
             "//wpimath:robotpy-native-wpimath",
             "//wpiutil:robotpy-native-wpiutil",
         ],
-        headers = "{}.copy_headers".format(name),
-        native_shared_library = "shared/apriltag",
-        install_path = "native/apriltag/",
-        strip_path_prefixes = ["apriltag"],
-        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-wpimath==0.0.0"],
         summary = "WPILib AprilTag Library",
+        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-wpimath==0.0.0"],
+        python_requires = ">=3.11",
+        strip_path_prefixes = ["apriltag"],
         entry_points = {
             "pkg_config": [
                 "apriltag = native.apriltag",

apriltag/robotpy_pybind_build_info.bzl

@@ -1,7 +1,7 @@
 # THIS FILE IS AUTO GENERATED
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
-load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
+load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
@@ -198,6 +198,7 @@ def define_pybind_library(name, pkgcfgs = []):
 
     robotpy_library(
         name = name,
+        distribution = "robotpy-apriltag",
         srcs = native.glob(["src/main/python/robotpy_apriltag/**/*.py"]) + [
             "src/main/python/robotpy_apriltag/_init__apriltag.py",
             "{}.generate_version".format(name),
@@ -219,6 +220,7 @@ def define_pybind_library(name, pkgcfgs = []):
         project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
         author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
         requires = ["robotpy-native-apriltag==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0"],
+        python_requires = ">=3.11",
         entry_points = {
             "pkg_config": ["apriltag = robotpy_apriltag"],
         },

apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp

@@ -4,10 +4,6 @@
 
 #pragma once
 
-#include <string_view>
-
-#include "wpi/util/SymbolExports.hpp"
-
 namespace wpi::apriltag {
 
 /**

apriltag/src/main/python/native-pyproject.toml

@@ -12,6 +12,7 @@ requires = [
 name = "robotpy-native-apriltag"
 version = "0.0.0"
 description = "WPILib AprilTag Library"
+requires-python = ">=3.11"
 license = "BSD-3-Clause"
 
 dependencies = [

apriltag/src/main/python/pyproject.toml

@@ -14,6 +14,7 @@ requires = [
 name = "robotpy-apriltag"
 version = "0.0.0"
 description = "RobotPy bindings for WPILib's AprilTag library"
+requires-python = ">=3.11"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]

apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp

@@ -4,55 +4,55 @@
 
 #include "wpi/apriltag/AprilTagDetector.hpp"
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 
 using namespace wpi::apriltag;
 
-TEST(AprilTagDetectorTest, ConfigDefaults) {
+TEST_CASE("AprilTagDetectorTest ConfigDefaults", "[apriltag][detector]") {
   AprilTagDetector detector;
   auto config = detector.GetConfig();
-  ASSERT_EQ(config, AprilTagDetector::Config{});
+  REQUIRE(config == AprilTagDetector::Config{});
 }
 
-TEST(AprilTagDetectorTest, QtpDefaults) {
+TEST_CASE("AprilTagDetectorTest QtpDefaults", "[apriltag][detector]") {
   AprilTagDetector detector;
   auto params = detector.GetQuadThresholdParameters();
-  ASSERT_EQ(params, AprilTagDetector::QuadThresholdParameters{});
+  REQUIRE(params == AprilTagDetector::QuadThresholdParameters{});
 }
 
-TEST(AprilTagDetectorTest, SetConfigNumThreads) {
+TEST_CASE("AprilTagDetectorTest SetConfigNumThreads", "[apriltag][detector]") {
   AprilTagDetector detector;
   detector.SetConfig({.numThreads = 2});
   auto config = detector.GetConfig();
-  ASSERT_EQ(config.numThreads, 2);
+  REQUIRE(config.numThreads == 2);
 }
 
-TEST(AprilTagDetectorTest, QtpMinClusterPixels) {
+TEST_CASE("AprilTagDetectorTest QtpMinClusterPixels", "[apriltag][detector]") {
   AprilTagDetector detector;
   detector.SetQuadThresholdParameters({.minClusterPixels = 8});
   auto params = detector.GetQuadThresholdParameters();
-  ASSERT_EQ(params.minClusterPixels, 8);
+  REQUIRE(params.minClusterPixels == 8);
 }
 
-TEST(AprilTagDetectorTest, Add16h5) {
+TEST_CASE("AprilTagDetectorTest Add16h5", "[apriltag][detector]") {
   AprilTagDetector detector;
-  ASSERT_TRUE(detector.AddFamily("tag16h5"));
+  REQUIRE(detector.AddFamily("tag16h5"));
   // duplicate addition is also okay
-  ASSERT_TRUE(detector.AddFamily("tag16h5"));
+  REQUIRE(detector.AddFamily("tag16h5"));
 }
 
-TEST(AprilTagDetectorTest, Add36h11) {
+TEST_CASE("AprilTagDetectorTest Add36h11", "[apriltag][detector]") {
   AprilTagDetector detector;
-  ASSERT_TRUE(detector.AddFamily("tag36h11"));
+  REQUIRE(detector.AddFamily("tag36h11"));
 }
 
-TEST(AprilTagDetectorTest, AddMultiple) {
+TEST_CASE("AprilTagDetectorTest AddMultiple", "[apriltag][detector]") {
   AprilTagDetector detector;
-  ASSERT_TRUE(detector.AddFamily("tag16h5"));
-  ASSERT_TRUE(detector.AddFamily("tag36h11"));
+  REQUIRE(detector.AddFamily("tag16h5"));
+  REQUIRE(detector.AddFamily("tag36h11"));
 }
 
-TEST(AprilTagDetectorTest, RemoveFamily) {
+TEST_CASE("AprilTagDetectorTest RemoveFamily", "[apriltag][detector]") {
   AprilTagDetector detector;
   // okay to remove non-existent family
   detector.RemoveFamily("tag16h5");

apriltag/src/test/native/cpp/AprilTagJsonTest.cpp

@@ -4,7 +4,7 @@
 
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 
 #include "wpi/apriltag/AprilTag.hpp"
 #include "wpi/apriltag/AprilTagFieldLayout.hpp"
@@ -13,7 +13,7 @@
 
 using namespace wpi::apriltag;
 
-TEST(AprilTagJsonTest, DeserializeMatches) {
+TEST_CASE("AprilTagJsonTest DeserializeMatches", "[apriltag][json]") {
   auto layout = AprilTagFieldLayout{
       std::vector{AprilTag{1, wpi::math::Pose3d{}},
                   AprilTag{3, wpi::math::Pose3d{0_m, 1_m, 0_m,
@@ -23,6 +23,6 @@ TEST(AprilTagJsonTest, DeserializeMatches) {
 
   AprilTagFieldLayout deserialized;
   wpi::util::json json = layout;
-  EXPECT_NO_THROW(deserialized = json.get<AprilTagFieldLayout>());
-  EXPECT_EQ(layout, deserialized);
+  CHECK_NOTHROW(deserialized = json.get<AprilTagFieldLayout>());
+  CHECK(layout == deserialized);
 }

apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp

@@ -4,7 +4,7 @@
 
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 
 #include "wpi/apriltag/AprilTag.hpp"
 #include "wpi/apriltag/AprilTagFieldLayout.hpp"
@@ -13,7 +13,8 @@
 
 using namespace wpi::apriltag;
 
-TEST(AprilTagPoseSetOriginTest, TransformationMatches) {
+TEST_CASE("AprilTagPoseSetOriginTest TransformationMatches",
+          "[apriltag][field-layout][pose]") {
   auto layout = AprilTagFieldLayout{
       std::vector<AprilTag>{
           AprilTag{
@@ -29,8 +30,8 @@ TEST(AprilTagPoseSetOriginTest, TransformationMatches) {
 
   auto mirrorPose = wpi::math::Pose3d{
       54_ft, 27_ft, 0_ft, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}};
-  EXPECT_EQ(mirrorPose, *layout.GetTagPose(1));
+  CHECK(mirrorPose == *layout.GetTagPose(1));
   mirrorPose = wpi::math::Pose3d{50_ft, 23_ft, 4_ft,
                                  wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}};
-  EXPECT_EQ(mirrorPose, *layout.GetTagPose(2));
+  CHECK(mirrorPose == *layout.GetTagPose(2));
 }

apriltag/src/test/native/cpp/LoadConfigTest.cpp

@@ -4,7 +4,7 @@
 
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 
 #include "wpi/apriltag/AprilTagFieldLayout.hpp"
 #include "wpi/apriltag/AprilTagFields.hpp"
@@ -21,7 +21,8 @@ std::vector<AprilTagField> GetAllFields() {
   return output;
 }
 
-TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
+TEST_CASE("AprilTagFieldsTest TestLoad2022RapidReact",
+          "[apriltag][field-layout]") {
   AprilTagFieldLayout layout =
       AprilTagFieldLayout::LoadField(AprilTagField::k2022RapidReact);
 
@@ -30,39 +31,36 @@ TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
       wpi::math::Pose3d{127.272_in, 216.01_in, 67.932_in,
                         wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}};
   auto maybePose = layout.GetTagPose(1);
-  EXPECT_TRUE(maybePose);
-  EXPECT_EQ(expectedPose, *maybePose);
+  REQUIRE(maybePose);
+  CHECK(expectedPose == *maybePose);
 
   // Blue Terminal Near Station
   expectedPose =
       wpi::math::Pose3d{4.768_in, 67.631_in, 35.063_in,
                         wpi::math::Rotation3d{0_deg, 0_deg, 46.25_deg}};
   maybePose = layout.GetTagPose(5);
-  EXPECT_TRUE(maybePose);
-  EXPECT_EQ(expectedPose, *maybePose);
+  REQUIRE(maybePose);
+  CHECK(expectedPose == *maybePose);
 
   // Upper Hub Blue-Near
   expectedPose =
       wpi::math::Pose3d{332.321_in, 183.676_in, 95.186_in,
                         wpi::math::Rotation3d{0_deg, 26.75_deg, 69_deg}};
   maybePose = layout.GetTagPose(53);
-  EXPECT_TRUE(maybePose);
-  EXPECT_EQ(expectedPose, *maybePose);
+  REQUIRE(maybePose);
+  CHECK(expectedPose == *maybePose);
 
   // Doesn't exist
   maybePose = layout.GetTagPose(54);
-  EXPECT_FALSE(maybePose);
+  CHECK_FALSE(maybePose);
 }
 
 // Test all of the fields in the enum
-class AllFieldsFixtureTest : public ::testing::TestWithParam<AprilTagField> {};
-
-TEST_P(AllFieldsFixtureTest, CheckEntireEnum) {
-  AprilTagField field = GetParam();
-  EXPECT_NO_THROW(AprilTagFieldLayout::LoadField(field));
+TEST_CASE("AprilTagFieldsTest CheckEntireEnum", "[apriltag][field-layout]") {
+  for (auto field : GetAllFields()) {
+    CAPTURE(field);
+    CHECK_NOTHROW(AprilTagFieldLayout::LoadField(field));
+  }
 }
 
-INSTANTIATE_TEST_SUITE_P(ValuesEnumTestInstTests, AllFieldsFixtureTest,
-                         ::testing::ValuesIn(GetAllFields()));
-
 }  // namespace wpi::apriltag

apriltag/src/test/native/cpp/main.cpp

@@ -2,10 +2,8 @@
 // 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 <gtest/gtest.h>
+#include <catch2/catch_session.hpp>
 
 int main(int argc, char** argv) {
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  return ret;
+  return Catch::Session().run(argc, argv);
 }

cameraserver/CMakeLists.txt

@@ -3,57 +3,6 @@ project(cameraserver)
 include(CompileWarnings)
 include(AddTest)
 
-# Java bindings
-if(WITH_JAVA)
-    include(UseJava)
-
-    #find JAR file, copy it locally
-    set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/java/opencv4)
-
-    find_file(
-        OPENCV_JAR_FILE
-        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
-        PATHS
-            ${OPENCV_JAVA_INSTALL_DIR}
-            ${OpenCV_INSTALL_PATH}/bin
-            ${OpenCV_INSTALL_PATH}/share/java
-            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
-        NO_DEFAULT_PATH
-    )
-
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-
-    add_jar(
-        cameraserver_jar
-        ${JAVA_SOURCES}
-        INCLUDE_JARS wpiutil_jar cscore_jar ntcore_jar ${OPENCV_JAR_FILE}
-        OUTPUT_NAME cameraserver
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-    )
-    set_property(TARGET cameraserver_jar PROPERTY FOLDER "java")
-
-    install_jar(cameraserver_jar DESTINATION ${java_lib_dest})
-    install_jar_exports(
-        TARGETS cameraserver_jar
-        FILE cameraserver_jar.cmake
-        DESTINATION share/cameraserver
-    )
-endif()
-
-if(WITH_JAVA_SOURCE)
-    include(UseJava)
-    include(CreateSourceJar)
-    add_source_jar(
-        cameraserver_src_jar
-        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
-        OUTPUT_NAME cameraserver-sources
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-    )
-    set_property(TARGET cameraserver_src_jar PROPERTY FOLDER "java")
-
-    install_jar(cameraserver_src_jar DESTINATION ${java_lib_dest})
-endif()
-
 file(GLOB_RECURSE cameraserver_native_src src/main/native/cpp/*.cpp)
 add_library(cameraserver ${cameraserver_native_src})
 set_target_properties(cameraserver PROPERTIES DEBUG_POSTFIX "d")

cameraserver/cameraserver-config.cmake.in

@@ -8,6 +8,3 @@ find_dependency(OpenCV)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/cameraserver.cmake)
-if(@WITH_JAVA@)
-    include(${SELF_DIR}/cameraserver_jar.cmake)
-endif()

cmake/modules/AddTest.cmake

@@ -13,3 +13,23 @@ macro(wpilib_add_test name srcdir)
     endif()
     add_test(NAME ${name} COMMAND ${name}_test)
 endmacro()
+
+macro(wpilib_add_test_catch2 name)
+    set(wpilib_catch2_test_src)
+    foreach(src ${ARGN})
+        if(IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/${src}")
+            file(GLOB_RECURSE wpilib_catch2_dir_src ${src}/*.cpp)
+            list(APPEND wpilib_catch2_test_src ${wpilib_catch2_dir_src})
+        else()
+            list(APPEND wpilib_catch2_test_src ${src})
+        endif()
+    endforeach()
+    add_executable(${name}_test ${wpilib_catch2_test_src})
+    set_property(TARGET ${name}_test PROPERTY FOLDER "tests")
+    wpilib_target_warnings(${name}_test)
+    target_link_libraries(${name}_test catch2)
+    catch_discover_tests(${name}_test)
+    if(MSVC)
+        target_compile_options(${name}_test PRIVATE /wd4101 /wd4251 /utf-8)
+    endif()
+endmacro()

cmake/modules/CreateSourceJar.cmake

@@ -1,33 +0,0 @@
-macro(add_source_jar target)
-    set(oneValueArgs OUTPUT_NAME OUTPUT_DIR)
-    cmake_parse_arguments(SOURCE_JAR "" "${oneValueArgs}" "BASE_DIRECTORIES" ${ARGN})
-    foreach(base_package_dir ${SOURCE_JAR_BASE_DIRECTORIES})
-        file(GLOB_RECURSE directories LIST_DIRECTORIES true ${base_package_dir}/*.directoriesonly)
-        # Find all packages
-        foreach(directory ${directories})
-            cmake_path(
-                RELATIVE_PATH directory
-                BASE_DIRECTORY ${base_package_dir}
-                OUTPUT_VARIABLE package_name
-            )
-            file(GLOB package_sources ${directory}/*.java)
-            if(package_sources STREQUAL "")
-                continue()
-            endif()
-            # If package sources are scattered across different places, consolidate them under one package
-            list(FIND packages ${package_name} index)
-            if(index EQUAL -1)
-                list(APPEND packages ${package_name})
-            endif()
-            list(APPEND ${package_name} ${package_sources})
-        endforeach()
-    endforeach()
-    set(resources "")
-    foreach(package ${packages})
-        string(APPEND resources "NAMESPACE \"${package}\" ${${package}} ")
-    endforeach()
-    cmake_language(
-        EVAL CODE
-            "add_jar(${target} RESOURCES ${resources} OUTPUT_NAME ${SOURCE_JAR_OUTPUT_NAME} OUTPUT_DIR ${SOURCE_JAR_OUTPUT_DIR})"
-    )
-endmacro()

commandsv2/BUILD.bazel

@@ -2,14 +2,13 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
-load("@rules_pycross//pycross:defs.bzl", "pycross_wheel_library")
-load("@rules_python//python:defs.bzl", "py_binary", "py_library")
-load("@rules_python//python:packaging.bzl", "py_wheel")
+load("@rules_python//python:defs.bzl", "py_binary")
 load("//commandsv2:generate.bzl", "generate_wpilib_new_commands")
 load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test", "wpilib_java_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
 load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
+load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "robotpy_library")
 
 filegroup(
     name = "doxygen-files",
@@ -188,30 +187,21 @@ package_default_cc_project(
     maven_group_id = "org.wpilib.commandsv2",
 )
 
-py_library(
-    name = "commandsv2-py-lib",
-    srcs = glob(["src/main/python/**/*.py"]),
-    imports = ["src/main/python"],
-    deps = [
-        "//wpilibc:robotpy-wpilib",
-        requirement("typing-extensions"),
-    ],
-)
-
-py_wheel(
-    name = "commandsv2-wheel",
-    distribution = "commandsv2",
-    strip_path_prefixes = ["commandsv2/src/main/python"],
-    tags = ["robotpy"],
-    version = "$(ROBOTPY_VERSION)",
-    deps = [":commandsv2-py-lib"],
-)
-
-pycross_wheel_library(
+robotpy_library(
     name = "commandsv2-py",
-    tags = ["manual"],
-    visibility = ["//visibility:public"],
-    wheel = ":commandsv2-wheel",
+    srcs = glob(["src/main/python/**/*.py"]),
+    author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+    description_file = "src/main/python/README.md",
+    distribution = "robotpy-commands-v2",
+    imports = ["src/main/python"],
+    project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+    python_requires = ">=3.10",
+    requires = [
+        "wpilib==0.0.0",
+        "typing_extensions>=4.1.0,<5",
+    ],
+    strip_path_prefixes = ["commandsv2/src/main/python"],
+    summary = "WPILib command framework v2",
     deps = [
         "//wpilibc:robotpy-wpilib",
         requirement("typing-extensions"),

commandsv2/CMakeLists.txt

@@ -4,55 +4,6 @@ include(SubDirList)
 include(CompileWarnings)
 include(AddTest)
 
-if(WITH_JAVA)
-    include(UseJava)
-
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
-    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
-    add_jar(
-        commandsv2_jar
-        ${JAVA_SOURCES}
-        INCLUDE_JARS
-            hal_jar
-            ntcore_jar
-            ${AVAJE_JARS}
-            cscore_jar
-            cameraserver_jar
-            wpimath_jar
-            wpiunits_jar
-            wpiutil_jar
-            wpilibj_jar
-            datalog_jar
-            wpiannotations_jar
-        OUTPUT_NAME commandsv2
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-    )
-    set_property(TARGET commandsv2_jar PROPERTY FOLDER "java")
-
-    install_jar(commandsv2_jar DESTINATION ${java_lib_dest})
-    install_jar_exports(
-        TARGETS commandsv2_jar
-        FILE commandsv2_jar.cmake
-        DESTINATION share/commandsv2
-    )
-endif()
-
-if(WITH_JAVA_SOURCE)
-    include(UseJava)
-    include(CreateSourceJar)
-    add_source_jar(
-        commandsv2_src_jar
-        BASE_DIRECTORIES
-            ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
-            ${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
-        OUTPUT_NAME commandsv2-sources
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-    )
-    set_property(TARGET commandsv2_src_jar PROPERTY FOLDER "java")
-
-    install_jar(commandsv2_src_jar DESTINATION ${java_lib_dest})
-endif()
-
 file(
     GLOB_RECURSE commandsv2_native_src
     src/main/native/cpp/*.cpp

commandsv2/commandsv2-config.cmake.in

@@ -10,6 +10,3 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/commandsv2.cmake)
-if(@WITH_JAVA@)
-    include(${SELF_DIR}/commandsv2_jar.cmake)
-endif()

commandsv2/generate.bzl

@@ -7,6 +7,7 @@ def __generate_wpilib_new_commands_impl(ctx):
     args = ctx.actions.args()
     args.add("--output_directory", output_dir.path)
     args.add("--template_root", "commandsv2/src/generate")
+    args.add("--python_output_directory", "__none__")
 
     ctx.actions.run(
         inputs = ctx.attr._templates.files,

commandsv2/generate_hids.py

@@ -6,6 +6,7 @@
 
 import argparse
 import json
+import re
 from pathlib import Path
 
 from jinja2 import Environment, FileSystemLoader
@@ -63,6 +64,147 @@ def generate_hids(output_directory: Path, template_directory: Path, schema_file:
         write_controller_file(root_path, controllerName, output)
 
 
+def _capitalize_first(name: str) -> str:
+    return name[0].upper() + name[1:]
+
+
+def _display_name(name: str) -> str:
+    name = re.sub(r"([a-z0-9])([A-Z])", r"\1 \2", name)
+    name = re.sub(r"([A-Z]+)([A-Z][a-z])", r"\1 \2", name)
+    name = re.sub(r"([A-Za-z])([0-9])", r"\1 \2", name)
+    return name[0].upper() + name[1:]
+
+
+def _constant_name(name: str) -> str:
+    name = re.sub(r"([A-Z]+)([A-Z][a-z])", r"\1_\2", name)
+    name = re.sub(r"([a-z0-9])([A-Z])", r"\1_\2", name)
+    name = re.sub(r"([a-z])([0-9])", r"\1_\2", name)
+    return name.upper()
+
+
+def _is_trigger_axis(name: str) -> bool:
+    return name.endswith("Trigger") or name in {
+        "L2",
+        "R2",
+        "ZL",
+        "ZR",
+    }
+
+
+def _normalize_command_mapping(mapping: dict[str, int]):
+    return [
+        {
+            "Name": name,
+            "MethodName": _capitalize_first(name),
+            "ConstantName": _constant_name(name),
+            "DocName": _display_name(name),
+            "value": value,
+        }
+        for name, value in mapping.items()
+    ]
+
+
+def _normalize_first_ds_command_controller(controller: dict):
+    buttons = _normalize_command_mapping(controller["buttons"])
+    axes = _normalize_command_mapping(controller["axes"])
+    button_names = {button["Name"] for button in buttons}
+
+    trigger_axes = []
+    for axis in axes:
+        if not _is_trigger_axis(axis["Name"]):
+            continue
+
+        name = axis["Name"]
+        trigger_name = name
+        trigger_axes.append(
+            {
+                "Name": trigger_name,
+                "MethodName": _capitalize_first(trigger_name),
+                "DocName": _display_name(trigger_name),
+                "AxisName": axis["Name"],
+                "AxisMethodName": axis["MethodName"],
+                "AxisConstantName": axis["ConstantName"],
+                "AxisDocName": axis["DocName"],
+                "HasDefaultThresholdMethod": trigger_name not in button_names,
+            }
+        )
+
+    normalized = dict(controller)
+    normalized["buttons"] = buttons
+    normalized["axes"] = axes
+    normalized["triggerAxes"] = trigger_axes
+    return normalized
+
+
+def generate_first_ds_hids(
+    output_directory: Path,
+    template_directory: Path,
+    schema_file: Path,
+    python_output_directory: Path | None = None,
+):
+    with schema_file.open(encoding="utf-8") as f:
+        controllers = [
+            _normalize_first_ds_command_controller(controller)
+            for controller in json.load(f)
+        ]
+
+    # Java files
+    java_subdirectory = "main/java/org/wpilib/command2/button"
+    env = Environment(
+        loader=FileSystemLoader(template_directory / "main/java"),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    root_path = output_directory / java_subdirectory
+    template = env.get_template("first_ds_commandhid.java.jinja")
+    for controller in controllers:
+        controller_name = f"Command{controller['ClassName']}Controller.java"
+        output = template.render(controller)
+        write_controller_file(root_path, controller_name, output)
+
+    # C++ headers
+    hdr_subdirectory = "main/native/include/wpi/commands2/button"
+    env = Environment(
+        loader=FileSystemLoader(template_directory / hdr_subdirectory),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    root_path = output_directory / hdr_subdirectory
+    template = env.get_template("first_ds_commandhid.hpp.jinja")
+    for controller in controllers:
+        controller_name = f"Command{controller['ClassName']}Controller.hpp"
+        output = template.render(controller)
+        write_controller_file(root_path, controller_name, output)
+
+    # C++ files
+    cpp_subdirectory = "main/native/cpp/wpi/commands2/button"
+    env = Environment(
+        loader=FileSystemLoader(template_directory / cpp_subdirectory),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    root_path = output_directory / cpp_subdirectory
+    template = env.get_template("first_ds_commandhid.cpp.jinja")
+    for controller in controllers:
+        controller_name = f"Command{controller['ClassName']}Controller.cpp"
+        output = template.render(controller)
+        write_controller_file(root_path, controller_name, output)
+
+    if python_output_directory is not None:
+        python_subdirectory = "commands2/button"
+        env = Environment(
+            loader=FileSystemLoader(template_directory / "main/python"),
+            autoescape=False,
+            keep_trailing_newline=True,
+        )
+        root_path = python_output_directory / python_subdirectory
+        template = env.get_template("first_ds_commandhid.py.jinja")
+        for controller in controllers:
+            controller_name = f"command{controller['ClassName'].lower()}controller.py"
+            output = template.render(controller)
+            write_controller_file(root_path, controller_name, output)
+
+
 def main():
     script_path = Path(__file__).resolve()
     dirname = script_path.parent
@@ -86,9 +228,32 @@ def main():
         default="wpilibj/src/generate/hids.json",
         type=Path,
     )
+    parser.add_argument(
+        "--first_ds_schema_file",
+        help="Optional. If set, will use this file for the FIRST Driver Station HID schema",
+        default="wpilibj/src/generate/first_ds_hids.json",
+        type=Path,
+    )
+    parser.add_argument(
+        "--python_output_directory",
+        help="Optional. If set, will output generated Python files to this directory",
+        default=dirname / "src/main/python",
+        type=Path,
+    )
     args = parser.parse_args()
 
     generate_hids(args.output_directory, args.template_root, args.schema_file)
+    python_output_directory = (
+        None
+        if args.python_output_directory.name == "__none__"
+        else args.python_output_directory
+    )
+    generate_first_ds_hids(
+        args.output_directory,
+        args.template_root,
+        args.first_ds_schema_file,
+        python_output_directory,
+    )
 
 
 if __name__ == "__main__":

commandsv2/src/generate/main/java/commandhid.java.jinja

@@ -18,8 +18,9 @@ import org.wpilib.event.EventLoop;
  * @see {{ ConsoleName }}Controller
  */
 @SuppressWarnings("MethodName")
-public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
-  private final {{ ConsoleName }}Controller m_hid;
+public class Command{{ ConsoleName }}Controller {
+  private final CommandGenericHID m_hid;
+  private final {{ ConsoleName }}Controller m_controller;
 
   /**
    * Construct an instance of a controller.
@@ -27,19 +28,27 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public Command{{ ConsoleName }}Controller(int port) {
-    super(port);
-    m_hid = new {{ ConsoleName }}Controller(port);
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new {{ ConsoleName }}Controller(m_hid.getHID());
   }
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  @Override
-  public {{ ConsoleName }}Controller getHID() {
+  public CommandGenericHID getHID() {
     return m_hid;
   }
+
+  /**
+   * Get the underlying {{ ConsoleName }}Controller object.
+   *
+   * @return the wrapped {{ ConsoleName }}Controller object
+   */
+  public {{ ConsoleName }}Controller get{{ ConsoleName }}Controller() {
+    return m_controller;
+  }
 {% for button in buttons %}
   /**
    * Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's digital signal.
@@ -60,7 +69,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger {{ button.name }}(EventLoop loop) {
-    return button({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, loop);
+    return m_hid.button({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, loop);
   }
 {% endfor -%}
 {% for trigger in triggers -%}
@@ -76,7 +85,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    *     threshold, attached to the given event loop
    */
   public Trigger {{ trigger.name }}(double threshold, EventLoop loop) {
-    return axisGreaterThan({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
+    return m_hid.axisGreaterThan({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
   }
 
   /**
@@ -112,7 +121,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double get{{ stick.NameParts|map("capitalize")|join }}() {
-    return m_hid.get{{ stick.NameParts|map("capitalize")|join }}();
+    return m_controller.get{{ stick.NameParts|map("capitalize")|join }}();
   }
 {% endfor -%}
 {% for trigger in triggers %}
@@ -123,7 +132,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double get{{ capitalize_first(trigger.name) }}Axis() {
-    return m_hid.get{{ capitalize_first(trigger.name) }}Axis();
+    return m_controller.get{{ capitalize_first(trigger.name) }}Axis();
   }
 {% endfor -%}
 }

commandsv2/src/generate/main/java/first_ds_commandhid.java.jinja

@@ -0,0 +1,258 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.{{ ClassName }}Controller;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link {{ ClassName }}Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see {{ ClassName }}Controller
+ */
+@SuppressWarnings("MethodName")
+public class Command{{ ClassName }}Controller {
+  private final CommandGenericHID m_hid;
+  private final {{ ClassName }}Controller m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public Command{{ ClassName }}Controller(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new {{ ClassName }}Controller(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a {{ ClassName }}Controller object.
+   *
+   * @param controller The {{ ClassName }}Controller object to use for this controller.
+   */
+  public Command{{ ClassName }}Controller({{ ClassName }}Controller controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided {{ ClassName }}Controller cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public {{ ClassName }}Controller getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button({{ ClassName }}Controller.Button, EventLoop)
+   */
+  public Trigger button({{ ClassName }}Controller.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @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 Trigger button({{ ClassName }}Controller.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+{% for button in buttons %}
+  /**
+   * Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.
+   *
+   * @return a Trigger instance representing the {{ button.DocName }} button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #{{ button.Name }}(EventLoop)
+   */
+  public Trigger {{ button.Name }}() {
+    return {{ button.Name }}(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the {{ button.DocName }} button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger {{ button.Name }}(EventLoop loop) {
+    return button({{ ClassName }}Controller.Button.{{ button.ConstantName }}, loop);
+  }
+{% endfor -%}
+{% for trigger in triggerAxes %}
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger {{ trigger.Name }}(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        {{ ClassName }}Controller.Axis.{{ trigger.AxisConstantName }}, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @return a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger {{ trigger.Name }}(double threshold) {
+    return {{ trigger.Name }}(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+{% if trigger.HasDefaultThresholdMethod %}
+
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger {{ trigger.Name }}() {
+    return {{ trigger.Name }}(0.5);
+  }
+{% endif %}
+{% endfor %}
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan({{ ClassName }}Controller.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      {{ ClassName }}Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan({{ ClassName }}Controller.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      {{ ClassName }}Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      {{ ClassName }}Controller.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan({{ ClassName }}Controller.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis({{ ClassName }}Controller.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+{% for axis in axes %}
+  /**
+   * Get the {{ axis.DocName }} value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double get{{ axis.MethodName }}() {
+    return m_controller.get{{ axis.MethodName }}();
+  }
+{% endfor -%}
+}

commandsv2/src/generate/main/native/cpp/wpi/commands2/button/commandhid.cpp.jinja

@@ -11,33 +11,39 @@
 using namespace wpi::cmd;
 
 Command{{ ConsoleName }}Controller::Command{{ ConsoleName }}Controller(int port)
-    : CommandGenericHID(port), m_hid{wpi::{{ ConsoleName }}Controller(port)} {}
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
+      m_controller{m_hid->GetHID()} {}
 
-wpi::{{ ConsoleName }}Controller& Command{{ ConsoleName }}Controller::GetHID() {
-  return m_hid;
+CommandGenericHID& Command{{ ConsoleName }}Controller::GetHID() {
+  return *m_hid;
+}
+
+wpi::{{ ConsoleName }}Controller&
+Command{{ ConsoleName }}Controller::Get{{ ConsoleName }}Controller() {
+  return m_controller;
 }
 {% for button in buttons %}
 Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(wpi::EventLoop* loop) const {
-  return Button(wpi::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
+  return m_hid->Button(
+      wpi::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
 }
 {% endfor -%}
 {% for trigger in triggers -%}
 {% if trigger.UseThresholdMethods %}
 Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold,
                                            wpi::EventLoop* loop) const {
-  return Trigger(loop, [this, threshold] {
-    return m_hid.Get{{ capitalize_first(trigger.name) }}Axis() > threshold;
-  });
+  return m_hid->AxisGreaterThan(
+      wpi::{{ ConsoleName }}Controller::Axis::k{{ capitalize_first(trigger.name) }}, threshold, loop);
 }
 {% endif -%}
 {% endfor -%}
 {% for stick in sticks %}
 double Command{{ ConsoleName }}Controller::Get{{ stick.NameParts|map("capitalize")|join }}() const {
-  return m_hid.Get{{ stick.NameParts|map("capitalize")|join }}();
+  return m_controller.Get{{ stick.NameParts|map("capitalize")|join }}();
 }
 {% endfor -%}
 {% for trigger in triggers %}
 double Command{{ ConsoleName }}Controller::Get{{ capitalize_first(trigger.name) }}Axis() const {
-  return m_hid.Get{{ capitalize_first(trigger.name) }}Axis();
+  return m_controller.Get{{ capitalize_first(trigger.name) }}Axis();
 }
 {% endfor -%}

commandsv2/src/generate/main/native/cpp/wpi/commands2/button/first_ds_commandhid.cpp.jinja

@@ -0,0 +1,81 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/Command{{ ClassName }}Controller.hpp"
+
+using namespace wpi::cmd;
+
+Command{{ ClassName }}Controller::Command{{ ClassName }}Controller(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::{{ ClassName }}Controller>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+Command{{ ClassName }}Controller::Command{{ ClassName }}Controller(
+    wpi::{{ ClassName }}Controller* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& Command{{ ClassName }}Controller::GetHID() {
+  return *m_hid;
+}
+
+wpi::{{ ClassName }}Controller&
+Command{{ ClassName }}Controller::GetController() {
+  return *m_controller;
+}
+
+const wpi::{{ ClassName }}Controller&
+Command{{ ClassName }}Controller::GetController() const {
+  return *m_controller;
+}
+
+Trigger Command{{ ClassName }}Controller::Button(
+    enum wpi::{{ ClassName }}Controller::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+{% for button in buttons %}
+Trigger Command{{ ClassName }}Controller::{{ button.MethodName }}(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::{{ ClassName }}Controller::Button::{{ button.ConstantName }},
+                loop);
+}
+{% endfor -%}
+{% for trigger in triggerAxes %}
+Trigger Command{{ ClassName }}Controller::{{ trigger.MethodName }}(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::{{ ClassName }}Controller::Axis::{{ trigger.AxisConstantName }},
+      threshold, loop);
+}
+{% endfor %}
+Trigger Command{{ ClassName }}Controller::AxisLessThan(
+    wpi::{{ ClassName }}Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger Command{{ ClassName }}Controller::AxisGreaterThan(
+    wpi::{{ ClassName }}Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger Command{{ ClassName }}Controller::AxisMagnitudeGreaterThan(
+    wpi::{{ ClassName }}Controller::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+{% for axis in axes %}
+double Command{{ ClassName }}Controller::Get{{ axis.MethodName }}() const {
+  return m_controller->Get{{ axis.MethodName }}();
+}
+{% endfor -%}

commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja

@@ -8,11 +8,10 @@
 {%- endmacro %}
 #pragma once
 
-#include "wpi/driverstation/{{ ConsoleName }}Controller.hpp"
-
-#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/driverstation/{{ ConsoleName }}Controller.hpp"
 
 namespace wpi::cmd {
 /**
@@ -21,7 +20,7 @@ namespace wpi::cmd {
  *
  * @see wpi::{{ ConsoleName }}Controller
  */
-class Command{{ ConsoleName }}Controller : public CommandGenericHID {
+class Command{{ ConsoleName }}Controller {
  public:
   /**
    * Construct an instance of a controller.
@@ -32,11 +31,18 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
   explicit Command{{ ConsoleName }}Controller(int port);
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  wpi::{{ ConsoleName }}Controller& GetHID();
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the underlying {{ ConsoleName }}Controller object.
+   *
+   * @return the wrapped {{ ConsoleName }}Controller object
+   */
+  wpi::{{ ConsoleName }}Controller& Get{{ ConsoleName }}Controller();
 {% for button in buttons %}
   /**
    * Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's
@@ -88,6 +94,7 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
   double Get{{ capitalize_first(trigger.name) }}Axis() const;
 {% endfor %}
  private:
-  wpi::{{ ConsoleName }}Controller m_hid;
+  CommandGenericHID* m_hid;
+  wpi::{{ ConsoleName }}Controller m_controller;
 };
 }  // namespace wpi::cmd

commandsv2/src/generate/main/native/include/wpi/commands2/button/first_ds_commandhid.hpp.jinja

@@ -0,0 +1,172 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/{{ ClassName }}Controller.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::{{ ClassName }}Controller} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::{{ ClassName }}Controller
+ */
+class Command{{ ClassName }}Controller {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit Command{{ ClassName }}Controller(int port);
+
+  /**
+   * Construct an instance of a controller with a {{ ClassName }}Controller object.
+   *
+   * @param controller The {{ ClassName }}Controller object to use for this controller.
+   */
+  explicit Command{{ ClassName }}Controller(wpi::{{ ClassName }}Controller* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::{{ ClassName }}Controller& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::{{ ClassName }}Controller& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @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(enum wpi::{{ ClassName }}Controller::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+{% for button in buttons %}
+  /**
+   * Constructs a Trigger instance around the {{ button.DocName }} button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the {{ button.DocName }} button's
+   * digital signal attached to the given loop.
+   */
+  Trigger {{ button.MethodName }}(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+{% endfor -%}
+{% for trigger in triggerAxes %}
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * {{ trigger.DocName }}. The returned Trigger will be true when the axis value
+   * is greater than threshold.
+   *
+   * @param threshold the minimum axis value for the returned Trigger to be
+   * true. This value should be in the range [0, 1] where 0 is the unpressed
+   * state of the axis.{% if trigger.HasDefaultThresholdMethod %} Defaults to 0.5.{% endif %}
+   * @param loop the event loop instance to attach the Trigger to. Defaults to
+   * the CommandScheduler's default loop.
+   * @return a Trigger instance that is true when the {{ trigger.DocName }} axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger {{ trigger.MethodName }}(
+      double threshold{% if trigger.HasDefaultThresholdMethod %} = 0.5{% endif %},
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+{% endfor %}
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::{{ ClassName }}Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::{{ ClassName }}Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::{{ ClassName }}Controller::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+{% for axis in axes %}
+  /**
+   * Get the {{ axis.DocName }} value of the controller.
+   *
+   * @return the axis value.
+   */
+  double Get{{ axis.MethodName }}() const;
+{% endfor %}
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::{{ ClassName }}Controller> m_ownedController;
+  wpi::{{ ClassName }}Controller* m_controller = nullptr;
+};
+}  // namespace wpi::cmd

commandsv2/src/generate/main/python/first_ds_commandhid.py.jinja

@@ -0,0 +1,170 @@
+# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+from typing import Optional, Union
+
+from wpilib import EventLoop, {{ ClassName }}Controller
+
+from .commandgenerichid import CommandGenericHID
+from .trigger import Trigger
+
+
+class Command{{ ClassName }}Controller:
+    """
+    A version of :class:`wpilib.{{ ClassName }}Controller` with :class:`.Trigger` factories for command-based.
+    """
+
+    _hid: CommandGenericHID
+    _controller: {{ ClassName }}Controller
+
+    def __init__(self, hid: Union[int, {{ ClassName }}Controller]):
+        """
+        Construct an instance of a controller.
+
+        :param hid: The port index on the Driver Station that the controller is plugged into,
+                    or the {{ ClassName }}Controller object to use for this controller.
+        """
+        if isinstance(hid, int):
+            self._hid = CommandGenericHID.getCommandGenericHID(hid)
+            self._controller = {{ ClassName }}Controller(self._hid.getHID())
+        else:
+            self._hid = CommandGenericHID(hid.getHID())
+            self._controller = hid
+
+    def getHID(self) -> CommandGenericHID:
+        """
+        Get the underlying CommandGenericHID object.
+
+        :returns: the wrapped CommandGenericHID object
+        """
+        return self._hid
+
+    def getController(self) -> {{ ClassName }}Controller:
+        """
+        Get the wrapped controller object.
+
+        :returns: the wrapped controller object
+        """
+        return self._controller
+
+    def button(
+        self,
+        button: {{ ClassName }}Controller.Button,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs an event instance around this button's digital signal.
+
+        :param button: the :class:`wpilib.{{ ClassName }}Controller.Button` to read
+        :param loop: the event loop instance to attach the event to
+        """
+        return self._hid.button(button.value, loop)
+{% for button in buttons %}
+    def {{ button.Name }}(self, loop: Optional[EventLoop] = None) -> Trigger:
+        """
+        Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.
+
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance representing the {{ button.DocName }} button's digital signal
+                  attached to the given loop.
+        """
+        return self.button({{ ClassName }}Controller.Button.{{ button.ConstantName }}, loop)
+{% endfor -%}
+{% for trigger in triggerAxes %}
+    def {{ trigger.Name }}(
+        self,
+        threshold: float{% if trigger.HasDefaultThresholdMethod %} = 0.5{% endif %},
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance around the {{ trigger.DocName }} axis value. The returned
+        Trigger will be true when the axis value is greater than ``threshold``.
+
+        :param threshold: the minimum axis value for the returned Trigger to be true. This value
+                          should be in the range [0, 1] where 0 is the unpressed state of the axis.
+        :param loop: the event loop instance to attach the Trigger to, defaults
+                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`
+
+        :returns: a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the
+                  provided threshold, attached to the given event loop.
+        """
+        return self.axisGreaterThan(
+            {{ ClassName }}Controller.Axis.{{ trigger.AxisConstantName }},
+            threshold,
+            loop,
+        )
+{% endfor %}
+    def axisLessThan(
+        self,
+        axis: {{ ClassName }}Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is less than
+        ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
+        :param threshold: the value below which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to
+
+        :returns: a Trigger instance that is true when the axis value is less than
+                  the provided threshold.
+        """
+        return self._hid.axisLessThan(axis.value, threshold, loop)
+
+    def axisGreaterThan(
+        self,
+        axis: {{ ClassName }}Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis value is greater
+        than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis value is greater
+                  than the provided threshold.
+        """
+        return self._hid.axisGreaterThan(axis.value, threshold, loop)
+
+    def axisMagnitudeGreaterThan(
+        self,
+        axis: {{ ClassName }}Controller.Axis,
+        threshold: float,
+        loop: Optional[EventLoop] = None,
+    ) -> Trigger:
+        """
+        Constructs a Trigger instance that is true when the axis magnitude is
+        greater than ``threshold``, attached to the given loop.
+
+        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
+        :param threshold: the value above which this Trigger should return true.
+        :param loop: the event loop instance to attach the Trigger to.
+
+        :returns: a Trigger instance that is true when the axis magnitude is
+                  greater than the provided threshold.
+        """
+        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)
+
+    def getAxis(self, axis: {{ ClassName }}Controller.Axis) -> float:
+        """
+        Get the value of the axis.
+
+        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
+        """
+        return self._hid.getRawAxis(axis.value)
+{% for axis in axes %}
+    def get{{ axis.MethodName }}(self) -> float:
+        """
+        Get the {{ axis.DocName }} value of the controller.
+
+        :returns: the axis value.
+        """
+        return self._controller.get{{ axis.MethodName }}()
+{% endfor -%}

commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandDualSenseController.java

@@ -0,0 +1,696 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.DualSenseController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link DualSenseController} with {@link Trigger} factories for command-based.
+ *
+ * @see DualSenseController
+ */
+@SuppressWarnings("MethodName")
+public class CommandDualSenseController {
+  private final CommandGenericHID m_hid;
+  private final DualSenseController m_controller;
+
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandDualSenseController(int port) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new DualSenseController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a DualSenseController object.
+   *
+   * @param controller The DualSenseController object to use for this controller.
+   */
+  public CommandDualSenseController(DualSenseController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided DualSenseController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public DualSenseController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(DualSenseController.Button, EventLoop)
+   */
+  public Trigger button(DualSenseController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @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 Trigger button(DualSenseController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Cross button's digital signal.
+   *
+   * @return a Trigger instance representing the Cross button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #cross(EventLoop)
+   */
+  public Trigger cross() {
+    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Cross button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger cross(EventLoop loop) {
+    return button(DualSenseController.Button.CROSS, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Circle button's digital signal.
+   *
+   * @return a Trigger instance representing the Circle button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #circle(EventLoop)
+   */
+  public Trigger circle() {
+    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Circle button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger circle(EventLoop loop) {
+    return button(DualSenseController.Button.CIRCLE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Square button's digital signal.
+   *
+   * @return a Trigger instance representing the Square button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #square(EventLoop)
+   */
+  public Trigger square() {
+    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Square button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger square(EventLoop loop) {
+    return button(DualSenseController.Button.SQUARE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Triangle button's digital signal.
+   *
+   * @return a Trigger instance representing the Triangle button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #triangle(EventLoop)
+   */
+  public Trigger triangle() {
+    return triangle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Triangle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Triangle button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger triangle(EventLoop loop) {
+    return button(DualSenseController.Button.TRIANGLE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Create button's digital signal.
+   *
+   * @return a Trigger instance representing the Create button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #create(EventLoop)
+   */
+  public Trigger create() {
+    return create(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Create button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Create button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger create(EventLoop loop) {
+    return button(DualSenseController.Button.CREATE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #PS(EventLoop)
+   */
+  public Trigger PS() {
+    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the PS button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger PS(EventLoop loop) {
+    return button(DualSenseController.Button.PS, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Options button's digital signal.
+   *
+   * @return a Trigger instance representing the Options button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #options(EventLoop)
+   */
+  public Trigger options() {
+    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Options button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger options(EventLoop loop) {
+    return button(DualSenseController.Button.OPTIONS, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L3(EventLoop)
+   */
+  public Trigger L3() {
+    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L3(EventLoop loop) {
+    return button(DualSenseController.Button.L3, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R3(EventLoop)
+   */
+  public Trigger R3() {
+    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 3 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R3(EventLoop loop) {
+    return button(DualSenseController.Button.R3, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #L1(EventLoop)
+   */
+  public Trigger L1() {
+    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the L 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger L1(EventLoop loop) {
+    return button(DualSenseController.Button.L1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #R1(EventLoop)
+   */
+  public Trigger R1() {
+    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the R 1 button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger R1(EventLoop loop) {
+    return button(DualSenseController.Button.R1, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(DualSenseController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(DualSenseController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(DualSenseController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(DualSenseController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Microphone button's digital signal.
+   *
+   * @return a Trigger instance representing the Microphone button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #microphone(EventLoop)
+   */
+  public Trigger microphone() {
+    return microphone(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Microphone button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Microphone button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger microphone(EventLoop loop) {
+    return button(DualSenseController.Button.MICROPHONE, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Touchpad button's digital signal.
+   *
+   * @return a Trigger instance representing the Touchpad button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #touchpad(EventLoop)
+   */
+  public Trigger touchpad() {
+    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Touchpad button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Touchpad button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger touchpad(EventLoop loop) {
+    return button(DualSenseController.Button.TOUCHPAD, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the L 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger L2(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        DualSenseController.Axis.L2, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @return a Trigger instance that is true when the L 2 axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger L2(double threshold) {
+    return L2(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the L 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the L 2 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger L2() {
+    return L2(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the R 2 axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger R2(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        DualSenseController.Axis.R2, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @return a Trigger instance that is true when the R 2 axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger R2(double threshold) {
+    return R2(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the R 2. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the R 2 axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger R2() {
+    return R2(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(DualSenseController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      DualSenseController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(DualSenseController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      DualSenseController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      DualSenseController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(DualSenseController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(DualSenseController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getL2() {
+    return m_controller.getL2();
+  }
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getR2() {
+    return m_controller.getR2();
+  }
+}

commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS4Controller.java

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
  * @see NiDsPS4Controller
  */
 @SuppressWarnings("MethodName")
-public class CommandNiDsPS4Controller extends CommandGenericHID {
-  private final NiDsPS4Controller m_hid;
+public class CommandNiDsPS4Controller {
+  private final CommandGenericHID m_hid;
+  private final NiDsPS4Controller m_controller;
 
   /**
    * Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public CommandNiDsPS4Controller(int port) {
-    super(port);
-    m_hid = new NiDsPS4Controller(port);
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new NiDsPS4Controller(m_hid.getHID());
   }
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  @Override
-  public NiDsPS4Controller getHID() {
+  public CommandGenericHID getHID() {
     return m_hid;
   }
 
+  /**
+   * Get the underlying NiDsPS4Controller object.
+   *
+   * @return the wrapped NiDsPS4Controller object
+   */
+  public NiDsPS4Controller getNiDsPS4Controller() {
+    return m_controller;
+  }
+
   /**
    * Constructs a Trigger instance around the square button's digital signal.
    *
@@ -58,7 +67,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kSquare.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +89,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kCross.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +111,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kCircle.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +133,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kTriangle.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +155,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kL1.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +177,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kR1.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +199,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kL2.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +221,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kR2.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +243,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger share(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kShare.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kShare.value, loop);
   }
 
   /**
@@ -256,7 +265,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kOptions.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +287,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kL3.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +309,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kR3.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +331,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kPS.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +353,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return button(NiDsPS4Controller.Button.kTouchpad.value, loop);
+    return m_hid.button(NiDsPS4Controller.Button.kTouchpad.value, loop);
   }
 
   /**
@@ -353,7 +362,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftX() {
-    return m_hid.getLeftX();
+    return m_controller.getLeftX();
   }
 
   /**
@@ -362,7 +371,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftY() {
-    return m_hid.getLeftY();
+    return m_controller.getLeftY();
   }
 
   /**
@@ -371,7 +380,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightX() {
-    return m_hid.getRightX();
+    return m_controller.getRightX();
   }
 
   /**
@@ -380,7 +389,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightY() {
-    return m_hid.getRightY();
+    return m_controller.getRightY();
   }
 
   /**
@@ -390,7 +399,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getL2Axis() {
-    return m_hid.getL2Axis();
+    return m_controller.getL2Axis();
   }
 
   /**
@@ -400,6 +409,6 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getR2Axis() {
-    return m_hid.getR2Axis();
+    return m_controller.getR2Axis();
   }
 }

commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS5Controller.java

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
  * @see NiDsPS5Controller
  */
 @SuppressWarnings("MethodName")
-public class CommandNiDsPS5Controller extends CommandGenericHID {
-  private final NiDsPS5Controller m_hid;
+public class CommandNiDsPS5Controller {
+  private final CommandGenericHID m_hid;
+  private final NiDsPS5Controller m_controller;
 
   /**
    * Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public CommandNiDsPS5Controller(int port) {
-    super(port);
-    m_hid = new NiDsPS5Controller(port);
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new NiDsPS5Controller(m_hid.getHID());
   }
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  @Override
-  public NiDsPS5Controller getHID() {
+  public CommandGenericHID getHID() {
     return m_hid;
   }
 
+  /**
+   * Get the underlying NiDsPS5Controller object.
+   *
+   * @return the wrapped NiDsPS5Controller object
+   */
+  public NiDsPS5Controller getNiDsPS5Controller() {
+    return m_controller;
+  }
+
   /**
    * Constructs a Trigger instance around the square button's digital signal.
    *
@@ -58,7 +67,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kSquare.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +89,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kCross.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +111,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kCircle.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +133,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kTriangle.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +155,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kL1.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +177,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kR1.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +199,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kL2.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +221,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kR2.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +243,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger create(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kCreate.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kCreate.value, loop);
   }
 
   /**
@@ -256,7 +265,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kOptions.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +287,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kL3.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +309,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kR3.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +331,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kPS.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +353,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return button(NiDsPS5Controller.Button.kTouchpad.value, loop);
+    return m_hid.button(NiDsPS5Controller.Button.kTouchpad.value, loop);
   }
 
   /**
@@ -353,7 +362,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftX() {
-    return m_hid.getLeftX();
+    return m_controller.getLeftX();
   }
 
   /**
@@ -362,7 +371,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftY() {
-    return m_hid.getLeftY();
+    return m_controller.getLeftY();
   }
 
   /**
@@ -371,7 +380,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightX() {
-    return m_hid.getRightX();
+    return m_controller.getRightX();
   }
 
   /**
@@ -380,7 +389,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightY() {
-    return m_hid.getRightY();
+    return m_controller.getRightY();
   }
 
   /**
@@ -390,7 +399,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getL2Axis() {
-    return m_hid.getL2Axis();
+    return m_controller.getL2Axis();
   }
 
   /**
@@ -400,6 +409,6 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
    * @return The axis value.
    */
   public double getR2Axis() {
-    return m_hid.getR2Axis();
+    return m_controller.getR2Axis();
   }
 }

commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsStadiaController.java

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
  * @see NiDsStadiaController
  */
 @SuppressWarnings("MethodName")
-public class CommandNiDsStadiaController extends CommandGenericHID {
-  private final NiDsStadiaController m_hid;
+public class CommandNiDsStadiaController {
+  private final CommandGenericHID m_hid;
+  private final NiDsStadiaController m_controller;
 
   /**
    * Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public CommandNiDsStadiaController(int port) {
-    super(port);
-    m_hid = new NiDsStadiaController(port);
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new NiDsStadiaController(m_hid.getHID());
   }
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  @Override
-  public NiDsStadiaController getHID() {
+  public CommandGenericHID getHID() {
     return m_hid;
   }
 
+  /**
+   * Get the underlying NiDsStadiaController object.
+   *
+   * @return the wrapped NiDsStadiaController object
+   */
+  public NiDsStadiaController getNiDsStadiaController() {
+    return m_controller;
+  }
+
   /**
    * Constructs a Trigger instance around the A button's digital signal.
    *
@@ -58,7 +67,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kA.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +89,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kB.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +111,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kX.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +133,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kY.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +155,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kLeftBumper.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +177,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kRightBumper.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +199,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kLeftStick.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -212,7 +221,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kRightStick.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -234,7 +243,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger ellipses(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kEllipses.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kEllipses.value, loop);
   }
 
   /**
@@ -256,7 +265,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger hamburger(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kHamburger.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kHamburger.value, loop);
   }
 
   /**
@@ -278,7 +287,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger stadia(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kStadia.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kStadia.value, loop);
   }
 
   /**
@@ -300,7 +309,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightTrigger(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kRightTrigger.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kRightTrigger.value, loop);
   }
 
   /**
@@ -322,7 +331,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftTrigger(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kLeftTrigger.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kLeftTrigger.value, loop);
   }
 
   /**
@@ -344,7 +353,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger google(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kGoogle.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kGoogle.value, loop);
   }
 
   /**
@@ -366,7 +375,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger frame(EventLoop loop) {
-    return button(NiDsStadiaController.Button.kFrame.value, loop);
+    return m_hid.button(NiDsStadiaController.Button.kFrame.value, loop);
   }
 
   /**
@@ -375,7 +384,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftX() {
-    return m_hid.getLeftX();
+    return m_controller.getLeftX();
   }
 
   /**
@@ -384,7 +393,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightX() {
-    return m_hid.getRightX();
+    return m_controller.getRightX();
   }
 
   /**
@@ -393,7 +402,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftY() {
-    return m_hid.getLeftY();
+    return m_controller.getLeftY();
   }
 
   /**
@@ -402,6 +411,6 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightY() {
-    return m_hid.getRightY();
+    return m_controller.getRightY();
   }
 }

commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsXboxController.java

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
  * @see NiDsXboxController
  */
 @SuppressWarnings("MethodName")
-public class CommandNiDsXboxController extends CommandGenericHID {
-  private final NiDsXboxController m_hid;
+public class CommandNiDsXboxController {
+  private final CommandGenericHID m_hid;
+  private final NiDsXboxController m_controller;
 
   /**
    * Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public CommandNiDsXboxController(int port) {
-    super(port);
-    m_hid = new NiDsXboxController(port);
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new NiDsXboxController(m_hid.getHID());
   }
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  @Override
-  public NiDsXboxController getHID() {
+  public CommandGenericHID getHID() {
     return m_hid;
   }
 
+  /**
+   * Get the underlying NiDsXboxController object.
+   *
+   * @return the wrapped NiDsXboxController object
+   */
+  public NiDsXboxController getNiDsXboxController() {
+    return m_controller;
+  }
+
   /**
    * Constructs a Trigger instance around the A button's digital signal.
    *
@@ -58,7 +67,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return button(NiDsXboxController.Button.kA.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +89,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return button(NiDsXboxController.Button.kB.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +111,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return button(NiDsXboxController.Button.kX.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +133,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return button(NiDsXboxController.Button.kY.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +155,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return button(NiDsXboxController.Button.kLeftBumper.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +177,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return button(NiDsXboxController.Button.kRightBumper.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +199,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger back(EventLoop loop) {
-    return button(NiDsXboxController.Button.kBack.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kBack.value, loop);
   }
 
   /**
@@ -212,7 +221,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger start(EventLoop loop) {
-    return button(NiDsXboxController.Button.kStart.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kStart.value, loop);
   }
 
   /**
@@ -234,7 +243,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return button(NiDsXboxController.Button.kLeftStick.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -256,7 +265,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return button(NiDsXboxController.Button.kRightStick.value, loop);
+    return m_hid.button(NiDsXboxController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -270,7 +279,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     threshold, attached to the given event loop
    */
   public Trigger leftTrigger(double threshold, EventLoop loop) {
-    return axisGreaterThan(NiDsXboxController.Axis.kLeftTrigger.value, threshold, loop);
+    return m_hid.axisGreaterThan(NiDsXboxController.Axis.kLeftTrigger.value, threshold, loop);
   }
 
   /**
@@ -309,7 +318,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    *     threshold, attached to the given event loop
    */
   public Trigger rightTrigger(double threshold, EventLoop loop) {
-    return axisGreaterThan(NiDsXboxController.Axis.kRightTrigger.value, threshold, loop);
+    return m_hid.axisGreaterThan(NiDsXboxController.Axis.kRightTrigger.value, threshold, loop);
   }
 
   /**
@@ -343,7 +352,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftX() {
-    return m_hid.getLeftX();
+    return m_controller.getLeftX();
   }
 
   /**
@@ -352,7 +361,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightX() {
-    return m_hid.getRightX();
+    return m_controller.getRightX();
   }
 
   /**
@@ -361,7 +370,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftY() {
-    return m_hid.getLeftY();
+    return m_controller.getLeftY();
   }
 
   /**
@@ -370,7 +379,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightY() {
-    return m_hid.getRightY();
+    return m_controller.getRightY();
   }
 
   /**
@@ -380,7 +389,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftTriggerAxis() {
-    return m_hid.getLeftTriggerAxis();
+    return m_controller.getLeftTriggerAxis();
   }
 
   /**
@@ -390,6 +399,6 @@ public class CommandNiDsXboxController extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightTriggerAxis() {
-    return m_hid.getRightTriggerAxis();
+    return m_controller.getRightTriggerAxis();
   }
 }

commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandXboxController.java

@@ -0,0 +1,652 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+
+package org.wpilib.command2.button;
+
+import java.util.Objects;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.XboxController;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A version of {@link XboxController} with {@link Trigger} factories for command-based.
+ *
+ * @see XboxController
+ */
+@SuppressWarnings("MethodName")
+public class CommandXboxController {
+  private final CommandGenericHID m_hid;
+  private final XboxController m_controller;
+
+  /**
+   * 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) {
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_controller = new XboxController(m_hid.getHID());
+  }
+
+  /**
+   * Construct an instance of a controller with a XboxController object.
+   *
+   * @param controller The XboxController object to use for this controller.
+   */
+  public CommandXboxController(XboxController controller) {
+    m_controller =
+        Objects.requireNonNull(controller, "Provided XboxController cannot be null");
+    m_hid = new CommandGenericHID(m_controller.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
+    return m_hid;
+  }
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  public XboxController getController() {
+    return m_controller;
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(XboxController.Button, EventLoop)
+   */
+  public Trigger button(XboxController.Button button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @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 Trigger button(XboxController.Button button, EventLoop loop) {
+    return m_hid.button(button.value, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the A button's digital signal.
+   *
+   * @return a Trigger instance representing the A button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the A button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger a(EventLoop loop) {
+    return button(XboxController.Button.A, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the B button's digital signal.
+   *
+   * @return a Trigger instance representing the B button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the B button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger b(EventLoop loop) {
+    return button(XboxController.Button.B, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the X button's digital signal.
+   *
+   * @return a Trigger instance representing the X button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the X button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger x(EventLoop loop) {
+    return button(XboxController.Button.X, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Y button's digital signal.
+   *
+   * @return a Trigger instance representing the Y button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Y button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger y(EventLoop loop) {
+    return button(XboxController.Button.Y, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the View button's digital signal.
+   *
+   * @return a Trigger instance representing the View button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #view(EventLoop)
+   */
+  public Trigger view() {
+    return view(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the View button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the View button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger view(EventLoop loop) {
+    return button(XboxController.Button.VIEW, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Xbox button's digital signal.
+   *
+   * @return a Trigger instance representing the Xbox button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #xbox(EventLoop)
+   */
+  public Trigger xbox() {
+    return xbox(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Xbox button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Xbox button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger xbox(EventLoop loop) {
+    return button(XboxController.Button.XBOX, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Menu button's digital signal.
+   *
+   * @return a Trigger instance representing the Menu button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #menu(EventLoop)
+   */
+  public Trigger menu() {
+    return menu(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Menu button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Menu button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger menu(EventLoop loop) {
+    return button(XboxController.Button.MENU, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Stick button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Stick button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Stick button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftStick(EventLoop loop) {
+    return button(XboxController.Button.LEFT_STICK, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Stick button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Stick button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Stick button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightStick(EventLoop loop) {
+    return button(XboxController.Button.RIGHT_STICK, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Bumper button's digital signal.
+   *
+   * @return a Trigger instance representing the Left Bumper button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftBumper(EventLoop)
+   */
+  public Trigger leftBumper() {
+    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Left Bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Left Bumper button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger leftBumper(EventLoop loop) {
+    return button(XboxController.Button.LEFT_BUMPER, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Bumper button's digital signal.
+   *
+   * @return a Trigger instance representing the Right Bumper button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Right Bumper button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Right Bumper button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger rightBumper(EventLoop loop) {
+    return button(XboxController.Button.RIGHT_BUMPER, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadUp(EventLoop)
+   */
+  public Trigger dpadUp() {
+    return dpadUp(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Up button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadUp(EventLoop loop) {
+    return button(XboxController.Button.DPAD_UP, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadDown(EventLoop)
+   */
+  public Trigger dpadDown() {
+    return dpadDown(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Down button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadDown(EventLoop loop) {
+    return button(XboxController.Button.DPAD_DOWN, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadLeft(EventLoop)
+   */
+  public Trigger dpadLeft() {
+    return dpadLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Left button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadLeft(EventLoop loop) {
+    return button(XboxController.Button.DPAD_LEFT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #dpadRight(EventLoop)
+   */
+  public Trigger dpadRight() {
+    return dpadRight(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return a Trigger instance representing the Dpad Right button's digital signal attached
+   *     to the given loop.
+   */
+  public Trigger dpadRight(EventLoop loop) {
+    return button(XboxController.Button.DPAD_RIGHT, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the Left Trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the Left Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger leftTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        XboxController.Axis.LEFT_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the Left Trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @return a Trigger instance that is true when the Left Trigger axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger leftTrigger(double threshold) {
+    return leftTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the Left Trigger. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the Left Trigger axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger leftTrigger() {
+    return leftTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the Right Trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @param loop the event loop instance to attach the Trigger to.
+   * @return a Trigger instance that is true when the Right Trigger axis exceeds the provided
+   *     threshold, attached to the given event loop
+   */
+  public Trigger rightTrigger(double threshold, EventLoop loop) {
+    return axisGreaterThan(
+        XboxController.Axis.RIGHT_TRIGGER, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance around the axis value of the Right Trigger. The returned
+   * trigger will be true when the axis value is greater than {@code threshold}.
+   *
+   * @param threshold the minimum axis value for the returned {@link Trigger} to be true. This value
+   *     should be in the range [0, 1] where 0 is the unpressed state of the axis.
+   * @return a Trigger instance that is true when the Right Trigger axis exceeds the provided
+   *     threshold, attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler
+   *     button loop}.
+   */
+  public Trigger rightTrigger(double threshold) {
+    return rightTrigger(threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+
+  /**
+   * Constructs a Trigger instance around the axis value of the Right Trigger. The returned
+   * trigger will be true when the axis value is greater than 0.5.
+   *
+   * @return a Trigger instance that is true when the Right Trigger axis exceeds 0.5,
+   *     attached to the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button
+   *     loop}.
+   */
+  public Trigger rightTrigger() {
+    return rightTrigger(0.5);
+  }
+
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(XboxController.Axis axis, double threshold) {
+    return m_hid.axisLessThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to
+   * @return a Trigger instance that is true when the axis value is less than the provided
+   *     threshold.
+   */
+  public Trigger axisLessThan(
+      XboxController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisLessThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than {@code threshold},
+   * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button
+   * loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(XboxController.Axis axis, double threshold) {
+    return m_hid.axisGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis value is greater than the provided
+   *     threshold.
+   */
+  public Trigger axisGreaterThan(
+      XboxController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(
+      XboxController.Axis axis, double threshold, EventLoop loop) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(XboxController.Axis axis, double threshold) {
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
+  }
+
+  /**
+   * Get the value of the axis.
+   *
+   * @param axis The axis to read
+   * @return The value of the axis.
+   */
+  public double getAxis(XboxController.Axis axis) {
+    return m_hid.getRawAxis(axis.value);
+  }
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftX() {
+    return m_controller.getLeftX();
+  }
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftY() {
+    return m_controller.getLeftY();
+  }
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightX() {
+    return m_controller.getRightX();
+  }
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightY() {
+    return m_controller.getRightY();
+  }
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getLeftTrigger() {
+    return m_controller.getLeftTrigger();
+  }
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return The axis value.
+   */
+  public double getRightTrigger() {
+    return m_controller.getRightTrigger();
+  }
+}

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandDualSenseController.cpp

@@ -0,0 +1,202 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandDualSenseController.hpp"
+
+using namespace wpi::cmd;
+
+CommandDualSenseController::CommandDualSenseController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::DualSenseController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandDualSenseController::CommandDualSenseController(
+    wpi::DualSenseController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandDualSenseController::GetHID() {
+  return *m_hid;
+}
+
+wpi::DualSenseController&
+CommandDualSenseController::GetController() {
+  return *m_controller;
+}
+
+const wpi::DualSenseController&
+CommandDualSenseController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandDualSenseController::Button(
+    enum wpi::DualSenseController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandDualSenseController::Cross(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::CROSS,
+                loop);
+}
+
+Trigger CommandDualSenseController::Circle(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::CIRCLE,
+                loop);
+}
+
+Trigger CommandDualSenseController::Square(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::SQUARE,
+                loop);
+}
+
+Trigger CommandDualSenseController::Triangle(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::TRIANGLE,
+                loop);
+}
+
+Trigger CommandDualSenseController::Create(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::CREATE,
+                loop);
+}
+
+Trigger CommandDualSenseController::PS(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::PS,
+                loop);
+}
+
+Trigger CommandDualSenseController::Options(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::OPTIONS,
+                loop);
+}
+
+Trigger CommandDualSenseController::L3(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::L3,
+                loop);
+}
+
+Trigger CommandDualSenseController::R3(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::R3,
+                loop);
+}
+
+Trigger CommandDualSenseController::L1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::L1,
+                loop);
+}
+
+Trigger CommandDualSenseController::R1(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::R1,
+                loop);
+}
+
+Trigger CommandDualSenseController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandDualSenseController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandDualSenseController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandDualSenseController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandDualSenseController::Microphone(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::MICROPHONE,
+                loop);
+}
+
+Trigger CommandDualSenseController::Touchpad(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::DualSenseController::Button::TOUCHPAD,
+                loop);
+}
+
+Trigger CommandDualSenseController::L2(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::DualSenseController::Axis::L2,
+      threshold, loop);
+}
+
+Trigger CommandDualSenseController::R2(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::DualSenseController::Axis::R2,
+      threshold, loop);
+}
+
+Trigger CommandDualSenseController::AxisLessThan(
+    wpi::DualSenseController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandDualSenseController::AxisGreaterThan(
+    wpi::DualSenseController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandDualSenseController::AxisMagnitudeGreaterThan(
+    wpi::DualSenseController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandDualSenseController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandDualSenseController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandDualSenseController::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandDualSenseController::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandDualSenseController::GetL2() const {
+  return m_controller->GetL2();
+}
+
+double CommandDualSenseController::GetR2() const {
+  return m_controller->GetR2();
+}

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS4Controller.cpp

@@ -9,88 +9,108 @@
 using namespace wpi::cmd;
 
 CommandNiDsPS4Controller::CommandNiDsPS4Controller(int port)
-    : CommandGenericHID(port), m_hid{wpi::NiDsPS4Controller(port)} {}
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
+      m_controller{m_hid->GetHID()} {}
 
-wpi::NiDsPS4Controller& CommandNiDsPS4Controller::GetHID() {
-  return m_hid;
+CommandGenericHID& CommandNiDsPS4Controller::GetHID() {
+  return *m_hid;
+}
+
+wpi::NiDsPS4Controller&
+CommandNiDsPS4Controller::GetNiDsPS4Controller() {
+  return m_controller;
 }
 
 Trigger CommandNiDsPS4Controller::Square(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kSquare, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kSquare, loop);
 }
 
 Trigger CommandNiDsPS4Controller::Cross(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kCross, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kCross, loop);
 }
 
 Trigger CommandNiDsPS4Controller::Circle(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kCircle, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kCircle, loop);
 }
 
 Trigger CommandNiDsPS4Controller::Triangle(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kTriangle, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kTriangle, loop);
 }
 
 Trigger CommandNiDsPS4Controller::L1(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kL1, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kL1, loop);
 }
 
 Trigger CommandNiDsPS4Controller::R1(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kR1, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kR1, loop);
 }
 
 Trigger CommandNiDsPS4Controller::L2(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kL2, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kL2, loop);
 }
 
 Trigger CommandNiDsPS4Controller::R2(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kR2, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kR2, loop);
 }
 
 Trigger CommandNiDsPS4Controller::Share(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kShare, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kShare, loop);
 }
 
 Trigger CommandNiDsPS4Controller::Options(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kOptions, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kOptions, loop);
 }
 
 Trigger CommandNiDsPS4Controller::L3(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kL3, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kL3, loop);
 }
 
 Trigger CommandNiDsPS4Controller::R3(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kR3, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kR3, loop);
 }
 
 Trigger CommandNiDsPS4Controller::PS(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kPS, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kPS, loop);
 }
 
 Trigger CommandNiDsPS4Controller::Touchpad(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS4Controller::Button::kTouchpad, loop);
+  return m_hid->Button(
+      wpi::NiDsPS4Controller::Button::kTouchpad, loop);
 }
 
 double CommandNiDsPS4Controller::GetLeftX() const {
-  return m_hid.GetLeftX();
+  return m_controller.GetLeftX();
 }
 
 double CommandNiDsPS4Controller::GetLeftY() const {
-  return m_hid.GetLeftY();
+  return m_controller.GetLeftY();
 }
 
 double CommandNiDsPS4Controller::GetRightX() const {
-  return m_hid.GetRightX();
+  return m_controller.GetRightX();
 }
 
 double CommandNiDsPS4Controller::GetRightY() const {
-  return m_hid.GetRightY();
+  return m_controller.GetRightY();
 }
 
 double CommandNiDsPS4Controller::GetL2Axis() const {
-  return m_hid.GetL2Axis();
+  return m_controller.GetL2Axis();
 }
 
 double CommandNiDsPS4Controller::GetR2Axis() const {
-  return m_hid.GetR2Axis();
+  return m_controller.GetR2Axis();
 }

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS5Controller.cpp

@@ -9,88 +9,108 @@
 using namespace wpi::cmd;
 
 CommandNiDsPS5Controller::CommandNiDsPS5Controller(int port)
-    : CommandGenericHID(port), m_hid{wpi::NiDsPS5Controller(port)} {}
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
+      m_controller{m_hid->GetHID()} {}
 
-wpi::NiDsPS5Controller& CommandNiDsPS5Controller::GetHID() {
-  return m_hid;
+CommandGenericHID& CommandNiDsPS5Controller::GetHID() {
+  return *m_hid;
+}
+
+wpi::NiDsPS5Controller&
+CommandNiDsPS5Controller::GetNiDsPS5Controller() {
+  return m_controller;
 }
 
 Trigger CommandNiDsPS5Controller::Square(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kSquare, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kSquare, loop);
 }
 
 Trigger CommandNiDsPS5Controller::Cross(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kCross, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kCross, loop);
 }
 
 Trigger CommandNiDsPS5Controller::Circle(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kCircle, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kCircle, loop);
 }
 
 Trigger CommandNiDsPS5Controller::Triangle(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kTriangle, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kTriangle, loop);
 }
 
 Trigger CommandNiDsPS5Controller::L1(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kL1, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kL1, loop);
 }
 
 Trigger CommandNiDsPS5Controller::R1(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kR1, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kR1, loop);
 }
 
 Trigger CommandNiDsPS5Controller::L2(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kL2, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kL2, loop);
 }
 
 Trigger CommandNiDsPS5Controller::R2(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kR2, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kR2, loop);
 }
 
 Trigger CommandNiDsPS5Controller::Create(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kCreate, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kCreate, loop);
 }
 
 Trigger CommandNiDsPS5Controller::Options(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kOptions, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kOptions, loop);
 }
 
 Trigger CommandNiDsPS5Controller::L3(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kL3, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kL3, loop);
 }
 
 Trigger CommandNiDsPS5Controller::R3(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kR3, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kR3, loop);
 }
 
 Trigger CommandNiDsPS5Controller::PS(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kPS, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kPS, loop);
 }
 
 Trigger CommandNiDsPS5Controller::Touchpad(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsPS5Controller::Button::kTouchpad, loop);
+  return m_hid->Button(
+      wpi::NiDsPS5Controller::Button::kTouchpad, loop);
 }
 
 double CommandNiDsPS5Controller::GetLeftX() const {
-  return m_hid.GetLeftX();
+  return m_controller.GetLeftX();
 }
 
 double CommandNiDsPS5Controller::GetLeftY() const {
-  return m_hid.GetLeftY();
+  return m_controller.GetLeftY();
 }
 
 double CommandNiDsPS5Controller::GetRightX() const {
-  return m_hid.GetRightX();
+  return m_controller.GetRightX();
 }
 
 double CommandNiDsPS5Controller::GetRightY() const {
-  return m_hid.GetRightY();
+  return m_controller.GetRightY();
 }
 
 double CommandNiDsPS5Controller::GetL2Axis() const {
-  return m_hid.GetL2Axis();
+  return m_controller.GetL2Axis();
 }
 
 double CommandNiDsPS5Controller::GetR2Axis() const {
-  return m_hid.GetR2Axis();
+  return m_controller.GetR2Axis();
 }

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsStadiaController.cpp

@@ -9,84 +9,105 @@
 using namespace wpi::cmd;
 
 CommandNiDsStadiaController::CommandNiDsStadiaController(int port)
-    : CommandGenericHID(port), m_hid{wpi::NiDsStadiaController(port)} {}
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
+      m_controller{m_hid->GetHID()} {}
 
-wpi::NiDsStadiaController& CommandNiDsStadiaController::GetHID() {
-  return m_hid;
+CommandGenericHID& CommandNiDsStadiaController::GetHID() {
+  return *m_hid;
+}
+
+wpi::NiDsStadiaController&
+CommandNiDsStadiaController::GetNiDsStadiaController() {
+  return m_controller;
 }
 
 Trigger CommandNiDsStadiaController::A(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kA, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kA, loop);
 }
 
 Trigger CommandNiDsStadiaController::B(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kB, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kB, loop);
 }
 
 Trigger CommandNiDsStadiaController::X(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kX, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kX, loop);
 }
 
 Trigger CommandNiDsStadiaController::Y(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kY, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kY, loop);
 }
 
 Trigger CommandNiDsStadiaController::LeftBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kLeftBumper, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kLeftBumper, loop);
 }
 
 Trigger CommandNiDsStadiaController::RightBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kRightBumper, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kRightBumper, loop);
 }
 
 Trigger CommandNiDsStadiaController::LeftStick(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kLeftStick, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kLeftStick, loop);
 }
 
 Trigger CommandNiDsStadiaController::RightStick(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kRightStick, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kRightStick, loop);
 }
 
 Trigger CommandNiDsStadiaController::Ellipses(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kEllipses, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kEllipses, loop);
 }
 
 Trigger CommandNiDsStadiaController::Hamburger(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kHamburger, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kHamburger, loop);
 }
 
 Trigger CommandNiDsStadiaController::Stadia(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kStadia, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kStadia, loop);
 }
 
 Trigger CommandNiDsStadiaController::RightTrigger(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kRightTrigger, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kRightTrigger, loop);
 }
 
 Trigger CommandNiDsStadiaController::LeftTrigger(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kLeftTrigger, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kLeftTrigger, loop);
 }
 
 Trigger CommandNiDsStadiaController::Google(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kGoogle, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kGoogle, loop);
 }
 
 Trigger CommandNiDsStadiaController::Frame(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsStadiaController::Button::kFrame, loop);
+  return m_hid->Button(
+      wpi::NiDsStadiaController::Button::kFrame, loop);
 }
 
 double CommandNiDsStadiaController::GetLeftX() const {
-  return m_hid.GetLeftX();
+  return m_controller.GetLeftX();
 }
 
 double CommandNiDsStadiaController::GetRightX() const {
-  return m_hid.GetRightX();
+  return m_controller.GetRightX();
 }
 
 double CommandNiDsStadiaController::GetLeftY() const {
-  return m_hid.GetLeftY();
+  return m_controller.GetLeftY();
 }
 
 double CommandNiDsStadiaController::GetRightY() const {
-  return m_hid.GetRightY();
+  return m_controller.GetRightY();
 }

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsXboxController.cpp

@@ -9,86 +9,100 @@
 using namespace wpi::cmd;
 
 CommandNiDsXboxController::CommandNiDsXboxController(int port)
-    : CommandGenericHID(port), m_hid{wpi::NiDsXboxController(port)} {}
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
+      m_controller{m_hid->GetHID()} {}
 
-wpi::NiDsXboxController& CommandNiDsXboxController::GetHID() {
-  return m_hid;
+CommandGenericHID& CommandNiDsXboxController::GetHID() {
+  return *m_hid;
+}
+
+wpi::NiDsXboxController&
+CommandNiDsXboxController::GetNiDsXboxController() {
+  return m_controller;
 }
 
 Trigger CommandNiDsXboxController::A(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kA, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kA, loop);
 }
 
 Trigger CommandNiDsXboxController::B(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kB, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kB, loop);
 }
 
 Trigger CommandNiDsXboxController::X(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kX, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kX, loop);
 }
 
 Trigger CommandNiDsXboxController::Y(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kY, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kY, loop);
 }
 
 Trigger CommandNiDsXboxController::LeftBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kLeftBumper, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kLeftBumper, loop);
 }
 
 Trigger CommandNiDsXboxController::RightBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kRightBumper, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kRightBumper, loop);
 }
 
 Trigger CommandNiDsXboxController::Back(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kBack, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kBack, loop);
 }
 
 Trigger CommandNiDsXboxController::Start(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kStart, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kStart, loop);
 }
 
 Trigger CommandNiDsXboxController::LeftStick(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kLeftStick, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kLeftStick, loop);
 }
 
 Trigger CommandNiDsXboxController::RightStick(wpi::EventLoop* loop) const {
-  return Button(wpi::NiDsXboxController::Button::kRightStick, loop);
+  return m_hid->Button(
+      wpi::NiDsXboxController::Button::kRightStick, loop);
 }
 
 Trigger CommandNiDsXboxController::LeftTrigger(double threshold,
                                            wpi::EventLoop* loop) const {
-  return Trigger(loop, [this, threshold] {
-    return m_hid.GetLeftTriggerAxis() > threshold;
-  });
+  return m_hid->AxisGreaterThan(
+      wpi::NiDsXboxController::Axis::kLeftTrigger, threshold, loop);
 }
 
 Trigger CommandNiDsXboxController::RightTrigger(double threshold,
                                            wpi::EventLoop* loop) const {
-  return Trigger(loop, [this, threshold] {
-    return m_hid.GetRightTriggerAxis() > threshold;
-  });
+  return m_hid->AxisGreaterThan(
+      wpi::NiDsXboxController::Axis::kRightTrigger, threshold, loop);
 }
 
 double CommandNiDsXboxController::GetLeftX() const {
-  return m_hid.GetLeftX();
+  return m_controller.GetLeftX();
 }
 
 double CommandNiDsXboxController::GetRightX() const {
-  return m_hid.GetRightX();
+  return m_controller.GetRightX();
 }
 
 double CommandNiDsXboxController::GetLeftY() const {
-  return m_hid.GetLeftY();
+  return m_controller.GetLeftY();
 }
 
 double CommandNiDsXboxController::GetRightY() const {
-  return m_hid.GetRightY();
+  return m_controller.GetRightY();
 }
 
 double CommandNiDsXboxController::GetLeftTriggerAxis() const {
-  return m_hid.GetLeftTriggerAxis();
+  return m_controller.GetLeftTriggerAxis();
 }
 
 double CommandNiDsXboxController::GetRightTriggerAxis() const {
-  return m_hid.GetRightTriggerAxis();
+  return m_controller.GetRightTriggerAxis();
 }

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp

@@ -0,0 +1,190 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+#include "wpi/commands2/button/CommandXboxController.hpp"
+
+using namespace wpi::cmd;
+
+CommandXboxController::CommandXboxController(int port)
+    : m_hid{&CommandGenericHID::GetCommandGenericHID(port)} {
+  m_ownedController =
+      std::make_unique<wpi::XboxController>(m_hid->GetHID());
+  m_controller = m_ownedController.get();
+}
+
+CommandXboxController::CommandXboxController(
+    wpi::XboxController* controller)
+    : m_ownedHid{std::make_unique<CommandGenericHID>(controller->GetHID())},
+      m_hid{m_ownedHid.get()},
+      m_controller{controller} {}
+
+CommandGenericHID& CommandXboxController::GetHID() {
+  return *m_hid;
+}
+
+wpi::XboxController&
+CommandXboxController::GetController() {
+  return *m_controller;
+}
+
+const wpi::XboxController&
+CommandXboxController::GetController() const {
+  return *m_controller;
+}
+
+Trigger CommandXboxController::Button(
+    enum wpi::XboxController::Button button,
+    wpi::EventLoop* loop) const {
+  return m_hid->Button(static_cast<int>(button), loop);
+}
+
+
+Trigger CommandXboxController::A(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::A,
+                loop);
+}
+
+Trigger CommandXboxController::B(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::B,
+                loop);
+}
+
+Trigger CommandXboxController::X(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::X,
+                loop);
+}
+
+Trigger CommandXboxController::Y(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::Y,
+                loop);
+}
+
+Trigger CommandXboxController::View(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::VIEW,
+                loop);
+}
+
+Trigger CommandXboxController::Xbox(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::XBOX,
+                loop);
+}
+
+Trigger CommandXboxController::Menu(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::MENU,
+                loop);
+}
+
+Trigger CommandXboxController::LeftStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::LEFT_STICK,
+                loop);
+}
+
+Trigger CommandXboxController::RightStick(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::RIGHT_STICK,
+                loop);
+}
+
+Trigger CommandXboxController::LeftBumper(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::LEFT_BUMPER,
+                loop);
+}
+
+Trigger CommandXboxController::RightBumper(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::RIGHT_BUMPER,
+                loop);
+}
+
+Trigger CommandXboxController::DpadUp(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::DPAD_UP,
+                loop);
+}
+
+Trigger CommandXboxController::DpadDown(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::DPAD_DOWN,
+                loop);
+}
+
+Trigger CommandXboxController::DpadLeft(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::DPAD_LEFT,
+                loop);
+}
+
+Trigger CommandXboxController::DpadRight(
+    wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::DPAD_RIGHT,
+                loop);
+}
+
+Trigger CommandXboxController::LeftTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::XboxController::Axis::LEFT_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandXboxController::RightTrigger(
+    double threshold, wpi::EventLoop* loop) const {
+  return AxisGreaterThan(
+      wpi::XboxController::Axis::RIGHT_TRIGGER,
+      threshold, loop);
+}
+
+Trigger CommandXboxController::AxisLessThan(
+    wpi::XboxController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandXboxController::AxisGreaterThan(
+    wpi::XboxController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
+}
+
+Trigger CommandXboxController::AxisMagnitudeGreaterThan(
+    wpi::XboxController::Axis axis, double threshold,
+    wpi::EventLoop* loop) const {
+  return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
+                                         loop);
+}
+
+
+double CommandXboxController::GetLeftX() const {
+  return m_controller->GetLeftX();
+}
+
+double CommandXboxController::GetLeftY() const {
+  return m_controller->GetLeftY();
+}
+
+double CommandXboxController::GetRightX() const {
+  return m_controller->GetRightX();
+}
+
+double CommandXboxController::GetRightY() const {
+  return m_controller->GetRightY();
+}
+
+double CommandXboxController::GetLeftTrigger() const {
+  return m_controller->GetLeftTrigger();
+}
+
+double CommandXboxController::GetRightTrigger() const {
+  return m_controller->GetRightTrigger();
+}

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandDualSenseController.hpp

@@ -0,0 +1,432 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/DualSenseController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::DualSenseController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::DualSenseController
+ */
+class CommandDualSenseController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandDualSenseController(int port);
+
+  /**
+   * Construct an instance of a controller with a DualSenseController object.
+   *
+   * @param controller The DualSenseController object to use for this controller.
+   */
+  explicit CommandDualSenseController(wpi::DualSenseController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::DualSenseController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::DualSenseController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @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(enum wpi::DualSenseController::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the Cross button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Cross(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the Circle button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Circle(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the Square button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Square(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the Triangle button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Triangle(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Create button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Create button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Create(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the PS button's
+   * digital signal attached to the given loop.
+   */
+  Trigger PS(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the Options button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Options(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 3 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the L 3 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L3(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 3 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the R 3 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R3(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the L 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the L 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger L1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the R 1 button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the R 1 button's
+   * digital signal attached to the given loop.
+   */
+  Trigger R1(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Microphone button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Microphone button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Microphone(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Touchpad button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Touchpad button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Touchpad(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * L 2. The returned Trigger will be true when the axis value
+   * is greater than threshold.
+   *
+   * @param threshold the minimum axis value for the returned Trigger to be
+   * true. This value should be in the range [0, 1] where 0 is the unpressed
+   * state of the axis. Defaults to 0.5.
+   * @param loop the event loop instance to attach the Trigger to. Defaults to
+   * the CommandScheduler's default loop.
+   * @return a Trigger instance that is true when the L 2 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger L2(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * R 2. The returned Trigger will be true when the axis value
+   * is greater than threshold.
+   *
+   * @param threshold the minimum axis value for the returned Trigger to be
+   * true. This value should be in the range [0, 1] where 0 is the unpressed
+   * state of the axis. Defaults to 0.5.
+   * @param loop the event loop instance to attach the Trigger to. Defaults to
+   * the CommandScheduler's default loop.
+   * @return a Trigger instance that is true when the R 2 axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger R2(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::DualSenseController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::DualSenseController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::DualSenseController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the L 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetL2() const;
+
+  /**
+   * Get the R 2 value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetR2() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::DualSenseController> m_ownedController;
+  wpi::DualSenseController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS4Controller.hpp

@@ -6,11 +6,10 @@
 
 #pragma once
 
-#include "wpi/driverstation/NiDsPS4Controller.hpp"
-
-#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/driverstation/NiDsPS4Controller.hpp"
 
 namespace wpi::cmd {
 /**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
  *
  * @see wpi::NiDsPS4Controller
  */
-class CommandNiDsPS4Controller : public CommandGenericHID {
+class CommandNiDsPS4Controller {
  public:
   /**
    * Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsPS4Controller : public CommandGenericHID {
   explicit CommandNiDsPS4Controller(int port);
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  wpi::NiDsPS4Controller& GetHID();
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the underlying NiDsPS4Controller object.
+   *
+   * @return the wrapped NiDsPS4Controller object
+   */
+  wpi::NiDsPS4Controller& GetNiDsPS4Controller();
 
   /**
    * Constructs a Trigger instance around the square button's
@@ -249,6 +255,7 @@ class CommandNiDsPS4Controller : public CommandGenericHID {
   double GetR2Axis() const;
 
  private:
-  wpi::NiDsPS4Controller m_hid;
+  CommandGenericHID* m_hid;
+  wpi::NiDsPS4Controller m_controller;
 };
 }  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS5Controller.hpp

@@ -6,11 +6,10 @@
 
 #pragma once
 
-#include "wpi/driverstation/NiDsPS5Controller.hpp"
-
-#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/driverstation/NiDsPS5Controller.hpp"
 
 namespace wpi::cmd {
 /**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
  *
  * @see wpi::NiDsPS5Controller
  */
-class CommandNiDsPS5Controller : public CommandGenericHID {
+class CommandNiDsPS5Controller {
  public:
   /**
    * Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsPS5Controller : public CommandGenericHID {
   explicit CommandNiDsPS5Controller(int port);
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  wpi::NiDsPS5Controller& GetHID();
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the underlying NiDsPS5Controller object.
+   *
+   * @return the wrapped NiDsPS5Controller object
+   */
+  wpi::NiDsPS5Controller& GetNiDsPS5Controller();
 
   /**
    * Constructs a Trigger instance around the square button's
@@ -249,6 +255,7 @@ class CommandNiDsPS5Controller : public CommandGenericHID {
   double GetR2Axis() const;
 
  private:
-  wpi::NiDsPS5Controller m_hid;
+  CommandGenericHID* m_hid;
+  wpi::NiDsPS5Controller m_controller;
 };
 }  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsStadiaController.hpp

@@ -6,11 +6,10 @@
 
 #pragma once
 
-#include "wpi/driverstation/NiDsStadiaController.hpp"
-
-#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/driverstation/NiDsStadiaController.hpp"
 
 namespace wpi::cmd {
 /**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
  *
  * @see wpi::NiDsStadiaController
  */
-class CommandNiDsStadiaController : public CommandGenericHID {
+class CommandNiDsStadiaController {
  public:
   /**
    * Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsStadiaController : public CommandGenericHID {
   explicit CommandNiDsStadiaController(int port);
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  wpi::NiDsStadiaController& GetHID();
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the underlying NiDsStadiaController object.
+   *
+   * @return the wrapped NiDsStadiaController object
+   */
+  wpi::NiDsStadiaController& GetNiDsStadiaController();
 
   /**
    * Constructs a Trigger instance around the A button's
@@ -245,6 +251,7 @@ class CommandNiDsStadiaController : public CommandGenericHID {
   double GetRightY() const;
 
  private:
-  wpi::NiDsStadiaController m_hid;
+  CommandGenericHID* m_hid;
+  wpi::NiDsStadiaController m_controller;
 };
 }  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsXboxController.hpp

@@ -6,11 +6,10 @@
 
 #pragma once
 
-#include "wpi/driverstation/NiDsXboxController.hpp"
-
-#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/driverstation/NiDsXboxController.hpp"
 
 namespace wpi::cmd {
 /**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
  *
  * @see wpi::NiDsXboxController
  */
-class CommandNiDsXboxController : public CommandGenericHID {
+class CommandNiDsXboxController {
  public:
   /**
    * Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsXboxController : public CommandGenericHID {
   explicit CommandNiDsXboxController(int port);
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  wpi::NiDsXboxController& GetHID();
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the underlying NiDsXboxController object.
+   *
+   * @return the wrapped NiDsXboxController object
+   */
+  wpi::NiDsXboxController& GetNiDsXboxController();
 
   /**
    * Constructs a Trigger instance around the A button's
@@ -235,6 +241,7 @@ class CommandNiDsXboxController : public CommandGenericHID {
   double GetRightTriggerAxis() const;
 
  private:
-  wpi::NiDsXboxController m_hid;
+  CommandGenericHID* m_hid;
+  wpi::NiDsXboxController m_controller;
 };
 }  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp

@@ -0,0 +1,406 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
+#pragma once
+
+#include <memory>
+
+#include "wpi/driverstation/XboxController.hpp"
+
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
+
+namespace wpi::cmd {
+/**
+ * A version of {@link wpi::XboxController} with {@link Trigger}
+ * factories for command-based.
+ *
+ * @see wpi::XboxController
+ */
+class CommandXboxController {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandXboxController(int port);
+
+  /**
+   * Construct an instance of a controller with a XboxController object.
+   *
+   * @param controller The XboxController object to use for this controller.
+   */
+  explicit CommandXboxController(wpi::XboxController* controller);
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  CommandGenericHID& GetHID();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  wpi::XboxController& GetController();
+
+  /**
+   * Get the wrapped controller object.
+   *
+   * @return the wrapped controller object
+   */
+  const wpi::XboxController& GetController() const;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button
+   * @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(enum wpi::XboxController::Button button,
+                 wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the A button's
+   * digital signal attached to the given loop.
+   */
+  Trigger A(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the B button's
+   * digital signal attached to the given loop.
+   */
+  Trigger B(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the X button's
+   * digital signal attached to the given loop.
+   */
+  Trigger X(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger 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 a Trigger instance representing the Y button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Y(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the View button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the View button's
+   * digital signal attached to the given loop.
+   */
+  Trigger View(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Xbox button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Xbox button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Xbox(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Menu button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Menu button's
+   * digital signal attached to the given loop.
+   */
+  Trigger Menu(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Left Stick button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftStick(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Stick button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Right Stick button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightStick(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Left Bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Left Bumper button's
+   * digital signal attached to the given loop.
+   */
+  Trigger LeftBumper(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Right Bumper button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Right Bumper button's
+   * digital signal attached to the given loop.
+   */
+  Trigger RightBumper(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Up button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Up button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadUp(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Down button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Down button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadDown(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Left button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Left button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadLeft(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the Dpad Right button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return a Trigger instance representing the Dpad Right button's
+   * digital signal attached to the given loop.
+   */
+  Trigger DpadRight(
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * Left Trigger. The returned Trigger will be true when the axis value
+   * is greater than threshold.
+   *
+   * @param threshold the minimum axis value for the returned Trigger to be
+   * true. This value should be in the range [0, 1] where 0 is the unpressed
+   * state of the axis. Defaults to 0.5.
+   * @param loop the event loop instance to attach the Trigger to. Defaults to
+   * the CommandScheduler's default loop.
+   * @return a Trigger instance that is true when the Left Trigger axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger LeftTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance around the axis value of the
+   * Right Trigger. The returned Trigger will be true when the axis value
+   * is greater than threshold.
+   *
+   * @param threshold the minimum axis value for the returned Trigger to be
+   * true. This value should be in the range [0, 1] where 0 is the unpressed
+   * state of the axis. Defaults to 0.5.
+   * @param loop the event loop instance to attach the Trigger to. Defaults to
+   * the CommandScheduler's default loop.
+   * @return a Trigger instance that is true when the Right Trigger axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger RightTrigger(
+      double threshold = 0.5,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is less than
+   * {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read, starting at 0.
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is less than
+   * the provided threshold.
+  */
+  Trigger AxisLessThan(
+      wpi::XboxController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis value is greater
+   * than {@code threshold}, attached to {@link
+   * CommandScheduler::GetDefaultButtonLoop() the default command scheduler
+   * button loop}.
+   * @param axis The axis to read
+   * @param threshold The value below which this trigger should return true.
+   * @param loop  the event loop instance to attach the event to. Defaults to
+   * {@link CommandScheduler::GetDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   * @return a Trigger instance that is true when the axis value is greater than
+   * the provided threshold.
+  */
+  Trigger AxisGreaterThan(
+      wpi::XboxController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+  */
+  Trigger AxisMagnitudeGreaterThan(
+      wpi::XboxController::Axis axis, double threshold,
+      wpi::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+
+  /**
+   * Get the Left X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the Left Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Right X value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Right Y value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY() const;
+
+  /**
+   * Get the Left Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftTrigger() const;
+
+  /**
+   * Get the Right Trigger value of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightTrigger() const;
+
+ private:
+  std::unique_ptr<CommandGenericHID> m_ownedHid;
+  CommandGenericHID* m_hid = nullptr;
+  std::unique_ptr<wpi::XboxController> m_ownedController;
+  wpi::XboxController* m_controller = nullptr;
+};
+}  // namespace wpi::cmd

commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java

@@ -4,7 +4,9 @@
 
 package org.wpilib.command2.button;
 
+import java.util.Objects;
 import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.DriverStation;
 import org.wpilib.driverstation.Gamepad;
 import org.wpilib.event.EventLoop;
 
@@ -14,8 +16,9 @@ import org.wpilib.event.EventLoop;
  * @see Gamepad
  */
 @SuppressWarnings("MethodName")
-public class CommandGamepad extends CommandGenericHID {
-  private final Gamepad m_hid;
+public class CommandGamepad {
+  private final CommandGenericHID m_hid;
+  private final Gamepad m_gamepad;
 
   /**
    * Construct an instance of a controller.
@@ -23,20 +26,61 @@ public class CommandGamepad extends CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public CommandGamepad(int port) {
-    super(port);
-    m_hid = new Gamepad(port);
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_gamepad = DriverStation.getGamepad(port);
   }
 
   /**
-   * Get the underlying GenericHID object.
+   * Construct an instance of a controller with a Gamepad object.
    *
-   * @return the wrapped GenericHID object
+   * @param gamepad The Gamepad object to use for this controller.
    */
-  @Override
-  public Gamepad getHID() {
+  public CommandGamepad(Gamepad gamepad) {
+    m_gamepad = Objects.requireNonNull(gamepad, "Provided gamepad cannot be null");
+    m_hid = new CommandGenericHID(m_gamepad.getHID());
+  }
+
+  /**
+   * Get the underlying CommandGenericHID object.
+   *
+   * @return the wrapped CommandGenericHID object
+   */
+  public CommandGenericHID getHID() {
     return m_hid;
   }
 
+  /**
+   * Get the underlying Gamepad object.
+   *
+   * @return the wrapped Gamepad object
+   */
+  public Gamepad getGamepad() {
+    return m_gamepad;
+  }
+
+  /**
+   * 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 m_hid.button(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 Trigger button(int button, EventLoop loop) {
+    return m_hid.button(button, loop);
+  }
+
   /**
    * Constructs an event instance around this button's digital signal.
    *
@@ -46,7 +90,7 @@ public class CommandGamepad extends CommandGenericHID {
    * @see #button(Gamepad.Button, EventLoop)
    */
   public Trigger button(Gamepad.Button button) {
-    return super.button(button.value);
+    return button(button.value);
   }
 
   /**
@@ -61,91 +105,91 @@ public class CommandGamepad extends CommandGenericHID {
   }
 
   /**
-   * Constructs a Trigger instance around the South Face button's digital signal.
+   * Constructs a Trigger instance around the Face Down button's digital signal.
    *
-   * @return a Trigger instance representing the South Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Down button's digital signal attached to the
    *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #southFace(EventLoop)
+   * @see #faceDown(EventLoop)
    */
-  public Trigger southFace() {
-    return southFace(CommandScheduler.getInstance().getDefaultButtonLoop());
+  public Trigger faceDown() {
+    return faceDown(CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the South Face button's digital signal.
+   * Constructs a Trigger instance around the Face Down button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the South Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Down button's digital signal attached to the
    *     given loop.
    */
-  public Trigger southFace(EventLoop loop) {
-    return button(Gamepad.Button.SOUTH_FACE, loop);
+  public Trigger faceDown(EventLoop loop) {
+    return button(Gamepad.Button.FACE_DOWN, loop);
   }
 
   /**
-   * Constructs a Trigger instance around the East Face button's digital signal.
+   * Constructs a Trigger instance around the Face Right button's digital signal.
    *
-   * @return a Trigger instance representing the East Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Right button's digital signal attached to the
    *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #eastFace(EventLoop)
+   * @see #faceRight(EventLoop)
    */
-  public Trigger eastFace() {
-    return eastFace(CommandScheduler.getInstance().getDefaultButtonLoop());
+  public Trigger faceRight() {
+    return faceRight(CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the East Face button's digital signal.
+   * Constructs a Trigger instance around the Face Right button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the East Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Right button's digital signal attached to the
    *     given loop.
    */
-  public Trigger eastFace(EventLoop loop) {
-    return button(Gamepad.Button.EAST_FACE, loop);
+  public Trigger faceRight(EventLoop loop) {
+    return button(Gamepad.Button.FACE_RIGHT, loop);
   }
 
   /**
-   * Constructs a Trigger instance around the West Face button's digital signal.
+   * Constructs a Trigger instance around the Face Left button's digital signal.
    *
-   * @return a Trigger instance representing the West Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Left button's digital signal attached to the
    *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #westFace(EventLoop)
+   * @see #faceLeft(EventLoop)
    */
-  public Trigger westFace() {
-    return westFace(CommandScheduler.getInstance().getDefaultButtonLoop());
+  public Trigger faceLeft() {
+    return faceLeft(CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the West Face button's digital signal.
+   * Constructs a Trigger instance around the Face Left button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the West Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Left button's digital signal attached to the
    *     given loop.
    */
-  public Trigger westFace(EventLoop loop) {
-    return button(Gamepad.Button.WEST_FACE, loop);
+  public Trigger faceLeft(EventLoop loop) {
+    return button(Gamepad.Button.FACE_LEFT, loop);
   }
 
   /**
-   * Constructs a Trigger instance around the North Face button's digital signal.
+   * Constructs a Trigger instance around the Face Up button's digital signal.
    *
-   * @return a Trigger instance representing the North Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Up button's digital signal attached to the
    *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #northFace(EventLoop)
+   * @see #faceUp(EventLoop)
    */
-  public Trigger northFace() {
-    return northFace(CommandScheduler.getInstance().getDefaultButtonLoop());
+  public Trigger faceUp() {
+    return faceUp(CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the North Face button's digital signal.
+   * Constructs a Trigger instance around the Face Up button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the North Face button's digital signal attached to the
+   * @return a Trigger instance representing the Face Up button's digital signal attached to the
    *     given loop.
    */
-  public Trigger northFace(EventLoop loop) {
-    return button(Gamepad.Button.NORTH_FACE, loop);
+  public Trigger faceUp(EventLoop loop) {
+    return button(Gamepad.Button.FACE_UP, loop);
   }
 
   /**
@@ -721,7 +765,7 @@ public class CommandGamepad extends CommandGenericHID {
    *     threshold.
    */
   public Trigger axisLessThan(Gamepad.Axis axis, double threshold) {
-    return super.axisLessThan(axis.value, threshold);
+    return m_hid.axisLessThan(axis.value, threshold);
   }
 
   /**
@@ -735,7 +779,7 @@ public class CommandGamepad extends CommandGenericHID {
    *     threshold.
    */
   public Trigger axisLessThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
-    return super.axisLessThan(axis.value, threshold, loop);
+    return m_hid.axisLessThan(axis.value, threshold, loop);
   }
 
   /**
@@ -749,7 +793,7 @@ public class CommandGamepad extends CommandGenericHID {
    *     threshold.
    */
   public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold) {
-    return super.axisGreaterThan(axis.value, threshold);
+    return m_hid.axisGreaterThan(axis.value, threshold);
   }
 
   /**
@@ -763,7 +807,7 @@ public class CommandGamepad extends CommandGenericHID {
    *     threshold.
    */
   public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
-    return super.axisGreaterThan(axis.value, threshold, loop);
+    return m_hid.axisGreaterThan(axis.value, threshold, loop);
   }
 
   /**
@@ -777,7 +821,7 @@ public class CommandGamepad extends CommandGenericHID {
    *     provided threshold.
    */
   public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
-    return super.axisMagnitudeGreaterThan(axis.value, threshold, loop);
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
   }
 
   /**
@@ -790,7 +834,7 @@ public class CommandGamepad extends CommandGenericHID {
    * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
    */
   public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold) {
-    return super.axisMagnitudeGreaterThan(axis.value, threshold);
+    return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
   }
 
   /**
@@ -800,7 +844,7 @@ public class CommandGamepad extends CommandGenericHID {
    * @return The value of the axis.
    */
   public double getAxis(Gamepad.Axis axis) {
-    return getRawAxis(axis.value);
+    return m_hid.getRawAxis(axis.value);
   }
 
   /**
@@ -809,7 +853,7 @@ public class CommandGamepad extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftX() {
-    return m_hid.getLeftX();
+    return m_gamepad.getLeftX();
   }
 
   /**
@@ -818,7 +862,7 @@ public class CommandGamepad extends CommandGenericHID {
    * @return The axis value.
    */
   public double getLeftY() {
-    return m_hid.getLeftY();
+    return m_gamepad.getLeftY();
   }
 
   /**
@@ -827,7 +871,7 @@ public class CommandGamepad extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightX() {
-    return m_hid.getRightX();
+    return m_gamepad.getRightX();
   }
 
   /**
@@ -836,26 +880,26 @@ public class CommandGamepad extends CommandGenericHID {
    * @return The axis value.
    */
   public double getRightY() {
-    return m_hid.getRightY();
+    return m_gamepad.getRightY();
   }
 
   /**
-   * Get the left trigger axis value of the controller. Note that this axis is bound to the range of
-   * [0, 1] as opposed to the usual [-1, 1].
+   * Get the left trigger value of the controller. Note that this axis is bound to the range of [0,
+   * 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  public double getLeftTriggerAxis() {
-    return m_hid.getLeftTriggerAxis();
+  public double getLeftTrigger() {
+    return m_gamepad.getLeftTrigger();
   }
 
   /**
-   * Get the right trigger axis value of the controller. Note that this axis is bound to the range
-   * of [0, 1] as opposed to the usual [-1, 1].
+   * Get the right trigger value of the controller. Note that this axis is bound to the range of [0,
+   * 1] as opposed to the usual [-1, 1].
    *
    * @return The axis value.
    */
-  public double getRightTriggerAxis() {
-    return m_hid.getRightTriggerAxis();
+  public double getRightTrigger() {
+    return m_gamepad.getRightTrigger();
   }
 }

commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java

@@ -6,9 +6,13 @@ package org.wpilib.command2.button;
 
 import java.util.HashMap;
 import java.util.Map;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
 import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.DriverStation;
 import org.wpilib.driverstation.GenericHID;
 import org.wpilib.driverstation.POVDirection;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.event.EventLoop;
 import org.wpilib.math.util.Pair;
 
@@ -17,7 +21,11 @@ import org.wpilib.math.util.Pair;
  *
  * @see GenericHID
  */
-public class CommandGenericHID {
+public final class CommandGenericHID {
+  private static final Lock m_hidsLock = new ReentrantLock();
+  private static final CommandGenericHID[] m_hids =
+      new CommandGenericHID[DriverStationBackend.JOYSTICK_PORTS];
+
   private final GenericHID m_hid;
   private final Map<EventLoop, Map<Integer, Trigger>> m_buttonCache = new HashMap<>();
   private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisLessThanCache =
@@ -34,7 +42,38 @@ public class CommandGenericHID {
    * @param port The port index on the Driver Station that the device is plugged into.
    */
   public CommandGenericHID(int port) {
-    m_hid = new GenericHID(port);
+    m_hid = DriverStation.getGenericHID(port);
+  }
+
+  /**
+   * Construct an instance of a device with a GenericHID object.
+   *
+   * @param hid The GenericHID object to use for this command HID.
+   */
+  public CommandGenericHID(GenericHID hid) {
+    m_hid = hid;
+  }
+
+  /**
+   * Gets the CommandGenericHID object for the given port. CommandGenericHID objects are cached, so
+   * this will always return the same object for the same port.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   * @return The CommandGenericHID object for the given port.
+   */
+  public static CommandGenericHID getCommandGenericHID(int port) {
+    DriverStation.getGenericHID(port);
+    m_hidsLock.lock();
+    try {
+      CommandGenericHID toRet = m_hids[port];
+      if (toRet == null) {
+        toRet = new CommandGenericHID(port);
+        m_hids[port] = toRet;
+      }
+      return toRet;
+    } finally {
+      m_hidsLock.unlock();
+    }
   }
 
   /**

commandsv2/src/main/java/org/wpilib/command2/button/CommandJoystick.java

@@ -5,6 +5,7 @@
 package org.wpilib.command2.button;
 
 import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.DriverStation;
 import org.wpilib.driverstation.Joystick;
 import org.wpilib.event.EventLoop;
 
@@ -13,8 +14,9 @@ import org.wpilib.event.EventLoop;
  *
  * @see Joystick
  */
-public class CommandJoystick extends CommandGenericHID {
-  private final Joystick m_hid;
+public class CommandJoystick {
+  private final CommandGenericHID m_hid;
+  private final Joystick m_joystick;
 
   /**
    * Construct an instance of a controller.
@@ -22,20 +24,28 @@ public class CommandJoystick extends CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
   public CommandJoystick(int port) {
-    super(port);
-    m_hid = new Joystick(port);
+    m_hid = CommandGenericHID.getCommandGenericHID(port);
+    m_joystick = new Joystick(DriverStation.getGenericHID(port));
   }
 
   /**
-   * Get the underlying GenericHID object.
+   * Get the underlying CommandGenericHID object.
    *
-   * @return the wrapped GenericHID object
+   * @return the wrapped CommandGenericHID object
    */
-  @Override
-  public Joystick getHID() {
+  public CommandGenericHID getHID() {
     return m_hid;
   }
 
+  /**
+   * Get the underlying Joystick object.
+   *
+   * @return the wrapped Joystick object
+   */
+  public Joystick getJoystick() {
+    return m_joystick;
+  }
+
   /**
    * Constructs an event instance around the trigger button's digital signal.
    *
@@ -55,7 +65,7 @@ public class CommandJoystick extends CommandGenericHID {
    *     given loop.
    */
   public Trigger trigger(EventLoop loop) {
-    return button(Joystick.ButtonType.kTrigger.value, loop);
+    return m_hid.button(Joystick.ButtonType.kTrigger.value, loop);
   }
 
   /**
@@ -77,7 +87,7 @@ public class CommandJoystick extends CommandGenericHID {
    *     loop.
    */
   public Trigger top(EventLoop loop) {
-    return button(Joystick.ButtonType.kTop.value, loop);
+    return m_hid.button(Joystick.ButtonType.kTop.value, loop);
   }
 
   /**
@@ -86,7 +96,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setXChannel(int channel) {
-    m_hid.setXChannel(channel);
+    m_joystick.setXChannel(channel);
   }
 
   /**
@@ -95,7 +105,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setYChannel(int channel) {
-    m_hid.setYChannel(channel);
+    m_joystick.setYChannel(channel);
   }
 
   /**
@@ -104,7 +114,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setZChannel(int channel) {
-    m_hid.setZChannel(channel);
+    m_joystick.setZChannel(channel);
   }
 
   /**
@@ -113,7 +123,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setThrottleChannel(int channel) {
-    m_hid.setThrottleChannel(channel);
+    m_joystick.setThrottleChannel(channel);
   }
 
   /**
@@ -122,7 +132,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @param channel The channel to set the axis to.
    */
   public void setTwistChannel(int channel) {
-    m_hid.setTwistChannel(channel);
+    m_joystick.setTwistChannel(channel);
   }
 
   /**
@@ -131,7 +141,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The channel for the axis.
    */
   public int getXChannel() {
-    return m_hid.getXChannel();
+    return m_joystick.getXChannel();
   }
 
   /**
@@ -140,7 +150,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The channel for the axis.
    */
   public int getYChannel() {
-    return m_hid.getYChannel();
+    return m_joystick.getYChannel();
   }
 
   /**
@@ -149,7 +159,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The channel for the axis.
    */
   public int getZChannel() {
-    return m_hid.getZChannel();
+    return m_joystick.getZChannel();
   }
 
   /**
@@ -158,7 +168,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The channel for the axis.
    */
   public int getTwistChannel() {
-    return m_hid.getTwistChannel();
+    return m_joystick.getTwistChannel();
   }
 
   /**
@@ -167,7 +177,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The channel for the axis.
    */
   public int getThrottleChannel() {
-    return m_hid.getThrottleChannel();
+    return m_joystick.getThrottleChannel();
   }
 
   /**
@@ -179,7 +189,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return the x position
    */
   public double getX() {
-    return m_hid.getX();
+    return m_joystick.getX();
   }
 
   /**
@@ -191,7 +201,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return the y position
    */
   public double getY() {
-    return m_hid.getY();
+    return m_joystick.getY();
   }
 
   /**
@@ -200,7 +210,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return the z position
    */
   public double getZ() {
-    return m_hid.getZ();
+    return m_joystick.getZ();
   }
 
   /**
@@ -210,7 +220,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The Twist value of the joystick.
    */
   public double getTwist() {
-    return m_hid.getTwist();
+    return m_joystick.getTwist();
   }
 
   /**
@@ -220,7 +230,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The Throttle value of the joystick.
    */
   public double getThrottle() {
-    return m_hid.getThrottle();
+    return m_joystick.getThrottle();
   }
 
   /**
@@ -230,7 +240,7 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The magnitude of the direction vector
    */
   public double getMagnitude() {
-    return m_hid.getMagnitude();
+    return m_joystick.getMagnitude();
   }
 
   /**
@@ -248,7 +258,7 @@ public class CommandJoystick extends CommandGenericHID {
     //
     // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
     // so that 0 radians is forward.
-    return m_hid.getDirectionRadians();
+    return m_joystick.getDirectionRadians();
   }
 
   /**
@@ -258,6 +268,6 @@ public class CommandJoystick extends CommandGenericHID {
    * @return The direction of the vector in degrees
    */
   public double getDirectionDegrees() {
-    return m_hid.getDirectionDegrees();
+    return m_joystick.getDirectionDegrees();
   }
 }

commandsv2/src/main/java/org/wpilib/command2/button/JoystickButton.java

@@ -7,6 +7,7 @@ package org.wpilib.command2.button;
 import static org.wpilib.util.ErrorMessages.requireNonNullParam;
 
 import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.HIDDevice;
 
 /**
  * A {@link Trigger} that gets its state from a {@link GenericHID}.
@@ -24,4 +25,14 @@ public class JoystickButton extends Trigger {
     super(() -> joystick.getRawButton(buttonNumber));
     requireNonNullParam(joystick, "joystick", "JoystickButton");
   }
+
+  /**
+   * Creates a joystick button for triggering commands.
+   *
+   * @param joystick The HIDDevice object that has the button
+   * @param buttonNumber The button number (see {@link GenericHID#getRawButton(int) }
+   */
+  public JoystickButton(HIDDevice joystick, int buttonNumber) {
+    this(requireNonNullParam(joystick, "joystick", "JoystickButton").getHID(), buttonNumber);
+  }
 }

commandsv2/src/main/java/org/wpilib/command2/button/POVButton.java

@@ -7,6 +7,7 @@ package org.wpilib.command2.button;
 import static org.wpilib.util.ErrorMessages.requireNonNullParam;
 
 import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.HIDDevice;
 import org.wpilib.driverstation.POVDirection;
 
 /**
@@ -36,4 +37,25 @@ public class POVButton extends Trigger {
   public POVButton(GenericHID joystick, POVDirection angle) {
     this(joystick, angle, 0);
   }
+
+  /**
+   * Creates a POV button for triggering commands.
+   *
+   * @param joystick The HIDDevice object that has the POV
+   * @param angle The desired angle
+   * @param povNumber The POV number (see {@link GenericHID#getPOV(int)})
+   */
+  public POVButton(HIDDevice joystick, POVDirection angle, int povNumber) {
+    this(requireNonNullParam(joystick, "joystick", "POVButton").getHID(), angle, povNumber);
+  }
+
+  /**
+   * Creates a POV button for triggering commands. By default, acts on POV 0
+   *
+   * @param joystick The HIDDevice object that has the POV
+   * @param angle The desired angle
+   */
+  public POVButton(HIDDevice joystick, POVDirection angle) {
+    this(joystick, angle, 0);
+  }
 }