From 353dae431c5dc18b90da1b345cab6b567cd8670e Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sat, 31 Jan 2026 13:32:53 -0800
Subject: [PATCH 1/7] Prefix all NI DS specific controller classes

---
 ...ler.java => CommandNiDsPS4Controller.java} |  44 ++---
 ...ler.java => CommandNiDsPS5Controller.java} |  44 ++---
 ....java => CommandNiDsStadiaController.java} |  46 ++---
 ...er.java => CommandNiDsXboxController.java} |  40 ++---
 .../button/CommandNiDsPS4Controller.cpp       |  96 +++++++++++
 .../button/CommandNiDsPS5Controller.cpp       |  96 +++++++++++
 .../button/CommandNiDsStadiaController.cpp    |  92 ++++++++++
 .../button/CommandNiDsXboxController.cpp      |  94 ++++++++++
 .../commands2/button/CommandPS4Controller.cpp |  96 -----------
 .../commands2/button/CommandPS5Controller.cpp |  96 -----------
 .../button/CommandStadiaController.cpp        |  92 ----------
 .../button/CommandXboxController.cpp          |  94 ----------
 ...oller.hpp => CommandNiDsPS4Controller.hpp} |  14 +-
 ...oller.hpp => CommandNiDsPS5Controller.hpp} |  14 +-
 ...er.hpp => CommandNiDsStadiaController.hpp} |  14 +-
 ...ller.hpp => CommandNiDsXboxController.hpp} |  14 +-
 ...troller.py => commandnidsps4controller.py} |  14 +-
 ...roller.py => commandnidsxboxcontroller.py} |  12 +-
 ...ler.java => CommandNiDsPS4Controller.java} |  48 +++---
 ...ler.java => CommandNiDsPS5Controller.java} |  48 +++---
 ....java => CommandNiDsStadiaController.java} |  50 +++---
 ...er.java => CommandNiDsXboxController.java} |  44 ++---
 .../java/org/wpilib/command3/Trigger.java     |   2 +-
 shared/examplecheck.gradle                    |   2 +-
 ...S4Controller.cpp => NiDsPS4Controller.cpp} | 145 ++++++++--------
 ...S5Controller.cpp => NiDsPS5Controller.cpp} | 145 ++++++++--------
 ...ontroller.cpp => NiDsStadiaController.cpp} | 161 ++++++++----------
 ...xController.cpp => NiDsXboxController.cpp} | 133 ++++++---------
 .../cpp/simulation/NiDsPS4ControllerSim.cpp   | 105 ++++++++++++
 .../cpp/simulation/NiDsPS5ControllerSim.cpp   | 105 ++++++++++++
 .../simulation/NiDsStadiaControllerSim.cpp    | 101 +++++++++++
 .../cpp/simulation/NiDsXboxControllerSim.cpp  |  89 ++++++++++
 .../cpp/simulation/PS4ControllerSim.cpp       | 109 ------------
 .../cpp/simulation/PS5ControllerSim.cpp       | 109 ------------
 .../cpp/simulation/StadiaControllerSim.cpp    | 101 -----------
 .../cpp/simulation/XboxControllerSim.cpp      |  97 -----------
 ...S4Controller.hpp => NiDsPS4Controller.hpp} |  52 ++----
 ...S5Controller.hpp => NiDsPS5Controller.hpp} |  52 ++----
 ...ontroller.hpp => NiDsStadiaController.hpp} |  86 ++--------
 ...xController.hpp => NiDsXboxController.hpp} |  86 ++--------
 ...rollerSim.hpp => NiDsPS4ControllerSim.hpp} |  23 +--
 ...rollerSim.hpp => NiDsPS5ControllerSim.hpp} |  23 +--
 ...lerSim.hpp => NiDsStadiaControllerSim.hpp} |  12 +-
 ...ollerSim.hpp => NiDsXboxControllerSim.hpp} |  34 +---
 ...S4Controller.yml => NiDsPS4Controller.yml} |  10 +-
 ...S5Controller.yml => NiDsPS5Controller.yml} |  10 +-
 ...ontroller.yml => NiDsStadiaController.yml} |  10 +-
 ...xController.yml => NiDsXboxController.yml} |  10 +-
 ...rollerSim.yml => NiDsPS4ControllerSim.yml} |   8 +-
 ...rollerSim.yml => NiDsPS5ControllerSim.yml} |   8 +-
 ...lerSim.yml => NiDsStadiaControllerSim.yml} |   8 +-
 ...ollerSim.yml => NiDsXboxControllerSim.yml} |  10 +-
 wpilibc/src/main/python/wpilib/__init__.py    |  16 +-
 .../main/python/wpilib/simulation/__init__.py |  16 +-
 .../test/native/cpp/NiDsPS4ControllerTest.cpp |  38 +++++
 .../test/native/cpp/NiDsPS5ControllerTest.cpp |  38 +++++
 .../native/cpp/NiDsXboxControllerTest.cpp     |  32 ++++
 .../src/test/native/cpp/PS4ControllerTest.cpp |  38 -----
 .../src/test/native/cpp/PS5ControllerTest.cpp |  38 -----
 .../test/native/cpp/XboxControllerTest.cpp    |  33 ----
 wpilibcExamples/example_projects.bzl          |   4 +-
 .../cpp/Robot.cpp                             |   6 +-
 .../DifferentialDriveBot/cpp/Robot.cpp        |   8 +-
 .../cpp/Robot.cpp                             |   8 +-
 .../cpp/RobotContainer.cpp                    |  10 +-
 .../include/RobotContainer.hpp                |   4 +-
 .../cpp/examples/GettingStarted/cpp/Robot.cpp |   4 +-
 .../HatchbotInlined/cpp/RobotContainer.cpp    |  12 +-
 .../include/RobotContainer.hpp                |   4 +-
 .../cpp/RobotContainer.cpp                    |  10 +-
 .../include/RobotContainer.hpp                |   4 +-
 .../main/cpp/examples/HidRumble/cpp/Robot.cpp |   2 +-
 .../cpp/examples/MecanumBot/cpp/Robot.cpp     |  10 +-
 .../MecanumDrivePoseEstimator/cpp/Robot.cpp   |  10 +-
 .../cpp/RapidReactCommandBot.cpp              |  12 +-
 .../include/RapidReactCommandBot.hpp          |   4 +-
 .../cpp/Robot.cpp                             |   4 +-
 .../cpp/examples/StateSpaceArm/cpp/Robot.cpp  |   6 +-
 .../examples/StateSpaceElevator/cpp/Robot.cpp |   6 +-
 .../examples/StateSpaceFlywheel/cpp/Robot.cpp |   6 +-
 .../StateSpaceFlywheelSysId/cpp/Robot.cpp     |   6 +-
 .../main/cpp/examples/SwerveBot/cpp/Robot.cpp |  10 +-
 .../SwerveDrivePoseEstimator/cpp/Robot.cpp    |  10 +-
 .../SysIdRoutine/cpp/SysIdRoutineBot.cpp      |  16 +-
 .../SysIdRoutine/include/SysIdRoutineBot.hpp  |   4 +-
 .../cpp/Robot.cpp                             |   6 +-
 .../src/main/cpp/examples/examples.json       |  34 ++--
 .../commandv2/cpp/RobotContainer.cpp          |   4 +-
 .../commandv2/include/RobotContainer.hpp      |   4 +-
 wpilibj/src/generate/hids.json                |   8 +-
 .../src/generate/main/java/hidsim.java.jinja  |  49 ------
 ...Controller.java => NiDsPS4Controller.java} |  53 +-----
 ...Controller.java => NiDsPS5Controller.java} |  53 +-----
 ...troller.java => NiDsStadiaController.java} |  91 +---------
 ...ontroller.java => NiDsXboxController.java} |  91 +---------
 ...llerSim.java => NiDsPS4ControllerSim.java} |  64 +++----
 ...llerSim.java => NiDsPS5ControllerSim.java} |  64 +++----
 ...rSim.java => NiDsStadiaControllerSim.java} |  50 +++---
 ...lerSim.java => NiDsXboxControllerSim.java} |  68 +++-----
 ...erTest.java => NiDsPS4ControllerTest.java} |  20 +--
 ...erTest.java => NiDsPS5ControllerTest.java} |  20 +--
 ...rTest.java => NiDsXboxControllerTest.java} |  20 +--
 wpilibjExamples/example_projects.bzl          |   4 +-
 .../Main.java                                 |   2 +-
 .../Robot.java                                |   8 +-
 .../examples/differentialdrivebot/Robot.java  |   8 +-
 .../differentialdriveposeestimator/Robot.java |   8 +-
 .../drivedistanceoffboard/RobotContainer.java |  20 +--
 .../java/org/wpilib/examples/examples.json    |  32 ++--
 .../wpilib/examples/gettingstarted/Robot.java |   4 +-
 .../hatchbottraditional/RobotContainer.java   |  18 +-
 .../org/wpilib/examples/hidrumble/Robot.java  |   4 +-
 .../org/wpilib/examples/mecanumbot/Robot.java |  10 +-
 .../mecanumdriveposeestimator/Robot.java      |  10 +-
 .../RapidReactCommandBot.java                 |  18 +-
 .../romireference/RobotContainer.java         |   4 +-
 .../selectcommand/RobotContainer.java         |   4 +-
 .../Robot.java                                |   6 +-
 .../org/wpilib/examples/swervebot/Robot.java  |   6 +-
 .../swervedriveposeestimator/Robot.java       |  10 +-
 .../sysidroutine/SysIdRoutineBot.java         |  38 ++---
 .../Main.java                                 |   2 +-
 .../Robot.java                                |   8 +-
 .../examples/xrpreference/RobotContainer.java |   4 +-
 .../templates/commandv2/RobotContainer.java   |  14 +-
 .../romicommandv2/RobotContainer.java         |   4 +-
 .../xrpcommandv2/RobotContainer.java          |   4 +-
 127 files changed, 1889 insertions(+), 2537 deletions(-)
 rename commandsv2/src/generated/main/java/org/wpilib/command2/button/{CommandPS4Controller.java => CommandNiDsPS4Controller.java} (90%)
 rename commandsv2/src/generated/main/java/org/wpilib/command2/button/{CommandPS5Controller.java => CommandNiDsPS5Controller.java} (90%)
 rename commandsv2/src/generated/main/java/org/wpilib/command2/button/{CommandStadiaController.java => CommandNiDsStadiaController.java} (89%)
 rename commandsv2/src/generated/main/java/org/wpilib/command2/button/{CommandXboxController.java => CommandNiDsXboxController.java} (91%)
 create mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS4Controller.cpp
 create mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS5Controller.cpp
 create mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsStadiaController.cpp
 create mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsXboxController.cpp
 delete mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
 delete mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
 delete mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
 delete mode 100644 commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
 rename commandsv2/src/generated/main/native/include/wpi/commands2/button/{CommandPS4Controller.hpp => CommandNiDsPS4Controller.hpp} (96%)
 rename commandsv2/src/generated/main/native/include/wpi/commands2/button/{CommandPS5Controller.hpp => CommandNiDsPS5Controller.hpp} (96%)
 rename commandsv2/src/generated/main/native/include/wpi/commands2/button/{CommandStadiaController.hpp => CommandNiDsStadiaController.hpp} (96%)
 rename commandsv2/src/generated/main/native/include/wpi/commands2/button/{CommandXboxController.hpp => CommandNiDsXboxController.hpp} (96%)
 rename commandsv2/src/main/python/commands2/button/{commandps4controller.py => commandnidsps4controller.py} (96%)
 rename commandsv2/src/main/python/commands2/button/{commandxboxcontroller.py => commandnidsxboxcontroller.py} (97%)
 rename commandsv3/src/generated/main/java/org/wpilib/command3/button/{CommandPS4Controller.java => CommandNiDsPS4Controller.java} (91%)
 rename commandsv3/src/generated/main/java/org/wpilib/command3/button/{CommandPS5Controller.java => CommandNiDsPS5Controller.java} (91%)
 rename commandsv3/src/generated/main/java/org/wpilib/command3/button/{CommandStadiaController.java => CommandNiDsStadiaController.java} (90%)
 rename commandsv3/src/generated/main/java/org/wpilib/command3/button/{CommandXboxController.java => CommandNiDsXboxController.java} (92%)
 rename wpilibc/src/generated/main/native/cpp/driverstation/{PS4Controller.cpp => NiDsPS4Controller.cpp} (60%)
 rename wpilibc/src/generated/main/native/cpp/driverstation/{PS5Controller.cpp => NiDsPS5Controller.cpp} (60%)
 rename wpilibc/src/generated/main/native/cpp/driverstation/{StadiaController.cpp => NiDsStadiaController.cpp} (56%)
 rename wpilibc/src/generated/main/native/cpp/driverstation/{XboxController.cpp => NiDsXboxController.cpp} (56%)
 create mode 100644 wpilibc/src/generated/main/native/cpp/simulation/NiDsPS4ControllerSim.cpp
 create mode 100644 wpilibc/src/generated/main/native/cpp/simulation/NiDsPS5ControllerSim.cpp
 create mode 100644 wpilibc/src/generated/main/native/cpp/simulation/NiDsStadiaControllerSim.cpp
 create mode 100644 wpilibc/src/generated/main/native/cpp/simulation/NiDsXboxControllerSim.cpp
 delete mode 100644 wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
 delete mode 100644 wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
 delete mode 100644 wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
 delete mode 100644 wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
 rename wpilibc/src/generated/main/native/include/wpi/driverstation/{PS4Controller.hpp => NiDsPS4Controller.hpp} (90%)
 rename wpilibc/src/generated/main/native/include/wpi/driverstation/{PS5Controller.hpp => NiDsPS5Controller.hpp} (90%)
 rename wpilibc/src/generated/main/native/include/wpi/driverstation/{StadiaController.hpp => NiDsStadiaController.hpp} (83%)
 rename wpilibc/src/generated/main/native/include/wpi/driverstation/{XboxController.hpp => NiDsXboxController.hpp} (81%)
 rename wpilibc/src/generated/main/native/include/wpi/simulation/{PS4ControllerSim.hpp => NiDsPS4ControllerSim.hpp} (84%)
 rename wpilibc/src/generated/main/native/include/wpi/simulation/{PS5ControllerSim.hpp => NiDsPS5ControllerSim.hpp} (84%)
 rename wpilibc/src/generated/main/native/include/wpi/simulation/{StadiaControllerSim.hpp => NiDsStadiaControllerSim.hpp} (91%)
 rename wpilibc/src/generated/main/native/include/wpi/simulation/{XboxControllerSim.hpp => NiDsXboxControllerSim.hpp} (74%)
 rename wpilibc/src/main/python/semiwrap/{PS4Controller.yml => NiDsPS4Controller.yml} (91%)
 rename wpilibc/src/main/python/semiwrap/{PS5Controller.yml => NiDsPS5Controller.yml} (91%)
 rename wpilibc/src/main/python/semiwrap/{StadiaController.yml => NiDsStadiaController.yml} (92%)
 rename wpilibc/src/main/python/semiwrap/{XboxController.yml => NiDsXboxController.yml} (91%)
 rename wpilibc/src/main/python/semiwrap/simulation/{PS4ControllerSim.yml => NiDsPS4ControllerSim.yml} (79%)
 rename wpilibc/src/main/python/semiwrap/simulation/{PS5ControllerSim.yml => NiDsPS5ControllerSim.yml} (79%)
 rename wpilibc/src/main/python/semiwrap/simulation/{StadiaControllerSim.yml => NiDsStadiaControllerSim.yml} (77%)
 rename wpilibc/src/main/python/semiwrap/simulation/{XboxControllerSim.yml => NiDsXboxControllerSim.yml} (75%)
 create mode 100644 wpilibc/src/test/native/cpp/NiDsPS4ControllerTest.cpp
 create mode 100644 wpilibc/src/test/native/cpp/NiDsPS5ControllerTest.cpp
 create mode 100644 wpilibc/src/test/native/cpp/NiDsXboxControllerTest.cpp
 delete mode 100644 wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
 delete mode 100644 wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
 delete mode 100644 wpilibc/src/test/native/cpp/XboxControllerTest.cpp
 rename wpilibcExamples/src/main/cpp/examples/{ArcadeDriveXboxController => ArcadeDriveGamepad}/cpp/Robot.cpp (90%)
 rename wpilibcExamples/src/main/cpp/examples/{TankDriveXboxController => TankDriveGamepad}/cpp/Robot.cpp (89%)
 rename wpilibj/src/generated/main/java/org/wpilib/driverstation/{PS4Controller.java => NiDsPS4Controller.java} (91%)
 rename wpilibj/src/generated/main/java/org/wpilib/driverstation/{PS5Controller.java => NiDsPS5Controller.java} (91%)
 rename wpilibj/src/generated/main/java/org/wpilib/driverstation/{StadiaController.java => NiDsStadiaController.java} (86%)
 rename wpilibj/src/generated/main/java/org/wpilib/driverstation/{XboxController.java => NiDsXboxController.java} (84%)
 rename wpilibj/src/generated/main/java/org/wpilib/simulation/{PS4ControllerSim.java => NiDsPS4ControllerSim.java} (67%)
 rename wpilibj/src/generated/main/java/org/wpilib/simulation/{PS5ControllerSim.java => NiDsPS5ControllerSim.java} (67%)
 rename wpilibj/src/generated/main/java/org/wpilib/simulation/{StadiaControllerSim.java => NiDsStadiaControllerSim.java} (70%)
 rename wpilibj/src/generated/main/java/org/wpilib/simulation/{XboxControllerSim.java => NiDsXboxControllerSim.java} (60%)
 rename wpilibj/src/test/java/org/wpilib/driverstation/{PS4ControllerTest.java => NiDsPS4ControllerTest.java} (83%)
 rename wpilibj/src/test/java/org/wpilib/driverstation/{PS5ControllerTest.java => NiDsPS5ControllerTest.java} (83%)
 rename wpilibj/src/test/java/org/wpilib/driverstation/{XboxControllerTest.java => NiDsXboxControllerTest.java} (83%)
 rename wpilibjExamples/src/main/java/org/wpilib/examples/{tankdrivexboxcontroller => arcadedrivegamepad}/Main.java (93%)
 rename wpilibjExamples/src/main/java/org/wpilib/examples/{arcadedrivexboxcontroller => arcadedrivegamepad}/Robot.java (87%)
 rename wpilibjExamples/src/main/java/org/wpilib/examples/{arcadedrivexboxcontroller => tankdrivegamepad}/Main.java (93%)
 rename wpilibjExamples/src/main/java/org/wpilib/examples/{tankdrivexboxcontroller => tankdrivegamepad}/Robot.java (88%)

diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandPS4Controller.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS4Controller.java
similarity index 90%
rename from commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandPS4Controller.java
rename to commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS4Controller.java
index 7c3855236fa..cd2b6461443 100644
--- a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandPS4Controller.java
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS4Controller.java
@@ -7,26 +7,26 @@
 package org.wpilib.command2.button;
 
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.driverstation.PS4Controller;
+import org.wpilib.driverstation.NiDsPS4Controller;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link PS4Controller} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsPS4Controller} with {@link Trigger} factories for command-based.
  *
- * @see PS4Controller
+ * @see NiDsPS4Controller
  */
 @SuppressWarnings("MethodName")
-public class CommandPS4Controller extends CommandGenericHID {
-  private final PS4Controller m_hid;
+public class CommandNiDsPS4Controller extends CommandGenericHID {
+  private final NiDsPS4Controller m_hid;
 
   /**
    * Construct an instance of a controller.
    *
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandPS4Controller(int port) {
+  public CommandNiDsPS4Controller(int port) {
     super(port);
-    m_hid = new PS4Controller(port);
+    m_hid = new NiDsPS4Controller(port);
   }
 
   /**
@@ -35,7 +35,7 @@ public CommandPS4Controller(int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public PS4Controller getHID() {
+  public NiDsPS4Controller getHID() {
     return m_hid;
   }
 
@@ -58,7 +58,7 @@ public Trigger square() {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return button(PS4Controller.Button.kSquare.value, loop);
+    return button(NiDsPS4Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger cross() {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return button(PS4Controller.Button.kCross.value, loop);
+    return button(NiDsPS4Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger circle() {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return button(PS4Controller.Button.kCircle.value, loop);
+    return button(NiDsPS4Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger triangle() {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return button(PS4Controller.Button.kTriangle.value, loop);
+    return button(NiDsPS4Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger L1() {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return button(PS4Controller.Button.kL1.value, loop);
+    return button(NiDsPS4Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger R1() {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return button(PS4Controller.Button.kR1.value, loop);
+    return button(NiDsPS4Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger L2() {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return button(PS4Controller.Button.kL2.value, loop);
+    return button(NiDsPS4Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger R2() {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return button(PS4Controller.Button.kR2.value, loop);
+    return button(NiDsPS4Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger share() {
    *     to the given loop.
    */
   public Trigger share(EventLoop loop) {
-    return button(PS4Controller.Button.kShare.value, loop);
+    return button(NiDsPS4Controller.Button.kShare.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger options() {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return button(PS4Controller.Button.kOptions.value, loop);
+    return button(NiDsPS4Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public Trigger L3() {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return button(PS4Controller.Button.kL3.value, loop);
+    return button(NiDsPS4Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public Trigger R3() {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return button(PS4Controller.Button.kR3.value, loop);
+    return button(NiDsPS4Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public Trigger PS() {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return button(PS4Controller.Button.kPS.value, loop);
+    return button(NiDsPS4Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public Trigger touchpad() {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return button(PS4Controller.Button.kTouchpad.value, loop);
+    return button(NiDsPS4Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandPS5Controller.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS5Controller.java
similarity index 90%
rename from commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandPS5Controller.java
rename to commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS5Controller.java
index dadfcf1e7ad..c25a3cb7d68 100644
--- a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandPS5Controller.java
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS5Controller.java
@@ -7,26 +7,26 @@
 package org.wpilib.command2.button;
 
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.driverstation.PS5Controller;
+import org.wpilib.driverstation.NiDsPS5Controller;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link PS5Controller} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsPS5Controller} with {@link Trigger} factories for command-based.
  *
- * @see PS5Controller
+ * @see NiDsPS5Controller
  */
 @SuppressWarnings("MethodName")
-public class CommandPS5Controller extends CommandGenericHID {
-  private final PS5Controller m_hid;
+public class CommandNiDsPS5Controller extends CommandGenericHID {
+  private final NiDsPS5Controller m_hid;
 
   /**
    * Construct an instance of a controller.
    *
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandPS5Controller(int port) {
+  public CommandNiDsPS5Controller(int port) {
     super(port);
-    m_hid = new PS5Controller(port);
+    m_hid = new NiDsPS5Controller(port);
   }
 
   /**
@@ -35,7 +35,7 @@ public CommandPS5Controller(int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public PS5Controller getHID() {
+  public NiDsPS5Controller getHID() {
     return m_hid;
   }
 
@@ -58,7 +58,7 @@ public Trigger square() {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return button(PS5Controller.Button.kSquare.value, loop);
+    return button(NiDsPS5Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger cross() {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return button(PS5Controller.Button.kCross.value, loop);
+    return button(NiDsPS5Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger circle() {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return button(PS5Controller.Button.kCircle.value, loop);
+    return button(NiDsPS5Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger triangle() {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return button(PS5Controller.Button.kTriangle.value, loop);
+    return button(NiDsPS5Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger L1() {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return button(PS5Controller.Button.kL1.value, loop);
+    return button(NiDsPS5Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger R1() {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return button(PS5Controller.Button.kR1.value, loop);
+    return button(NiDsPS5Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger L2() {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return button(PS5Controller.Button.kL2.value, loop);
+    return button(NiDsPS5Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger R2() {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return button(PS5Controller.Button.kR2.value, loop);
+    return button(NiDsPS5Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger create() {
    *     to the given loop.
    */
   public Trigger create(EventLoop loop) {
-    return button(PS5Controller.Button.kCreate.value, loop);
+    return button(NiDsPS5Controller.Button.kCreate.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger options() {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return button(PS5Controller.Button.kOptions.value, loop);
+    return button(NiDsPS5Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public Trigger L3() {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return button(PS5Controller.Button.kL3.value, loop);
+    return button(NiDsPS5Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public Trigger R3() {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return button(PS5Controller.Button.kR3.value, loop);
+    return button(NiDsPS5Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public Trigger PS() {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return button(PS5Controller.Button.kPS.value, loop);
+    return button(NiDsPS5Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public Trigger touchpad() {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return button(PS5Controller.Button.kTouchpad.value, loop);
+    return button(NiDsPS5Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandStadiaController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsStadiaController.java
similarity index 89%
rename from commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandStadiaController.java
rename to commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsStadiaController.java
index 40465e534cd..221441b1be5 100644
--- a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandStadiaController.java
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsStadiaController.java
@@ -7,26 +7,26 @@
 package org.wpilib.command2.button;
 
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.driverstation.StadiaController;
+import org.wpilib.driverstation.NiDsStadiaController;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link StadiaController} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsStadiaController} with {@link Trigger} factories for command-based.
  *
- * @see StadiaController
+ * @see NiDsStadiaController
  */
 @SuppressWarnings("MethodName")
-public class CommandStadiaController extends CommandGenericHID {
-  private final StadiaController m_hid;
+public class CommandNiDsStadiaController extends CommandGenericHID {
+  private final NiDsStadiaController m_hid;
 
   /**
    * Construct an instance of a controller.
    *
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandStadiaController(int port) {
+  public CommandNiDsStadiaController(int port) {
     super(port);
-    m_hid = new StadiaController(port);
+    m_hid = new NiDsStadiaController(port);
   }
 
   /**
@@ -35,7 +35,7 @@ public CommandStadiaController(int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public StadiaController getHID() {
+  public NiDsStadiaController getHID() {
     return m_hid;
   }
 
@@ -58,7 +58,7 @@ public Trigger a() {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return button(StadiaController.Button.kA.value, loop);
+    return button(NiDsStadiaController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger b() {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return button(StadiaController.Button.kB.value, loop);
+    return button(NiDsStadiaController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger x() {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return button(StadiaController.Button.kX.value, loop);
+    return button(NiDsStadiaController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger y() {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return button(StadiaController.Button.kY.value, loop);
+    return button(NiDsStadiaController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger leftBumper() {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return button(StadiaController.Button.kLeftBumper.value, loop);
+    return button(NiDsStadiaController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger rightBumper() {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return button(StadiaController.Button.kRightBumper.value, loop);
+    return button(NiDsStadiaController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger leftStick() {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return button(StadiaController.Button.kLeftStick.value, loop);
+    return button(NiDsStadiaController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger rightStick() {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return button(StadiaController.Button.kRightStick.value, loop);
+    return button(NiDsStadiaController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger ellipses() {
    *     to the given loop.
    */
   public Trigger ellipses(EventLoop loop) {
-    return button(StadiaController.Button.kEllipses.value, loop);
+    return button(NiDsStadiaController.Button.kEllipses.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger hamburger() {
    *     to the given loop.
    */
   public Trigger hamburger(EventLoop loop) {
-    return button(StadiaController.Button.kHamburger.value, loop);
+    return button(NiDsStadiaController.Button.kHamburger.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public Trigger stadia() {
    *     to the given loop.
    */
   public Trigger stadia(EventLoop loop) {
-    return button(StadiaController.Button.kStadia.value, loop);
+    return button(NiDsStadiaController.Button.kStadia.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public Trigger rightTrigger() {
    *     to the given loop.
    */
   public Trigger rightTrigger(EventLoop loop) {
-    return button(StadiaController.Button.kRightTrigger.value, loop);
+    return button(NiDsStadiaController.Button.kRightTrigger.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public Trigger leftTrigger() {
    *     to the given loop.
    */
   public Trigger leftTrigger(EventLoop loop) {
-    return button(StadiaController.Button.kLeftTrigger.value, loop);
+    return button(NiDsStadiaController.Button.kLeftTrigger.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public Trigger google() {
    *     to the given loop.
    */
   public Trigger google(EventLoop loop) {
-    return button(StadiaController.Button.kGoogle.value, loop);
+    return button(NiDsStadiaController.Button.kGoogle.value, loop);
   }
 
   /**
@@ -366,7 +366,7 @@ public Trigger frame() {
    *     to the given loop.
    */
   public Trigger frame(EventLoop loop) {
-    return button(StadiaController.Button.kFrame.value, loop);
+    return button(NiDsStadiaController.Button.kFrame.value, loop);
   }
 
   /**
diff --git a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandXboxController.java b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsXboxController.java
similarity index 91%
rename from commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandXboxController.java
rename to commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsXboxController.java
index 254abad433a..7840a44bed9 100644
--- a/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandXboxController.java
+++ b/commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsXboxController.java
@@ -7,26 +7,26 @@
 package org.wpilib.command2.button;
 
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.NiDsXboxController;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link XboxController} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsXboxController} with {@link Trigger} factories for command-based.
  *
- * @see XboxController
+ * @see NiDsXboxController
  */
 @SuppressWarnings("MethodName")
-public class CommandXboxController extends CommandGenericHID {
-  private final XboxController m_hid;
+public class CommandNiDsXboxController extends CommandGenericHID {
+  private final NiDsXboxController m_hid;
 
   /**
    * 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) {
+  public CommandNiDsXboxController(int port) {
     super(port);
-    m_hid = new XboxController(port);
+    m_hid = new NiDsXboxController(port);
   }
 
   /**
@@ -35,7 +35,7 @@ public CommandXboxController(int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public XboxController getHID() {
+  public NiDsXboxController getHID() {
     return m_hid;
   }
 
@@ -58,7 +58,7 @@ public Trigger a() {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return button(XboxController.Button.kA.value, loop);
+    return button(NiDsXboxController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger b() {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return button(XboxController.Button.kB.value, loop);
+    return button(NiDsXboxController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger x() {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return button(XboxController.Button.kX.value, loop);
+    return button(NiDsXboxController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger y() {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return button(XboxController.Button.kY.value, loop);
+    return button(NiDsXboxController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger leftBumper() {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return button(XboxController.Button.kLeftBumper.value, loop);
+    return button(NiDsXboxController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger rightBumper() {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return button(XboxController.Button.kRightBumper.value, loop);
+    return button(NiDsXboxController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger back() {
    *     to the given loop.
    */
   public Trigger back(EventLoop loop) {
-    return button(XboxController.Button.kBack.value, loop);
+    return button(NiDsXboxController.Button.kBack.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger start() {
    *     to the given loop.
    */
   public Trigger start(EventLoop loop) {
-    return button(XboxController.Button.kStart.value, loop);
+    return button(NiDsXboxController.Button.kStart.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger leftStick() {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return button(XboxController.Button.kLeftStick.value, loop);
+    return button(NiDsXboxController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger rightStick() {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return button(XboxController.Button.kRightStick.value, loop);
+    return button(NiDsXboxController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -270,7 +270,7 @@ public Trigger rightStick(EventLoop loop) {
    *     threshold, attached to the given event loop
    */
   public Trigger leftTrigger(double threshold, EventLoop loop) {
-    return axisGreaterThan(XboxController.Axis.kLeftTrigger.value, threshold, loop);
+    return axisGreaterThan(NiDsXboxController.Axis.kLeftTrigger.value, threshold, loop);
   }
 
   /**
@@ -309,7 +309,7 @@ public Trigger leftTrigger() {
    *     threshold, attached to the given event loop
    */
   public Trigger rightTrigger(double threshold, EventLoop loop) {
-    return axisGreaterThan(XboxController.Axis.kRightTrigger.value, threshold, loop);
+    return axisGreaterThan(NiDsXboxController.Axis.kRightTrigger.value, threshold, loop);
   }
 
   /**
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS4Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS4Controller.cpp
new file mode 100644
index 00000000000..ae4eb311387
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS4Controller.cpp
@@ -0,0 +1,96 @@
+// 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/CommandNiDsPS4Controller.hpp"
+
+using namespace wpi::cmd;
+
+CommandNiDsPS4Controller::CommandNiDsPS4Controller(int port)
+    : CommandGenericHID(port), m_hid{wpi::NiDsPS4Controller(port)} {}
+
+wpi::NiDsPS4Controller& CommandNiDsPS4Controller::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandNiDsPS4Controller::Square(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kSquare, loop);
+}
+
+Trigger CommandNiDsPS4Controller::Cross(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kCross, loop);
+}
+
+Trigger CommandNiDsPS4Controller::Circle(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kCircle, loop);
+}
+
+Trigger CommandNiDsPS4Controller::Triangle(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kTriangle, loop);
+}
+
+Trigger CommandNiDsPS4Controller::L1(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kL1, loop);
+}
+
+Trigger CommandNiDsPS4Controller::R1(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kR1, loop);
+}
+
+Trigger CommandNiDsPS4Controller::L2(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kL2, loop);
+}
+
+Trigger CommandNiDsPS4Controller::R2(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kR2, loop);
+}
+
+Trigger CommandNiDsPS4Controller::Share(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kShare, loop);
+}
+
+Trigger CommandNiDsPS4Controller::Options(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kOptions, loop);
+}
+
+Trigger CommandNiDsPS4Controller::L3(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kL3, loop);
+}
+
+Trigger CommandNiDsPS4Controller::R3(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kR3, loop);
+}
+
+Trigger CommandNiDsPS4Controller::PS(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kPS, loop);
+}
+
+Trigger CommandNiDsPS4Controller::Touchpad(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS4Controller::Button::kTouchpad, loop);
+}
+
+double CommandNiDsPS4Controller::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandNiDsPS4Controller::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandNiDsPS4Controller::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+double CommandNiDsPS4Controller::GetRightY() const {
+  return m_hid.GetRightY();
+}
+
+double CommandNiDsPS4Controller::GetL2Axis() const {
+  return m_hid.GetL2Axis();
+}
+
+double CommandNiDsPS4Controller::GetR2Axis() const {
+  return m_hid.GetR2Axis();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS5Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS5Controller.cpp
new file mode 100644
index 00000000000..4b9320ee3e1
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS5Controller.cpp
@@ -0,0 +1,96 @@
+// 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/CommandNiDsPS5Controller.hpp"
+
+using namespace wpi::cmd;
+
+CommandNiDsPS5Controller::CommandNiDsPS5Controller(int port)
+    : CommandGenericHID(port), m_hid{wpi::NiDsPS5Controller(port)} {}
+
+wpi::NiDsPS5Controller& CommandNiDsPS5Controller::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandNiDsPS5Controller::Square(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kSquare, loop);
+}
+
+Trigger CommandNiDsPS5Controller::Cross(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kCross, loop);
+}
+
+Trigger CommandNiDsPS5Controller::Circle(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kCircle, loop);
+}
+
+Trigger CommandNiDsPS5Controller::Triangle(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kTriangle, loop);
+}
+
+Trigger CommandNiDsPS5Controller::L1(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kL1, loop);
+}
+
+Trigger CommandNiDsPS5Controller::R1(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kR1, loop);
+}
+
+Trigger CommandNiDsPS5Controller::L2(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kL2, loop);
+}
+
+Trigger CommandNiDsPS5Controller::R2(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kR2, loop);
+}
+
+Trigger CommandNiDsPS5Controller::Create(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kCreate, loop);
+}
+
+Trigger CommandNiDsPS5Controller::Options(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kOptions, loop);
+}
+
+Trigger CommandNiDsPS5Controller::L3(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kL3, loop);
+}
+
+Trigger CommandNiDsPS5Controller::R3(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kR3, loop);
+}
+
+Trigger CommandNiDsPS5Controller::PS(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kPS, loop);
+}
+
+Trigger CommandNiDsPS5Controller::Touchpad(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsPS5Controller::Button::kTouchpad, loop);
+}
+
+double CommandNiDsPS5Controller::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandNiDsPS5Controller::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandNiDsPS5Controller::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+double CommandNiDsPS5Controller::GetRightY() const {
+  return m_hid.GetRightY();
+}
+
+double CommandNiDsPS5Controller::GetL2Axis() const {
+  return m_hid.GetL2Axis();
+}
+
+double CommandNiDsPS5Controller::GetR2Axis() const {
+  return m_hid.GetR2Axis();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsStadiaController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsStadiaController.cpp
new file mode 100644
index 00000000000..20692a53ce7
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsStadiaController.cpp
@@ -0,0 +1,92 @@
+// 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/CommandNiDsStadiaController.hpp"
+
+using namespace wpi::cmd;
+
+CommandNiDsStadiaController::CommandNiDsStadiaController(int port)
+    : CommandGenericHID(port), m_hid{wpi::NiDsStadiaController(port)} {}
+
+wpi::NiDsStadiaController& CommandNiDsStadiaController::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandNiDsStadiaController::A(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kA, loop);
+}
+
+Trigger CommandNiDsStadiaController::B(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kB, loop);
+}
+
+Trigger CommandNiDsStadiaController::X(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kX, loop);
+}
+
+Trigger CommandNiDsStadiaController::Y(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kY, loop);
+}
+
+Trigger CommandNiDsStadiaController::LeftBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kLeftBumper, loop);
+}
+
+Trigger CommandNiDsStadiaController::RightBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kRightBumper, loop);
+}
+
+Trigger CommandNiDsStadiaController::LeftStick(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kLeftStick, loop);
+}
+
+Trigger CommandNiDsStadiaController::RightStick(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kRightStick, loop);
+}
+
+Trigger CommandNiDsStadiaController::Ellipses(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kEllipses, loop);
+}
+
+Trigger CommandNiDsStadiaController::Hamburger(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kHamburger, loop);
+}
+
+Trigger CommandNiDsStadiaController::Stadia(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kStadia, loop);
+}
+
+Trigger CommandNiDsStadiaController::RightTrigger(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kRightTrigger, loop);
+}
+
+Trigger CommandNiDsStadiaController::LeftTrigger(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kLeftTrigger, loop);
+}
+
+Trigger CommandNiDsStadiaController::Google(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kGoogle, loop);
+}
+
+Trigger CommandNiDsStadiaController::Frame(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsStadiaController::Button::kFrame, loop);
+}
+
+double CommandNiDsStadiaController::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandNiDsStadiaController::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+double CommandNiDsStadiaController::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandNiDsStadiaController::GetRightY() const {
+  return m_hid.GetRightY();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsXboxController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsXboxController.cpp
new file mode 100644
index 00000000000..f2a13565b91
--- /dev/null
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsXboxController.cpp
@@ -0,0 +1,94 @@
+// 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/CommandNiDsXboxController.hpp"
+
+using namespace wpi::cmd;
+
+CommandNiDsXboxController::CommandNiDsXboxController(int port)
+    : CommandGenericHID(port), m_hid{wpi::NiDsXboxController(port)} {}
+
+wpi::NiDsXboxController& CommandNiDsXboxController::GetHID() {
+  return m_hid;
+}
+
+Trigger CommandNiDsXboxController::A(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kA, loop);
+}
+
+Trigger CommandNiDsXboxController::B(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kB, loop);
+}
+
+Trigger CommandNiDsXboxController::X(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kX, loop);
+}
+
+Trigger CommandNiDsXboxController::Y(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kY, loop);
+}
+
+Trigger CommandNiDsXboxController::LeftBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kLeftBumper, loop);
+}
+
+Trigger CommandNiDsXboxController::RightBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kRightBumper, loop);
+}
+
+Trigger CommandNiDsXboxController::Back(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kBack, loop);
+}
+
+Trigger CommandNiDsXboxController::Start(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kStart, loop);
+}
+
+Trigger CommandNiDsXboxController::LeftStick(wpi::EventLoop* loop) const {
+  return Button(wpi::NiDsXboxController::Button::kLeftStick, loop);
+}
+
+Trigger CommandNiDsXboxController::RightStick(wpi::EventLoop* loop) const {
+  return 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;
+  });
+}
+
+Trigger CommandNiDsXboxController::RightTrigger(double threshold,
+                                           wpi::EventLoop* loop) const {
+  return Trigger(loop, [this, threshold] {
+    return m_hid.GetRightTriggerAxis() > threshold;
+  });
+}
+
+double CommandNiDsXboxController::GetLeftX() const {
+  return m_hid.GetLeftX();
+}
+
+double CommandNiDsXboxController::GetRightX() const {
+  return m_hid.GetRightX();
+}
+
+double CommandNiDsXboxController::GetLeftY() const {
+  return m_hid.GetLeftY();
+}
+
+double CommandNiDsXboxController::GetRightY() const {
+  return m_hid.GetRightY();
+}
+
+double CommandNiDsXboxController::GetLeftTriggerAxis() const {
+  return m_hid.GetLeftTriggerAxis();
+}
+
+double CommandNiDsXboxController::GetRightTriggerAxis() const {
+  return m_hid.GetRightTriggerAxis();
+}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
deleted file mode 100644
index 0e57562f039..00000000000
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-// 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/CommandPS4Controller.hpp"
-
-using namespace wpi::cmd;
-
-CommandPS4Controller::CommandPS4Controller(int port)
-    : CommandGenericHID(port), m_hid{wpi::PS4Controller(port)} {}
-
-wpi::PS4Controller& CommandPS4Controller::GetHID() {
-  return m_hid;
-}
-
-Trigger CommandPS4Controller::Square(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kSquare, loop);
-}
-
-Trigger CommandPS4Controller::Cross(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kCross, loop);
-}
-
-Trigger CommandPS4Controller::Circle(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kCircle, loop);
-}
-
-Trigger CommandPS4Controller::Triangle(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kTriangle, loop);
-}
-
-Trigger CommandPS4Controller::L1(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kL1, loop);
-}
-
-Trigger CommandPS4Controller::R1(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kR1, loop);
-}
-
-Trigger CommandPS4Controller::L2(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kL2, loop);
-}
-
-Trigger CommandPS4Controller::R2(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kR2, loop);
-}
-
-Trigger CommandPS4Controller::Share(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kShare, loop);
-}
-
-Trigger CommandPS4Controller::Options(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kOptions, loop);
-}
-
-Trigger CommandPS4Controller::L3(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kL3, loop);
-}
-
-Trigger CommandPS4Controller::R3(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kR3, loop);
-}
-
-Trigger CommandPS4Controller::PS(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kPS, loop);
-}
-
-Trigger CommandPS4Controller::Touchpad(wpi::EventLoop* loop) const {
-  return Button(wpi::PS4Controller::Button::kTouchpad, loop);
-}
-
-double CommandPS4Controller::GetLeftX() const {
-  return m_hid.GetLeftX();
-}
-
-double CommandPS4Controller::GetLeftY() const {
-  return m_hid.GetLeftY();
-}
-
-double CommandPS4Controller::GetRightX() const {
-  return m_hid.GetRightX();
-}
-
-double CommandPS4Controller::GetRightY() const {
-  return m_hid.GetRightY();
-}
-
-double CommandPS4Controller::GetL2Axis() const {
-  return m_hid.GetL2Axis();
-}
-
-double CommandPS4Controller::GetR2Axis() const {
-  return m_hid.GetR2Axis();
-}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
deleted file mode 100644
index e3c375cbb94..00000000000
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-// 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/CommandPS5Controller.hpp"
-
-using namespace wpi::cmd;
-
-CommandPS5Controller::CommandPS5Controller(int port)
-    : CommandGenericHID(port), m_hid{wpi::PS5Controller(port)} {}
-
-wpi::PS5Controller& CommandPS5Controller::GetHID() {
-  return m_hid;
-}
-
-Trigger CommandPS5Controller::Square(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kSquare, loop);
-}
-
-Trigger CommandPS5Controller::Cross(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kCross, loop);
-}
-
-Trigger CommandPS5Controller::Circle(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kCircle, loop);
-}
-
-Trigger CommandPS5Controller::Triangle(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kTriangle, loop);
-}
-
-Trigger CommandPS5Controller::L1(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kL1, loop);
-}
-
-Trigger CommandPS5Controller::R1(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kR1, loop);
-}
-
-Trigger CommandPS5Controller::L2(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kL2, loop);
-}
-
-Trigger CommandPS5Controller::R2(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kR2, loop);
-}
-
-Trigger CommandPS5Controller::Create(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kCreate, loop);
-}
-
-Trigger CommandPS5Controller::Options(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kOptions, loop);
-}
-
-Trigger CommandPS5Controller::L3(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kL3, loop);
-}
-
-Trigger CommandPS5Controller::R3(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kR3, loop);
-}
-
-Trigger CommandPS5Controller::PS(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kPS, loop);
-}
-
-Trigger CommandPS5Controller::Touchpad(wpi::EventLoop* loop) const {
-  return Button(wpi::PS5Controller::Button::kTouchpad, loop);
-}
-
-double CommandPS5Controller::GetLeftX() const {
-  return m_hid.GetLeftX();
-}
-
-double CommandPS5Controller::GetLeftY() const {
-  return m_hid.GetLeftY();
-}
-
-double CommandPS5Controller::GetRightX() const {
-  return m_hid.GetRightX();
-}
-
-double CommandPS5Controller::GetRightY() const {
-  return m_hid.GetRightY();
-}
-
-double CommandPS5Controller::GetL2Axis() const {
-  return m_hid.GetL2Axis();
-}
-
-double CommandPS5Controller::GetR2Axis() const {
-  return m_hid.GetR2Axis();
-}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
deleted file mode 100644
index a6141abd0dd..00000000000
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-// 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/CommandStadiaController.hpp"
-
-using namespace wpi::cmd;
-
-CommandStadiaController::CommandStadiaController(int port)
-    : CommandGenericHID(port), m_hid{wpi::StadiaController(port)} {}
-
-wpi::StadiaController& CommandStadiaController::GetHID() {
-  return m_hid;
-}
-
-Trigger CommandStadiaController::A(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kA, loop);
-}
-
-Trigger CommandStadiaController::B(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kB, loop);
-}
-
-Trigger CommandStadiaController::X(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kX, loop);
-}
-
-Trigger CommandStadiaController::Y(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kY, loop);
-}
-
-Trigger CommandStadiaController::LeftBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kLeftBumper, loop);
-}
-
-Trigger CommandStadiaController::RightBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kRightBumper, loop);
-}
-
-Trigger CommandStadiaController::LeftStick(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kLeftStick, loop);
-}
-
-Trigger CommandStadiaController::RightStick(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kRightStick, loop);
-}
-
-Trigger CommandStadiaController::Ellipses(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kEllipses, loop);
-}
-
-Trigger CommandStadiaController::Hamburger(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kHamburger, loop);
-}
-
-Trigger CommandStadiaController::Stadia(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kStadia, loop);
-}
-
-Trigger CommandStadiaController::RightTrigger(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kRightTrigger, loop);
-}
-
-Trigger CommandStadiaController::LeftTrigger(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kLeftTrigger, loop);
-}
-
-Trigger CommandStadiaController::Google(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kGoogle, loop);
-}
-
-Trigger CommandStadiaController::Frame(wpi::EventLoop* loop) const {
-  return Button(wpi::StadiaController::Button::kFrame, loop);
-}
-
-double CommandStadiaController::GetLeftX() const {
-  return m_hid.GetLeftX();
-}
-
-double CommandStadiaController::GetRightX() const {
-  return m_hid.GetRightX();
-}
-
-double CommandStadiaController::GetLeftY() const {
-  return m_hid.GetLeftY();
-}
-
-double CommandStadiaController::GetRightY() const {
-  return m_hid.GetRightY();
-}
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
deleted file mode 100644
index 6adf138dbd6..00000000000
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-// 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)
-    : CommandGenericHID(port), m_hid{wpi::XboxController(port)} {}
-
-wpi::XboxController& CommandXboxController::GetHID() {
-  return m_hid;
-}
-
-Trigger CommandXboxController::A(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kA, loop);
-}
-
-Trigger CommandXboxController::B(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kB, loop);
-}
-
-Trigger CommandXboxController::X(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kX, loop);
-}
-
-Trigger CommandXboxController::Y(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kY, loop);
-}
-
-Trigger CommandXboxController::LeftBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kLeftBumper, loop);
-}
-
-Trigger CommandXboxController::RightBumper(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kRightBumper, loop);
-}
-
-Trigger CommandXboxController::Back(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kBack, loop);
-}
-
-Trigger CommandXboxController::Start(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kStart, loop);
-}
-
-Trigger CommandXboxController::LeftStick(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kLeftStick, loop);
-}
-
-Trigger CommandXboxController::RightStick(wpi::EventLoop* loop) const {
-  return Button(wpi::XboxController::Button::kRightStick, loop);
-}
-
-Trigger CommandXboxController::LeftTrigger(double threshold,
-                                           wpi::EventLoop* loop) const {
-  return Trigger(loop, [this, threshold] {
-    return m_hid.GetLeftTriggerAxis() > threshold;
-  });
-}
-
-Trigger CommandXboxController::RightTrigger(double threshold,
-                                           wpi::EventLoop* loop) const {
-  return Trigger(loop, [this, threshold] {
-    return m_hid.GetRightTriggerAxis() > threshold;
-  });
-}
-
-double CommandXboxController::GetLeftX() const {
-  return m_hid.GetLeftX();
-}
-
-double CommandXboxController::GetRightX() const {
-  return m_hid.GetRightX();
-}
-
-double CommandXboxController::GetLeftY() const {
-  return m_hid.GetLeftY();
-}
-
-double CommandXboxController::GetRightY() const {
-  return m_hid.GetRightY();
-}
-
-double CommandXboxController::GetLeftTriggerAxis() const {
-  return m_hid.GetLeftTriggerAxis();
-}
-
-double CommandXboxController::GetRightTriggerAxis() const {
-  return m_hid.GetRightTriggerAxis();
-}
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS4Controller.hpp
similarity index 96%
rename from commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
rename to commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS4Controller.hpp
index 73b05f69a5d..6a177f4010f 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS4Controller.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "wpi/driverstation/PS4Controller.hpp"
+#include "wpi/driverstation/NiDsPS4Controller.hpp"
 
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
@@ -14,12 +14,12 @@
 
 namespace wpi::cmd {
 /**
- * A version of {@link wpi::PS4Controller} with {@link Trigger} factories for
+ * A version of {@link wpi::NiDsPS4Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see wpi::PS4Controller
+ * @see wpi::NiDsPS4Controller
  */
-class CommandPS4Controller : public CommandGenericHID {
+class CommandNiDsPS4Controller : public CommandGenericHID {
  public:
   /**
    * Construct an instance of a controller.
@@ -27,14 +27,14 @@ class CommandPS4Controller : public CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is
    * plugged into.
    */
-  explicit CommandPS4Controller(int port);
+  explicit CommandNiDsPS4Controller(int port);
 
   /**
    * Get the underlying GenericHID object.
    *
    * @return the wrapped GenericHID object
    */
-  wpi::PS4Controller& GetHID();
+  wpi::NiDsPS4Controller& GetHID();
 
   /**
    * Constructs a Trigger instance around the square button's
@@ -249,6 +249,6 @@ class CommandPS4Controller : public CommandGenericHID {
   double GetR2Axis() const;
 
  private:
-  wpi::PS4Controller m_hid;
+  wpi::NiDsPS4Controller m_hid;
 };
 }  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS5Controller.hpp
similarity index 96%
rename from commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
rename to commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS5Controller.hpp
index a697f642ce2..b9ba8db7168 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS5Controller.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "wpi/driverstation/PS5Controller.hpp"
+#include "wpi/driverstation/NiDsPS5Controller.hpp"
 
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
@@ -14,12 +14,12 @@
 
 namespace wpi::cmd {
 /**
- * A version of {@link wpi::PS5Controller} with {@link Trigger} factories for
+ * A version of {@link wpi::NiDsPS5Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see wpi::PS5Controller
+ * @see wpi::NiDsPS5Controller
  */
-class CommandPS5Controller : public CommandGenericHID {
+class CommandNiDsPS5Controller : public CommandGenericHID {
  public:
   /**
    * Construct an instance of a controller.
@@ -27,14 +27,14 @@ class CommandPS5Controller : public CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is
    * plugged into.
    */
-  explicit CommandPS5Controller(int port);
+  explicit CommandNiDsPS5Controller(int port);
 
   /**
    * Get the underlying GenericHID object.
    *
    * @return the wrapped GenericHID object
    */
-  wpi::PS5Controller& GetHID();
+  wpi::NiDsPS5Controller& GetHID();
 
   /**
    * Constructs a Trigger instance around the square button's
@@ -249,6 +249,6 @@ class CommandPS5Controller : public CommandGenericHID {
   double GetR2Axis() const;
 
  private:
-  wpi::PS5Controller m_hid;
+  wpi::NiDsPS5Controller m_hid;
 };
 }  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsStadiaController.hpp
similarity index 96%
rename from commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
rename to commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsStadiaController.hpp
index 980f353df32..f1a3b950ed3 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsStadiaController.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "wpi/driverstation/StadiaController.hpp"
+#include "wpi/driverstation/NiDsStadiaController.hpp"
 
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
@@ -14,12 +14,12 @@
 
 namespace wpi::cmd {
 /**
- * A version of {@link wpi::StadiaController} with {@link Trigger} factories for
+ * A version of {@link wpi::NiDsStadiaController} with {@link Trigger} factories for
  * command-based.
  *
- * @see wpi::StadiaController
+ * @see wpi::NiDsStadiaController
  */
-class CommandStadiaController : public CommandGenericHID {
+class CommandNiDsStadiaController : public CommandGenericHID {
  public:
   /**
    * Construct an instance of a controller.
@@ -27,14 +27,14 @@ class CommandStadiaController : public CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is
    * plugged into.
    */
-  explicit CommandStadiaController(int port);
+  explicit CommandNiDsStadiaController(int port);
 
   /**
    * Get the underlying GenericHID object.
    *
    * @return the wrapped GenericHID object
    */
-  wpi::StadiaController& GetHID();
+  wpi::NiDsStadiaController& GetHID();
 
   /**
    * Constructs a Trigger instance around the A button's
@@ -245,6 +245,6 @@ class CommandStadiaController : public CommandGenericHID {
   double GetRightY() const;
 
  private:
-  wpi::StadiaController m_hid;
+  wpi::NiDsStadiaController m_hid;
 };
 }  // namespace wpi::cmd
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsXboxController.hpp
similarity index 96%
rename from commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
rename to commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsXboxController.hpp
index 5f29e5d266d..48a6ae5aea3 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsXboxController.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/NiDsXboxController.hpp"
 
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
@@ -14,12 +14,12 @@
 
 namespace wpi::cmd {
 /**
- * A version of {@link wpi::XboxController} with {@link Trigger} factories for
+ * A version of {@link wpi::NiDsXboxController} with {@link Trigger} factories for
  * command-based.
  *
- * @see wpi::XboxController
+ * @see wpi::NiDsXboxController
  */
-class CommandXboxController : public CommandGenericHID {
+class CommandNiDsXboxController : public CommandGenericHID {
  public:
   /**
    * Construct an instance of a controller.
@@ -27,14 +27,14 @@ class CommandXboxController : public CommandGenericHID {
    * @param port The port index on the Driver Station that the controller is
    * plugged into.
    */
-  explicit CommandXboxController(int port);
+  explicit CommandNiDsXboxController(int port);
 
   /**
    * Get the underlying GenericHID object.
    *
    * @return the wrapped GenericHID object
    */
-  wpi::XboxController& GetHID();
+  wpi::NiDsXboxController& GetHID();
 
   /**
    * Constructs a Trigger instance around the A button's
@@ -235,6 +235,6 @@ class CommandXboxController : public CommandGenericHID {
   double GetRightTriggerAxis() const;
 
  private:
-  wpi::XboxController m_hid;
+  wpi::NiDsXboxController m_hid;
 };
 }  // namespace wpi::cmd
diff --git a/commandsv2/src/main/python/commands2/button/commandps4controller.py b/commandsv2/src/main/python/commands2/button/commandnidsps4controller.py
similarity index 96%
rename from commandsv2/src/main/python/commands2/button/commandps4controller.py
rename to commandsv2/src/main/python/commands2/button/commandnidsps4controller.py
index 4e6e70353cd..34d6756edcf 100644
--- a/commandsv2/src/main/python/commands2/button/commandps4controller.py
+++ b/commandsv2/src/main/python/commands2/button/commandnidsps4controller.py
@@ -1,19 +1,19 @@
-# validated: 2024-01-20 DS d426873ed15b button/CommandPS4Controller.java
+# validated: 2024-01-20 DS d426873ed15b button/CommandNiDsPS4Controller.java
 from typing import Optional
 
-from wpilib import EventLoop, PS4Controller
+from wpilib import EventLoop, NiDsPS4Controller
 
 from ..commandscheduler import CommandScheduler
 from .commandgenerichid import CommandGenericHID
 from .trigger import Trigger
 
 
-class CommandPS4Controller(CommandGenericHID):
+class CommandNiDsPS4Controller(CommandGenericHID):
     """
-    A version of PS4Controller with Trigger factories for command-based.
+    A version of NI DS PS4Controller with Trigger factories for command-based.
     """
 
-    _hid: PS4Controller
+    _hid: NiDsPS4Controller
 
     def __init__(self, port: int):
         """
@@ -22,9 +22,9 @@ def __init__(self, port: int):
         :param port: The port index on the Driver Station that the device is plugged into.
         """
         super().__init__(port)
-        self._hid = PS4Controller(port)
+        self._hid = NiDsPS4Controller(port)
 
-    def getHID(self) -> PS4Controller:
+    def getHID(self) -> NiDsPS4Controller:
         """
         Get the underlying GenericHID object.
 
diff --git a/commandsv2/src/main/python/commands2/button/commandxboxcontroller.py b/commandsv2/src/main/python/commands2/button/commandnidsxboxcontroller.py
similarity index 97%
rename from commandsv2/src/main/python/commands2/button/commandxboxcontroller.py
rename to commandsv2/src/main/python/commands2/button/commandnidsxboxcontroller.py
index f5034a0502f..19f92d6c66a 100644
--- a/commandsv2/src/main/python/commands2/button/commandxboxcontroller.py
+++ b/commandsv2/src/main/python/commands2/button/commandnidsxboxcontroller.py
@@ -1,19 +1,19 @@
 # validated: 2024-01-20 DS 3ba501f9478a button/CommandXboxController.java
 from typing import Optional
 
-from wpilib import EventLoop, XboxController
+from wpilib import EventLoop, NiDsXboxController
 
 from ..commandscheduler import CommandScheduler
 from .commandgenerichid import CommandGenericHID
 from .trigger import Trigger
 
 
-class CommandXboxController(CommandGenericHID):
+class CommandNiDsXboxController(CommandGenericHID):
     """
-    A version of XboxController with Trigger factories for command-based.
+    A version of NI DS XboxController with Trigger factories for command-based.
     """
 
-    _hid: XboxController
+    _hid: NiDsXboxController
 
     def __init__(self, port: int):
         """
@@ -22,9 +22,9 @@ def __init__(self, port: int):
         :param port: The port index on the Driver Station that the controller is plugged into.
         """
         super().__init__(port)
-        self._hid = XboxController(port)
+        self._hid = NiDsXboxController(port)
 
-    def getHID(self) -> XboxController:
+    def getHID(self) -> NiDsXboxController:
         """
         Get the underlying GenericHID object.
 
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS4Controller.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS4Controller.java
similarity index 91%
rename from commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS4Controller.java
rename to commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS4Controller.java
index d5a4ccdb65d..ad144f0f783 100644
--- a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS4Controller.java
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS4Controller.java
@@ -8,17 +8,17 @@
 
 import org.wpilib.command3.Scheduler;
 import org.wpilib.command3.Trigger;
-import org.wpilib.driverstation.PS4Controller;
+import org.wpilib.driverstation.NiDsPS4Controller;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link PS4Controller} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsPS4Controller} with {@link Trigger} factories for command-based.
  *
- * @see PS4Controller
+ * @see NiDsPS4Controller
  */
 @SuppressWarnings("MethodName")
-public class CommandPS4Controller extends CommandGenericHID {
-  private final PS4Controller m_hid;
+public class CommandNiDsPS4Controller extends CommandGenericHID {
+  private final NiDsPS4Controller m_hid;
 
   /**
    * Construct an instance of a controller. Commands bound to buttons on the controller will be
@@ -26,9 +26,9 @@ public class CommandPS4Controller extends CommandGenericHID {
    *
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandPS4Controller(int port) {
+  public CommandNiDsPS4Controller(int port) {
     super(port);
-    m_hid = new PS4Controller(port);
+    m_hid = new NiDsPS4Controller(port);
   }
 
   /**
@@ -38,9 +38,9 @@ public CommandPS4Controller(int port) {
    * @param scheduler The scheduler that should execute the triggered commands.
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandPS4Controller(Scheduler scheduler, int port) {
+  public CommandNiDsPS4Controller(Scheduler scheduler, int port) {
     super(scheduler, port);
-    m_hid = new PS4Controller(port);
+    m_hid = new NiDsPS4Controller(port);
   }
 
   /**
@@ -49,7 +49,7 @@ public CommandPS4Controller(Scheduler scheduler, int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public PS4Controller getHID() {
+  public NiDsPS4Controller getHID() {
     return m_hid;
   }
 
@@ -74,7 +74,7 @@ public Trigger square() {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return button(PS4Controller.Button.kSquare.value, loop);
+    return button(NiDsPS4Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -98,7 +98,7 @@ public Trigger cross() {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return button(PS4Controller.Button.kCross.value, loop);
+    return button(NiDsPS4Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -122,7 +122,7 @@ public Trigger circle() {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return button(PS4Controller.Button.kCircle.value, loop);
+    return button(NiDsPS4Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger triangle() {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return button(PS4Controller.Button.kTriangle.value, loop);
+    return button(NiDsPS4Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -170,7 +170,7 @@ public Trigger L1() {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return button(PS4Controller.Button.kL1.value, loop);
+    return button(NiDsPS4Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -194,7 +194,7 @@ public Trigger R1() {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return button(PS4Controller.Button.kR1.value, loop);
+    return button(NiDsPS4Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -218,7 +218,7 @@ public Trigger L2() {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return button(PS4Controller.Button.kL2.value, loop);
+    return button(NiDsPS4Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -242,7 +242,7 @@ public Trigger R2() {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return button(PS4Controller.Button.kR2.value, loop);
+    return button(NiDsPS4Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -266,7 +266,7 @@ public Trigger share() {
    *     to the given loop.
    */
   public Trigger share(EventLoop loop) {
-    return button(PS4Controller.Button.kShare.value, loop);
+    return button(NiDsPS4Controller.Button.kShare.value, loop);
   }
 
   /**
@@ -290,7 +290,7 @@ public Trigger options() {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return button(PS4Controller.Button.kOptions.value, loop);
+    return button(NiDsPS4Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -314,7 +314,7 @@ public Trigger L3() {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return button(PS4Controller.Button.kL3.value, loop);
+    return button(NiDsPS4Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -338,7 +338,7 @@ public Trigger R3() {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return button(PS4Controller.Button.kR3.value, loop);
+    return button(NiDsPS4Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -362,7 +362,7 @@ public Trigger PS() {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return button(PS4Controller.Button.kPS.value, loop);
+    return button(NiDsPS4Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -386,7 +386,7 @@ public Trigger touchpad() {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return button(PS4Controller.Button.kTouchpad.value, loop);
+    return button(NiDsPS4Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS5Controller.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS5Controller.java
similarity index 91%
rename from commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS5Controller.java
rename to commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS5Controller.java
index 347b78b429b..d192446f793 100644
--- a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandPS5Controller.java
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS5Controller.java
@@ -8,17 +8,17 @@
 
 import org.wpilib.command3.Scheduler;
 import org.wpilib.command3.Trigger;
-import org.wpilib.driverstation.PS5Controller;
+import org.wpilib.driverstation.NiDsPS5Controller;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link PS5Controller} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsPS5Controller} with {@link Trigger} factories for command-based.
  *
- * @see PS5Controller
+ * @see NiDsPS5Controller
  */
 @SuppressWarnings("MethodName")
-public class CommandPS5Controller extends CommandGenericHID {
-  private final PS5Controller m_hid;
+public class CommandNiDsPS5Controller extends CommandGenericHID {
+  private final NiDsPS5Controller m_hid;
 
   /**
    * Construct an instance of a controller. Commands bound to buttons on the controller will be
@@ -26,9 +26,9 @@ public class CommandPS5Controller extends CommandGenericHID {
    *
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandPS5Controller(int port) {
+  public CommandNiDsPS5Controller(int port) {
     super(port);
-    m_hid = new PS5Controller(port);
+    m_hid = new NiDsPS5Controller(port);
   }
 
   /**
@@ -38,9 +38,9 @@ public CommandPS5Controller(int port) {
    * @param scheduler The scheduler that should execute the triggered commands.
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandPS5Controller(Scheduler scheduler, int port) {
+  public CommandNiDsPS5Controller(Scheduler scheduler, int port) {
     super(scheduler, port);
-    m_hid = new PS5Controller(port);
+    m_hid = new NiDsPS5Controller(port);
   }
 
   /**
@@ -49,7 +49,7 @@ public CommandPS5Controller(Scheduler scheduler, int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public PS5Controller getHID() {
+  public NiDsPS5Controller getHID() {
     return m_hid;
   }
 
@@ -74,7 +74,7 @@ public Trigger square() {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return button(PS5Controller.Button.kSquare.value, loop);
+    return button(NiDsPS5Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -98,7 +98,7 @@ public Trigger cross() {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return button(PS5Controller.Button.kCross.value, loop);
+    return button(NiDsPS5Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -122,7 +122,7 @@ public Trigger circle() {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return button(PS5Controller.Button.kCircle.value, loop);
+    return button(NiDsPS5Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger triangle() {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return button(PS5Controller.Button.kTriangle.value, loop);
+    return button(NiDsPS5Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -170,7 +170,7 @@ public Trigger L1() {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return button(PS5Controller.Button.kL1.value, loop);
+    return button(NiDsPS5Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -194,7 +194,7 @@ public Trigger R1() {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return button(PS5Controller.Button.kR1.value, loop);
+    return button(NiDsPS5Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -218,7 +218,7 @@ public Trigger L2() {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return button(PS5Controller.Button.kL2.value, loop);
+    return button(NiDsPS5Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -242,7 +242,7 @@ public Trigger R2() {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return button(PS5Controller.Button.kR2.value, loop);
+    return button(NiDsPS5Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -266,7 +266,7 @@ public Trigger create() {
    *     to the given loop.
    */
   public Trigger create(EventLoop loop) {
-    return button(PS5Controller.Button.kCreate.value, loop);
+    return button(NiDsPS5Controller.Button.kCreate.value, loop);
   }
 
   /**
@@ -290,7 +290,7 @@ public Trigger options() {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return button(PS5Controller.Button.kOptions.value, loop);
+    return button(NiDsPS5Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -314,7 +314,7 @@ public Trigger L3() {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return button(PS5Controller.Button.kL3.value, loop);
+    return button(NiDsPS5Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -338,7 +338,7 @@ public Trigger R3() {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return button(PS5Controller.Button.kR3.value, loop);
+    return button(NiDsPS5Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -362,7 +362,7 @@ public Trigger PS() {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return button(PS5Controller.Button.kPS.value, loop);
+    return button(NiDsPS5Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -386,7 +386,7 @@ public Trigger touchpad() {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return button(PS5Controller.Button.kTouchpad.value, loop);
+    return button(NiDsPS5Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandStadiaController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsStadiaController.java
similarity index 90%
rename from commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandStadiaController.java
rename to commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsStadiaController.java
index 5d99ad7c7fa..d61b4709268 100644
--- a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandStadiaController.java
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsStadiaController.java
@@ -8,17 +8,17 @@
 
 import org.wpilib.command3.Scheduler;
 import org.wpilib.command3.Trigger;
-import org.wpilib.driverstation.StadiaController;
+import org.wpilib.driverstation.NiDsStadiaController;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link StadiaController} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsStadiaController} with {@link Trigger} factories for command-based.
  *
- * @see StadiaController
+ * @see NiDsStadiaController
  */
 @SuppressWarnings("MethodName")
-public class CommandStadiaController extends CommandGenericHID {
-  private final StadiaController m_hid;
+public class CommandNiDsStadiaController extends CommandGenericHID {
+  private final NiDsStadiaController m_hid;
 
   /**
    * Construct an instance of a controller. Commands bound to buttons on the controller will be
@@ -26,9 +26,9 @@ public class CommandStadiaController extends CommandGenericHID {
    *
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandStadiaController(int port) {
+  public CommandNiDsStadiaController(int port) {
     super(port);
-    m_hid = new StadiaController(port);
+    m_hid = new NiDsStadiaController(port);
   }
 
   /**
@@ -38,9 +38,9 @@ public CommandStadiaController(int port) {
    * @param scheduler The scheduler that should execute the triggered commands.
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandStadiaController(Scheduler scheduler, int port) {
+  public CommandNiDsStadiaController(Scheduler scheduler, int port) {
     super(scheduler, port);
-    m_hid = new StadiaController(port);
+    m_hid = new NiDsStadiaController(port);
   }
 
   /**
@@ -49,7 +49,7 @@ public CommandStadiaController(Scheduler scheduler, int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public StadiaController getHID() {
+  public NiDsStadiaController getHID() {
     return m_hid;
   }
 
@@ -74,7 +74,7 @@ public Trigger a() {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return button(StadiaController.Button.kA.value, loop);
+    return button(NiDsStadiaController.Button.kA.value, loop);
   }
 
   /**
@@ -98,7 +98,7 @@ public Trigger b() {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return button(StadiaController.Button.kB.value, loop);
+    return button(NiDsStadiaController.Button.kB.value, loop);
   }
 
   /**
@@ -122,7 +122,7 @@ public Trigger x() {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return button(StadiaController.Button.kX.value, loop);
+    return button(NiDsStadiaController.Button.kX.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger y() {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return button(StadiaController.Button.kY.value, loop);
+    return button(NiDsStadiaController.Button.kY.value, loop);
   }
 
   /**
@@ -170,7 +170,7 @@ public Trigger leftBumper() {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return button(StadiaController.Button.kLeftBumper.value, loop);
+    return button(NiDsStadiaController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -194,7 +194,7 @@ public Trigger rightBumper() {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return button(StadiaController.Button.kRightBumper.value, loop);
+    return button(NiDsStadiaController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -218,7 +218,7 @@ public Trigger leftStick() {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return button(StadiaController.Button.kLeftStick.value, loop);
+    return button(NiDsStadiaController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -242,7 +242,7 @@ public Trigger rightStick() {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return button(StadiaController.Button.kRightStick.value, loop);
+    return button(NiDsStadiaController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -266,7 +266,7 @@ public Trigger ellipses() {
    *     to the given loop.
    */
   public Trigger ellipses(EventLoop loop) {
-    return button(StadiaController.Button.kEllipses.value, loop);
+    return button(NiDsStadiaController.Button.kEllipses.value, loop);
   }
 
   /**
@@ -290,7 +290,7 @@ public Trigger hamburger() {
    *     to the given loop.
    */
   public Trigger hamburger(EventLoop loop) {
-    return button(StadiaController.Button.kHamburger.value, loop);
+    return button(NiDsStadiaController.Button.kHamburger.value, loop);
   }
 
   /**
@@ -314,7 +314,7 @@ public Trigger stadia() {
    *     to the given loop.
    */
   public Trigger stadia(EventLoop loop) {
-    return button(StadiaController.Button.kStadia.value, loop);
+    return button(NiDsStadiaController.Button.kStadia.value, loop);
   }
 
   /**
@@ -338,7 +338,7 @@ public Trigger rightTrigger() {
    *     to the given loop.
    */
   public Trigger rightTrigger(EventLoop loop) {
-    return button(StadiaController.Button.kRightTrigger.value, loop);
+    return button(NiDsStadiaController.Button.kRightTrigger.value, loop);
   }
 
   /**
@@ -362,7 +362,7 @@ public Trigger leftTrigger() {
    *     to the given loop.
    */
   public Trigger leftTrigger(EventLoop loop) {
-    return button(StadiaController.Button.kLeftTrigger.value, loop);
+    return button(NiDsStadiaController.Button.kLeftTrigger.value, loop);
   }
 
   /**
@@ -386,7 +386,7 @@ public Trigger google() {
    *     to the given loop.
    */
   public Trigger google(EventLoop loop) {
-    return button(StadiaController.Button.kGoogle.value, loop);
+    return button(NiDsStadiaController.Button.kGoogle.value, loop);
   }
 
   /**
@@ -410,7 +410,7 @@ public Trigger frame() {
    *     to the given loop.
    */
   public Trigger frame(EventLoop loop) {
-    return button(StadiaController.Button.kFrame.value, loop);
+    return button(NiDsStadiaController.Button.kFrame.value, loop);
   }
 
   /**
diff --git a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandXboxController.java b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsXboxController.java
similarity index 92%
rename from commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandXboxController.java
rename to commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsXboxController.java
index a5cc4ba8e8f..0ccb51dce3a 100644
--- a/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandXboxController.java
+++ b/commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsXboxController.java
@@ -8,17 +8,17 @@
 
 import org.wpilib.command3.Scheduler;
 import org.wpilib.command3.Trigger;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.NiDsXboxController;
 import org.wpilib.event.EventLoop;
 
 /**
- * A version of {@link XboxController} with {@link Trigger} factories for command-based.
+ * A version of {@link NiDsXboxController} with {@link Trigger} factories for command-based.
  *
- * @see XboxController
+ * @see NiDsXboxController
  */
 @SuppressWarnings("MethodName")
-public class CommandXboxController extends CommandGenericHID {
-  private final XboxController m_hid;
+public class CommandNiDsXboxController extends CommandGenericHID {
+  private final NiDsXboxController m_hid;
 
   /**
    * Construct an instance of a controller. Commands bound to buttons on the controller will be
@@ -26,9 +26,9 @@ public class CommandXboxController extends CommandGenericHID {
    *
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandXboxController(int port) {
+  public CommandNiDsXboxController(int port) {
     super(port);
-    m_hid = new XboxController(port);
+    m_hid = new NiDsXboxController(port);
   }
 
   /**
@@ -38,9 +38,9 @@ public CommandXboxController(int port) {
    * @param scheduler The scheduler that should execute the triggered commands.
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public CommandXboxController(Scheduler scheduler, int port) {
+  public CommandNiDsXboxController(Scheduler scheduler, int port) {
     super(scheduler, port);
-    m_hid = new XboxController(port);
+    m_hid = new NiDsXboxController(port);
   }
 
   /**
@@ -49,7 +49,7 @@ public CommandXboxController(Scheduler scheduler, int port) {
    * @return the wrapped GenericHID object
    */
   @Override
-  public XboxController getHID() {
+  public NiDsXboxController getHID() {
     return m_hid;
   }
 
@@ -74,7 +74,7 @@ public Trigger a() {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return button(XboxController.Button.kA.value, loop);
+    return button(NiDsXboxController.Button.kA.value, loop);
   }
 
   /**
@@ -98,7 +98,7 @@ public Trigger b() {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return button(XboxController.Button.kB.value, loop);
+    return button(NiDsXboxController.Button.kB.value, loop);
   }
 
   /**
@@ -122,7 +122,7 @@ public Trigger x() {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return button(XboxController.Button.kX.value, loop);
+    return button(NiDsXboxController.Button.kX.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger y() {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return button(XboxController.Button.kY.value, loop);
+    return button(NiDsXboxController.Button.kY.value, loop);
   }
 
   /**
@@ -170,7 +170,7 @@ public Trigger leftBumper() {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return button(XboxController.Button.kLeftBumper.value, loop);
+    return button(NiDsXboxController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -194,7 +194,7 @@ public Trigger rightBumper() {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return button(XboxController.Button.kRightBumper.value, loop);
+    return button(NiDsXboxController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -218,7 +218,7 @@ public Trigger back() {
    *     to the given loop.
    */
   public Trigger back(EventLoop loop) {
-    return button(XboxController.Button.kBack.value, loop);
+    return button(NiDsXboxController.Button.kBack.value, loop);
   }
 
   /**
@@ -242,7 +242,7 @@ public Trigger start() {
    *     to the given loop.
    */
   public Trigger start(EventLoop loop) {
-    return button(XboxController.Button.kStart.value, loop);
+    return button(NiDsXboxController.Button.kStart.value, loop);
   }
 
   /**
@@ -266,7 +266,7 @@ public Trigger leftStick() {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return button(XboxController.Button.kLeftStick.value, loop);
+    return button(NiDsXboxController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -290,7 +290,7 @@ public Trigger rightStick() {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return button(XboxController.Button.kRightStick.value, loop);
+    return button(NiDsXboxController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -304,7 +304,7 @@ public Trigger rightStick(EventLoop loop) {
    *     threshold, attached to the given event loop
    */
   public Trigger leftTrigger(double threshold, EventLoop loop) {
-    return axisGreaterThan(XboxController.Axis.kLeftTrigger.value, threshold, loop);
+    return axisGreaterThan(NiDsXboxController.Axis.kLeftTrigger.value, threshold, loop);
   }
 
   /**
@@ -346,7 +346,7 @@ public Trigger leftTrigger() {
    *     threshold, attached to the given event loop
    */
   public Trigger rightTrigger(double threshold, EventLoop loop) {
-    return axisGreaterThan(XboxController.Axis.kRightTrigger.value, threshold, loop);
+    return axisGreaterThan(NiDsXboxController.Axis.kRightTrigger.value, threshold, loop);
   }
 
   /**
diff --git a/commandsv3/src/main/java/org/wpilib/command3/Trigger.java b/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
index 27791b46b5e..0789c018c91 100644
--- a/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
+++ b/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
@@ -19,7 +19,7 @@
 /**
  * Triggers allow users to specify conditions for when commands should run. Triggers can be set up
  * to read from joystick and controller buttons (eg {@link
- * org.wpilib.command3.button.CommandXboxController#x()}) or be customized to read sensor values or
+ * org.wpilib.command3.button.CommandGamepad#southFace()}) or be customized to read sensor values or
  * any other arbitrary true/false condition.
  *
  * <p>It is very easy to link a button to a command. For instance, you could link the trigger button
diff --git a/shared/examplecheck.gradle b/shared/examplecheck.gradle
index 934deaed8da..e2a17e8c805 100644
--- a/shared/examplecheck.gradle
+++ b/shared/examplecheck.gradle
@@ -59,7 +59,7 @@ def tagList = [
         "Digital Output", "Accelerometer", "IMU",
 
         /* --- HID --- */
-        "XboxController", "PS4Controller", "PS5Controller", "Joystick",
+        "Gamepad", "Joystick",
 
         /* --- RobotBase --- */
         "Timed", "Timeslice", "RobotBase", "Educational", "OpMode",
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS4Controller.cpp
similarity index 60%
rename from wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
rename to wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS4Controller.cpp
index 3c215e997c1..e9eb3c1b3f5 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS4Controller.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "wpi/driverstation/PS4Controller.hpp"
+#include "wpi/driverstation/NiDsPS4Controller.hpp"
 
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/util/sendable/SendableBuilder.hpp"
@@ -13,273 +13,262 @@
 
 using namespace wpi;
 
-PS4Controller::PS4Controller(int port) : GenericHID(port) {
-  HAL_ReportUsage("HID", port, "PS4Controller");
+NiDsPS4Controller::NiDsPS4Controller(int port) : GenericHID(port) {
+  HAL_ReportUsage("HID", port, "NiDsPS4Controller");
 }
 
-double PS4Controller::GetLeftX() const {
+double NiDsPS4Controller::GetLeftX() const {
   return GetRawAxis(Axis::kLeftX);
 }
 
-double PS4Controller::GetLeftY() const {
+double NiDsPS4Controller::GetLeftY() const {
   return GetRawAxis(Axis::kLeftY);
 }
 
-double PS4Controller::GetRightX() const {
+double NiDsPS4Controller::GetRightX() const {
   return GetRawAxis(Axis::kRightX);
 }
 
-double PS4Controller::GetRightY() const {
+double NiDsPS4Controller::GetRightY() const {
   return GetRawAxis(Axis::kRightY);
 }
 
-double PS4Controller::GetL2Axis() const {
+double NiDsPS4Controller::GetL2Axis() const {
   return GetRawAxis(Axis::kL2);
 }
 
-double PS4Controller::GetR2Axis() const {
+double NiDsPS4Controller::GetR2Axis() const {
   return GetRawAxis(Axis::kR2);
 }
 
-bool PS4Controller::GetSquareButton() const {
+bool NiDsPS4Controller::GetSquareButton() const {
   return GetRawButton(Button::kSquare);
 }
 
-bool PS4Controller::GetSquareButtonPressed() {
+bool NiDsPS4Controller::GetSquareButtonPressed() {
   return GetRawButtonPressed(Button::kSquare);
 }
 
-bool PS4Controller::GetSquareButtonReleased() {
+bool NiDsPS4Controller::GetSquareButtonReleased() {
   return GetRawButtonReleased(Button::kSquare);
 }
 
-BooleanEvent PS4Controller::Square(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::Square(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetSquareButton(); });
 }
 
-bool PS4Controller::GetCrossButton() const {
+bool NiDsPS4Controller::GetCrossButton() const {
   return GetRawButton(Button::kCross);
 }
 
-bool PS4Controller::GetCrossButtonPressed() {
+bool NiDsPS4Controller::GetCrossButtonPressed() {
   return GetRawButtonPressed(Button::kCross);
 }
 
-bool PS4Controller::GetCrossButtonReleased() {
+bool NiDsPS4Controller::GetCrossButtonReleased() {
   return GetRawButtonReleased(Button::kCross);
 }
 
-BooleanEvent PS4Controller::Cross(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::Cross(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetCrossButton(); });
 }
 
-bool PS4Controller::GetCircleButton() const {
+bool NiDsPS4Controller::GetCircleButton() const {
   return GetRawButton(Button::kCircle);
 }
 
-bool PS4Controller::GetCircleButtonPressed() {
+bool NiDsPS4Controller::GetCircleButtonPressed() {
   return GetRawButtonPressed(Button::kCircle);
 }
 
-bool PS4Controller::GetCircleButtonReleased() {
+bool NiDsPS4Controller::GetCircleButtonReleased() {
   return GetRawButtonReleased(Button::kCircle);
 }
 
-BooleanEvent PS4Controller::Circle(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::Circle(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetCircleButton(); });
 }
 
-bool PS4Controller::GetTriangleButton() const {
+bool NiDsPS4Controller::GetTriangleButton() const {
   return GetRawButton(Button::kTriangle);
 }
 
-bool PS4Controller::GetTriangleButtonPressed() {
+bool NiDsPS4Controller::GetTriangleButtonPressed() {
   return GetRawButtonPressed(Button::kTriangle);
 }
 
-bool PS4Controller::GetTriangleButtonReleased() {
+bool NiDsPS4Controller::GetTriangleButtonReleased() {
   return GetRawButtonReleased(Button::kTriangle);
 }
 
-BooleanEvent PS4Controller::Triangle(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::Triangle(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetTriangleButton(); });
 }
 
-bool PS4Controller::GetL1Button() const {
+bool NiDsPS4Controller::GetL1Button() const {
   return GetRawButton(Button::kL1);
 }
 
-bool PS4Controller::GetL1ButtonPressed() {
+bool NiDsPS4Controller::GetL1ButtonPressed() {
   return GetRawButtonPressed(Button::kL1);
 }
 
-bool PS4Controller::GetL1ButtonReleased() {
+bool NiDsPS4Controller::GetL1ButtonReleased() {
   return GetRawButtonReleased(Button::kL1);
 }
 
-BooleanEvent PS4Controller::L1(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::L1(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetL1Button(); });
 }
 
-bool PS4Controller::GetR1Button() const {
+bool NiDsPS4Controller::GetR1Button() const {
   return GetRawButton(Button::kR1);
 }
 
-bool PS4Controller::GetR1ButtonPressed() {
+bool NiDsPS4Controller::GetR1ButtonPressed() {
   return GetRawButtonPressed(Button::kR1);
 }
 
-bool PS4Controller::GetR1ButtonReleased() {
+bool NiDsPS4Controller::GetR1ButtonReleased() {
   return GetRawButtonReleased(Button::kR1);
 }
 
-BooleanEvent PS4Controller::R1(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::R1(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetR1Button(); });
 }
 
-bool PS4Controller::GetL2Button() const {
+bool NiDsPS4Controller::GetL2Button() const {
   return GetRawButton(Button::kL2);
 }
 
-bool PS4Controller::GetL2ButtonPressed() {
+bool NiDsPS4Controller::GetL2ButtonPressed() {
   return GetRawButtonPressed(Button::kL2);
 }
 
-bool PS4Controller::GetL2ButtonReleased() {
+bool NiDsPS4Controller::GetL2ButtonReleased() {
   return GetRawButtonReleased(Button::kL2);
 }
 
-BooleanEvent PS4Controller::L2(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::L2(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetL2Button(); });
 }
 
-bool PS4Controller::GetR2Button() const {
+bool NiDsPS4Controller::GetR2Button() const {
   return GetRawButton(Button::kR2);
 }
 
-bool PS4Controller::GetR2ButtonPressed() {
+bool NiDsPS4Controller::GetR2ButtonPressed() {
   return GetRawButtonPressed(Button::kR2);
 }
 
-bool PS4Controller::GetR2ButtonReleased() {
+bool NiDsPS4Controller::GetR2ButtonReleased() {
   return GetRawButtonReleased(Button::kR2);
 }
 
-BooleanEvent PS4Controller::R2(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::R2(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetR2Button(); });
 }
 
-bool PS4Controller::GetShareButton() const {
+bool NiDsPS4Controller::GetShareButton() const {
   return GetRawButton(Button::kShare);
 }
 
-bool PS4Controller::GetShareButtonPressed() {
+bool NiDsPS4Controller::GetShareButtonPressed() {
   return GetRawButtonPressed(Button::kShare);
 }
 
-bool PS4Controller::GetShareButtonReleased() {
+bool NiDsPS4Controller::GetShareButtonReleased() {
   return GetRawButtonReleased(Button::kShare);
 }
 
-BooleanEvent PS4Controller::Share(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::Share(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetShareButton(); });
 }
 
-bool PS4Controller::GetOptionsButton() const {
+bool NiDsPS4Controller::GetOptionsButton() const {
   return GetRawButton(Button::kOptions);
 }
 
-bool PS4Controller::GetOptionsButtonPressed() {
+bool NiDsPS4Controller::GetOptionsButtonPressed() {
   return GetRawButtonPressed(Button::kOptions);
 }
 
-bool PS4Controller::GetOptionsButtonReleased() {
+bool NiDsPS4Controller::GetOptionsButtonReleased() {
   return GetRawButtonReleased(Button::kOptions);
 }
 
-BooleanEvent PS4Controller::Options(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::Options(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetOptionsButton(); });
 }
 
-bool PS4Controller::GetL3Button() const {
+bool NiDsPS4Controller::GetL3Button() const {
   return GetRawButton(Button::kL3);
 }
 
-bool PS4Controller::GetL3ButtonPressed() {
+bool NiDsPS4Controller::GetL3ButtonPressed() {
   return GetRawButtonPressed(Button::kL3);
 }
 
-bool PS4Controller::GetL3ButtonReleased() {
+bool NiDsPS4Controller::GetL3ButtonReleased() {
   return GetRawButtonReleased(Button::kL3);
 }
 
-BooleanEvent PS4Controller::L3(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::L3(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetL3Button(); });
 }
 
-bool PS4Controller::GetR3Button() const {
+bool NiDsPS4Controller::GetR3Button() const {
   return GetRawButton(Button::kR3);
 }
 
-bool PS4Controller::GetR3ButtonPressed() {
+bool NiDsPS4Controller::GetR3ButtonPressed() {
   return GetRawButtonPressed(Button::kR3);
 }
 
-bool PS4Controller::GetR3ButtonReleased() {
+bool NiDsPS4Controller::GetR3ButtonReleased() {
   return GetRawButtonReleased(Button::kR3);
 }
 
-BooleanEvent PS4Controller::R3(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::R3(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetR3Button(); });
 }
 
-bool PS4Controller::GetPSButton() const {
+bool NiDsPS4Controller::GetPSButton() const {
   return GetRawButton(Button::kPS);
 }
 
-bool PS4Controller::GetPSButtonPressed() {
+bool NiDsPS4Controller::GetPSButtonPressed() {
   return GetRawButtonPressed(Button::kPS);
 }
 
-bool PS4Controller::GetPSButtonReleased() {
+bool NiDsPS4Controller::GetPSButtonReleased() {
   return GetRawButtonReleased(Button::kPS);
 }
 
-BooleanEvent PS4Controller::PS(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::PS(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetPSButton(); });
 }
 
-bool PS4Controller::GetTouchpadButton() const {
+bool NiDsPS4Controller::GetTouchpadButton() const {
   return GetRawButton(Button::kTouchpad);
 }
 
-bool PS4Controller::GetTouchpadButtonPressed() {
+bool NiDsPS4Controller::GetTouchpadButtonPressed() {
   return GetRawButtonPressed(Button::kTouchpad);
 }
 
-bool PS4Controller::GetTouchpadButtonReleased() {
+bool NiDsPS4Controller::GetTouchpadButtonReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
 
-BooleanEvent PS4Controller::Touchpad(EventLoop* loop) const {
+BooleanEvent NiDsPS4Controller::Touchpad(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
 }
 
-bool PS4Controller::GetTouchpad() const {
-  return GetRawButton(Button::kTouchpad);
-}
-
-bool PS4Controller::GetTouchpadPressed() {
-  return GetRawButtonPressed(Button::kTouchpad);
-}
-
-bool PS4Controller::GetTouchpadReleased() {
-  return GetRawButtonReleased(Button::kTouchpad);
-}
 
-void PS4Controller::InitSendable(wpi::util::SendableBuilder& builder) {
+void NiDsPS4Controller::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
-  builder.PublishConstString("ControllerType", "PS4");
+  builder.PublishConstString("ControllerType", "NiDsPS4");
   builder.AddDoubleProperty("L2 Axis", [this] { return GetL2Axis(); }, nullptr);
   builder.AddDoubleProperty("R2 Axis", [this] { return GetR2Axis(); }, nullptr);
   builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS5Controller.cpp
similarity index 60%
rename from wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
rename to wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS5Controller.cpp
index 5ead2a666ad..4221925d4a1 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS5Controller.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "wpi/driverstation/PS5Controller.hpp"
+#include "wpi/driverstation/NiDsPS5Controller.hpp"
 
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/util/sendable/SendableBuilder.hpp"
@@ -13,273 +13,262 @@
 
 using namespace wpi;
 
-PS5Controller::PS5Controller(int port) : GenericHID(port) {
-  HAL_ReportUsage("HID", port, "PS5Controller");
+NiDsPS5Controller::NiDsPS5Controller(int port) : GenericHID(port) {
+  HAL_ReportUsage("HID", port, "NiDsPS5Controller");
 }
 
-double PS5Controller::GetLeftX() const {
+double NiDsPS5Controller::GetLeftX() const {
   return GetRawAxis(Axis::kLeftX);
 }
 
-double PS5Controller::GetLeftY() const {
+double NiDsPS5Controller::GetLeftY() const {
   return GetRawAxis(Axis::kLeftY);
 }
 
-double PS5Controller::GetRightX() const {
+double NiDsPS5Controller::GetRightX() const {
   return GetRawAxis(Axis::kRightX);
 }
 
-double PS5Controller::GetRightY() const {
+double NiDsPS5Controller::GetRightY() const {
   return GetRawAxis(Axis::kRightY);
 }
 
-double PS5Controller::GetL2Axis() const {
+double NiDsPS5Controller::GetL2Axis() const {
   return GetRawAxis(Axis::kL2);
 }
 
-double PS5Controller::GetR2Axis() const {
+double NiDsPS5Controller::GetR2Axis() const {
   return GetRawAxis(Axis::kR2);
 }
 
-bool PS5Controller::GetSquareButton() const {
+bool NiDsPS5Controller::GetSquareButton() const {
   return GetRawButton(Button::kSquare);
 }
 
-bool PS5Controller::GetSquareButtonPressed() {
+bool NiDsPS5Controller::GetSquareButtonPressed() {
   return GetRawButtonPressed(Button::kSquare);
 }
 
-bool PS5Controller::GetSquareButtonReleased() {
+bool NiDsPS5Controller::GetSquareButtonReleased() {
   return GetRawButtonReleased(Button::kSquare);
 }
 
-BooleanEvent PS5Controller::Square(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::Square(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetSquareButton(); });
 }
 
-bool PS5Controller::GetCrossButton() const {
+bool NiDsPS5Controller::GetCrossButton() const {
   return GetRawButton(Button::kCross);
 }
 
-bool PS5Controller::GetCrossButtonPressed() {
+bool NiDsPS5Controller::GetCrossButtonPressed() {
   return GetRawButtonPressed(Button::kCross);
 }
 
-bool PS5Controller::GetCrossButtonReleased() {
+bool NiDsPS5Controller::GetCrossButtonReleased() {
   return GetRawButtonReleased(Button::kCross);
 }
 
-BooleanEvent PS5Controller::Cross(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::Cross(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetCrossButton(); });
 }
 
-bool PS5Controller::GetCircleButton() const {
+bool NiDsPS5Controller::GetCircleButton() const {
   return GetRawButton(Button::kCircle);
 }
 
-bool PS5Controller::GetCircleButtonPressed() {
+bool NiDsPS5Controller::GetCircleButtonPressed() {
   return GetRawButtonPressed(Button::kCircle);
 }
 
-bool PS5Controller::GetCircleButtonReleased() {
+bool NiDsPS5Controller::GetCircleButtonReleased() {
   return GetRawButtonReleased(Button::kCircle);
 }
 
-BooleanEvent PS5Controller::Circle(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::Circle(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetCircleButton(); });
 }
 
-bool PS5Controller::GetTriangleButton() const {
+bool NiDsPS5Controller::GetTriangleButton() const {
   return GetRawButton(Button::kTriangle);
 }
 
-bool PS5Controller::GetTriangleButtonPressed() {
+bool NiDsPS5Controller::GetTriangleButtonPressed() {
   return GetRawButtonPressed(Button::kTriangle);
 }
 
-bool PS5Controller::GetTriangleButtonReleased() {
+bool NiDsPS5Controller::GetTriangleButtonReleased() {
   return GetRawButtonReleased(Button::kTriangle);
 }
 
-BooleanEvent PS5Controller::Triangle(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::Triangle(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetTriangleButton(); });
 }
 
-bool PS5Controller::GetL1Button() const {
+bool NiDsPS5Controller::GetL1Button() const {
   return GetRawButton(Button::kL1);
 }
 
-bool PS5Controller::GetL1ButtonPressed() {
+bool NiDsPS5Controller::GetL1ButtonPressed() {
   return GetRawButtonPressed(Button::kL1);
 }
 
-bool PS5Controller::GetL1ButtonReleased() {
+bool NiDsPS5Controller::GetL1ButtonReleased() {
   return GetRawButtonReleased(Button::kL1);
 }
 
-BooleanEvent PS5Controller::L1(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::L1(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetL1Button(); });
 }
 
-bool PS5Controller::GetR1Button() const {
+bool NiDsPS5Controller::GetR1Button() const {
   return GetRawButton(Button::kR1);
 }
 
-bool PS5Controller::GetR1ButtonPressed() {
+bool NiDsPS5Controller::GetR1ButtonPressed() {
   return GetRawButtonPressed(Button::kR1);
 }
 
-bool PS5Controller::GetR1ButtonReleased() {
+bool NiDsPS5Controller::GetR1ButtonReleased() {
   return GetRawButtonReleased(Button::kR1);
 }
 
-BooleanEvent PS5Controller::R1(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::R1(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetR1Button(); });
 }
 
-bool PS5Controller::GetL2Button() const {
+bool NiDsPS5Controller::GetL2Button() const {
   return GetRawButton(Button::kL2);
 }
 
-bool PS5Controller::GetL2ButtonPressed() {
+bool NiDsPS5Controller::GetL2ButtonPressed() {
   return GetRawButtonPressed(Button::kL2);
 }
 
-bool PS5Controller::GetL2ButtonReleased() {
+bool NiDsPS5Controller::GetL2ButtonReleased() {
   return GetRawButtonReleased(Button::kL2);
 }
 
-BooleanEvent PS5Controller::L2(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::L2(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetL2Button(); });
 }
 
-bool PS5Controller::GetR2Button() const {
+bool NiDsPS5Controller::GetR2Button() const {
   return GetRawButton(Button::kR2);
 }
 
-bool PS5Controller::GetR2ButtonPressed() {
+bool NiDsPS5Controller::GetR2ButtonPressed() {
   return GetRawButtonPressed(Button::kR2);
 }
 
-bool PS5Controller::GetR2ButtonReleased() {
+bool NiDsPS5Controller::GetR2ButtonReleased() {
   return GetRawButtonReleased(Button::kR2);
 }
 
-BooleanEvent PS5Controller::R2(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::R2(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetR2Button(); });
 }
 
-bool PS5Controller::GetCreateButton() const {
+bool NiDsPS5Controller::GetCreateButton() const {
   return GetRawButton(Button::kCreate);
 }
 
-bool PS5Controller::GetCreateButtonPressed() {
+bool NiDsPS5Controller::GetCreateButtonPressed() {
   return GetRawButtonPressed(Button::kCreate);
 }
 
-bool PS5Controller::GetCreateButtonReleased() {
+bool NiDsPS5Controller::GetCreateButtonReleased() {
   return GetRawButtonReleased(Button::kCreate);
 }
 
-BooleanEvent PS5Controller::Create(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::Create(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetCreateButton(); });
 }
 
-bool PS5Controller::GetOptionsButton() const {
+bool NiDsPS5Controller::GetOptionsButton() const {
   return GetRawButton(Button::kOptions);
 }
 
-bool PS5Controller::GetOptionsButtonPressed() {
+bool NiDsPS5Controller::GetOptionsButtonPressed() {
   return GetRawButtonPressed(Button::kOptions);
 }
 
-bool PS5Controller::GetOptionsButtonReleased() {
+bool NiDsPS5Controller::GetOptionsButtonReleased() {
   return GetRawButtonReleased(Button::kOptions);
 }
 
-BooleanEvent PS5Controller::Options(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::Options(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetOptionsButton(); });
 }
 
-bool PS5Controller::GetL3Button() const {
+bool NiDsPS5Controller::GetL3Button() const {
   return GetRawButton(Button::kL3);
 }
 
-bool PS5Controller::GetL3ButtonPressed() {
+bool NiDsPS5Controller::GetL3ButtonPressed() {
   return GetRawButtonPressed(Button::kL3);
 }
 
-bool PS5Controller::GetL3ButtonReleased() {
+bool NiDsPS5Controller::GetL3ButtonReleased() {
   return GetRawButtonReleased(Button::kL3);
 }
 
-BooleanEvent PS5Controller::L3(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::L3(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetL3Button(); });
 }
 
-bool PS5Controller::GetR3Button() const {
+bool NiDsPS5Controller::GetR3Button() const {
   return GetRawButton(Button::kR3);
 }
 
-bool PS5Controller::GetR3ButtonPressed() {
+bool NiDsPS5Controller::GetR3ButtonPressed() {
   return GetRawButtonPressed(Button::kR3);
 }
 
-bool PS5Controller::GetR3ButtonReleased() {
+bool NiDsPS5Controller::GetR3ButtonReleased() {
   return GetRawButtonReleased(Button::kR3);
 }
 
-BooleanEvent PS5Controller::R3(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::R3(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetR3Button(); });
 }
 
-bool PS5Controller::GetPSButton() const {
+bool NiDsPS5Controller::GetPSButton() const {
   return GetRawButton(Button::kPS);
 }
 
-bool PS5Controller::GetPSButtonPressed() {
+bool NiDsPS5Controller::GetPSButtonPressed() {
   return GetRawButtonPressed(Button::kPS);
 }
 
-bool PS5Controller::GetPSButtonReleased() {
+bool NiDsPS5Controller::GetPSButtonReleased() {
   return GetRawButtonReleased(Button::kPS);
 }
 
-BooleanEvent PS5Controller::PS(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::PS(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetPSButton(); });
 }
 
-bool PS5Controller::GetTouchpadButton() const {
+bool NiDsPS5Controller::GetTouchpadButton() const {
   return GetRawButton(Button::kTouchpad);
 }
 
-bool PS5Controller::GetTouchpadButtonPressed() {
+bool NiDsPS5Controller::GetTouchpadButtonPressed() {
   return GetRawButtonPressed(Button::kTouchpad);
 }
 
-bool PS5Controller::GetTouchpadButtonReleased() {
+bool NiDsPS5Controller::GetTouchpadButtonReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
 
-BooleanEvent PS5Controller::Touchpad(EventLoop* loop) const {
+BooleanEvent NiDsPS5Controller::Touchpad(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
 }
 
-bool PS5Controller::GetTouchpad() const {
-  return GetRawButton(Button::kTouchpad);
-}
-
-bool PS5Controller::GetTouchpadPressed() {
-  return GetRawButtonPressed(Button::kTouchpad);
-}
-
-bool PS5Controller::GetTouchpadReleased() {
-  return GetRawButtonReleased(Button::kTouchpad);
-}
 
-void PS5Controller::InitSendable(wpi::util::SendableBuilder& builder) {
+void NiDsPS5Controller::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
-  builder.PublishConstString("ControllerType", "PS5");
+  builder.PublishConstString("ControllerType", "NiDsPS5");
   builder.AddDoubleProperty("L2 Axis", [this] { return GetL2Axis(); }, nullptr);
   builder.AddDoubleProperty("R2 Axis", [this] { return GetR2Axis(); }, nullptr);
   builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsStadiaController.cpp
similarity index 56%
rename from wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
rename to wpilibc/src/generated/main/native/cpp/driverstation/NiDsStadiaController.cpp
index 8f500c6874c..1dd6aa23cd8 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsStadiaController.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "wpi/driverstation/StadiaController.hpp"
+#include "wpi/driverstation/NiDsStadiaController.hpp"
 
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/util/sendable/SendableBuilder.hpp"
@@ -13,293 +13,270 @@
 
 using namespace wpi;
 
-StadiaController::StadiaController(int port) : GenericHID(port) {
-  HAL_ReportUsage("HID", port, "StadiaController");
+NiDsStadiaController::NiDsStadiaController(int port) : GenericHID(port) {
+  HAL_ReportUsage("HID", port, "NiDsStadiaController");
 }
 
-double StadiaController::GetLeftX() const {
+double NiDsStadiaController::GetLeftX() const {
   return GetRawAxis(Axis::kLeftX);
 }
 
-double StadiaController::GetRightX() const {
+double NiDsStadiaController::GetRightX() const {
   return GetRawAxis(Axis::kRightX);
 }
 
-double StadiaController::GetLeftY() const {
+double NiDsStadiaController::GetLeftY() const {
   return GetRawAxis(Axis::kLeftY);
 }
 
-double StadiaController::GetRightY() const {
+double NiDsStadiaController::GetRightY() const {
   return GetRawAxis(Axis::kRightY);
 }
 
-bool StadiaController::GetAButton() const {
+bool NiDsStadiaController::GetAButton() const {
   return GetRawButton(Button::kA);
 }
 
-bool StadiaController::GetAButtonPressed() {
+bool NiDsStadiaController::GetAButtonPressed() {
   return GetRawButtonPressed(Button::kA);
 }
 
-bool StadiaController::GetAButtonReleased() {
+bool NiDsStadiaController::GetAButtonReleased() {
   return GetRawButtonReleased(Button::kA);
 }
 
-BooleanEvent StadiaController::A(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::A(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetAButton(); });
 }
 
-bool StadiaController::GetBButton() const {
+bool NiDsStadiaController::GetBButton() const {
   return GetRawButton(Button::kB);
 }
 
-bool StadiaController::GetBButtonPressed() {
+bool NiDsStadiaController::GetBButtonPressed() {
   return GetRawButtonPressed(Button::kB);
 }
 
-bool StadiaController::GetBButtonReleased() {
+bool NiDsStadiaController::GetBButtonReleased() {
   return GetRawButtonReleased(Button::kB);
 }
 
-BooleanEvent StadiaController::B(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::B(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetBButton(); });
 }
 
-bool StadiaController::GetXButton() const {
+bool NiDsStadiaController::GetXButton() const {
   return GetRawButton(Button::kX);
 }
 
-bool StadiaController::GetXButtonPressed() {
+bool NiDsStadiaController::GetXButtonPressed() {
   return GetRawButtonPressed(Button::kX);
 }
 
-bool StadiaController::GetXButtonReleased() {
+bool NiDsStadiaController::GetXButtonReleased() {
   return GetRawButtonReleased(Button::kX);
 }
 
-BooleanEvent StadiaController::X(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::X(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetXButton(); });
 }
 
-bool StadiaController::GetYButton() const {
+bool NiDsStadiaController::GetYButton() const {
   return GetRawButton(Button::kY);
 }
 
-bool StadiaController::GetYButtonPressed() {
+bool NiDsStadiaController::GetYButtonPressed() {
   return GetRawButtonPressed(Button::kY);
 }
 
-bool StadiaController::GetYButtonReleased() {
+bool NiDsStadiaController::GetYButtonReleased() {
   return GetRawButtonReleased(Button::kY);
 }
 
-BooleanEvent StadiaController::Y(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::Y(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetYButton(); });
 }
 
-bool StadiaController::GetLeftBumperButton() const {
+bool NiDsStadiaController::GetLeftBumperButton() const {
   return GetRawButton(Button::kLeftBumper);
 }
 
-bool StadiaController::GetLeftBumperButtonPressed() {
+bool NiDsStadiaController::GetLeftBumperButtonPressed() {
   return GetRawButtonPressed(Button::kLeftBumper);
 }
 
-bool StadiaController::GetLeftBumperButtonReleased() {
+bool NiDsStadiaController::GetLeftBumperButtonReleased() {
   return GetRawButtonReleased(Button::kLeftBumper);
 }
 
-BooleanEvent StadiaController::LeftBumper(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::LeftBumper(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetLeftBumperButton(); });
 }
 
-bool StadiaController::GetRightBumperButton() const {
+bool NiDsStadiaController::GetRightBumperButton() const {
   return GetRawButton(Button::kRightBumper);
 }
 
-bool StadiaController::GetRightBumperButtonPressed() {
+bool NiDsStadiaController::GetRightBumperButtonPressed() {
   return GetRawButtonPressed(Button::kRightBumper);
 }
 
-bool StadiaController::GetRightBumperButtonReleased() {
+bool NiDsStadiaController::GetRightBumperButtonReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
 
-BooleanEvent StadiaController::RightBumper(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::RightBumper(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetRightBumperButton(); });
 }
 
-bool StadiaController::GetLeftStickButton() const {
+bool NiDsStadiaController::GetLeftStickButton() const {
   return GetRawButton(Button::kLeftStick);
 }
 
-bool StadiaController::GetLeftStickButtonPressed() {
+bool NiDsStadiaController::GetLeftStickButtonPressed() {
   return GetRawButtonPressed(Button::kLeftStick);
 }
 
-bool StadiaController::GetLeftStickButtonReleased() {
+bool NiDsStadiaController::GetLeftStickButtonReleased() {
   return GetRawButtonReleased(Button::kLeftStick);
 }
 
-BooleanEvent StadiaController::LeftStick(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::LeftStick(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
 }
 
-bool StadiaController::GetRightStickButton() const {
+bool NiDsStadiaController::GetRightStickButton() const {
   return GetRawButton(Button::kRightStick);
 }
 
-bool StadiaController::GetRightStickButtonPressed() {
+bool NiDsStadiaController::GetRightStickButtonPressed() {
   return GetRawButtonPressed(Button::kRightStick);
 }
 
-bool StadiaController::GetRightStickButtonReleased() {
+bool NiDsStadiaController::GetRightStickButtonReleased() {
   return GetRawButtonReleased(Button::kRightStick);
 }
 
-BooleanEvent StadiaController::RightStick(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::RightStick(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
 }
 
-bool StadiaController::GetEllipsesButton() const {
+bool NiDsStadiaController::GetEllipsesButton() const {
   return GetRawButton(Button::kEllipses);
 }
 
-bool StadiaController::GetEllipsesButtonPressed() {
+bool NiDsStadiaController::GetEllipsesButtonPressed() {
   return GetRawButtonPressed(Button::kEllipses);
 }
 
-bool StadiaController::GetEllipsesButtonReleased() {
+bool NiDsStadiaController::GetEllipsesButtonReleased() {
   return GetRawButtonReleased(Button::kEllipses);
 }
 
-BooleanEvent StadiaController::Ellipses(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::Ellipses(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetEllipsesButton(); });
 }
 
-bool StadiaController::GetHamburgerButton() const {
+bool NiDsStadiaController::GetHamburgerButton() const {
   return GetRawButton(Button::kHamburger);
 }
 
-bool StadiaController::GetHamburgerButtonPressed() {
+bool NiDsStadiaController::GetHamburgerButtonPressed() {
   return GetRawButtonPressed(Button::kHamburger);
 }
 
-bool StadiaController::GetHamburgerButtonReleased() {
+bool NiDsStadiaController::GetHamburgerButtonReleased() {
   return GetRawButtonReleased(Button::kHamburger);
 }
 
-BooleanEvent StadiaController::Hamburger(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::Hamburger(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetHamburgerButton(); });
 }
 
-bool StadiaController::GetStadiaButton() const {
+bool NiDsStadiaController::GetStadiaButton() const {
   return GetRawButton(Button::kStadia);
 }
 
-bool StadiaController::GetStadiaButtonPressed() {
+bool NiDsStadiaController::GetStadiaButtonPressed() {
   return GetRawButtonPressed(Button::kStadia);
 }
 
-bool StadiaController::GetStadiaButtonReleased() {
+bool NiDsStadiaController::GetStadiaButtonReleased() {
   return GetRawButtonReleased(Button::kStadia);
 }
 
-BooleanEvent StadiaController::Stadia(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::Stadia(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetStadiaButton(); });
 }
 
-bool StadiaController::GetRightTriggerButton() const {
+bool NiDsStadiaController::GetRightTriggerButton() const {
   return GetRawButton(Button::kRightTrigger);
 }
 
-bool StadiaController::GetRightTriggerButtonPressed() {
+bool NiDsStadiaController::GetRightTriggerButtonPressed() {
   return GetRawButtonPressed(Button::kRightTrigger);
 }
 
-bool StadiaController::GetRightTriggerButtonReleased() {
+bool NiDsStadiaController::GetRightTriggerButtonReleased() {
   return GetRawButtonReleased(Button::kRightTrigger);
 }
 
-BooleanEvent StadiaController::RightTrigger(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::RightTrigger(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetRightTriggerButton(); });
 }
 
-bool StadiaController::GetLeftTriggerButton() const {
+bool NiDsStadiaController::GetLeftTriggerButton() const {
   return GetRawButton(Button::kLeftTrigger);
 }
 
-bool StadiaController::GetLeftTriggerButtonPressed() {
+bool NiDsStadiaController::GetLeftTriggerButtonPressed() {
   return GetRawButtonPressed(Button::kLeftTrigger);
 }
 
-bool StadiaController::GetLeftTriggerButtonReleased() {
+bool NiDsStadiaController::GetLeftTriggerButtonReleased() {
   return GetRawButtonReleased(Button::kLeftTrigger);
 }
 
-BooleanEvent StadiaController::LeftTrigger(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::LeftTrigger(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetLeftTriggerButton(); });
 }
 
-bool StadiaController::GetGoogleButton() const {
+bool NiDsStadiaController::GetGoogleButton() const {
   return GetRawButton(Button::kGoogle);
 }
 
-bool StadiaController::GetGoogleButtonPressed() {
+bool NiDsStadiaController::GetGoogleButtonPressed() {
   return GetRawButtonPressed(Button::kGoogle);
 }
 
-bool StadiaController::GetGoogleButtonReleased() {
+bool NiDsStadiaController::GetGoogleButtonReleased() {
   return GetRawButtonReleased(Button::kGoogle);
 }
 
-BooleanEvent StadiaController::Google(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::Google(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetGoogleButton(); });
 }
 
-bool StadiaController::GetFrameButton() const {
+bool NiDsStadiaController::GetFrameButton() const {
   return GetRawButton(Button::kFrame);
 }
 
-bool StadiaController::GetFrameButtonPressed() {
+bool NiDsStadiaController::GetFrameButtonPressed() {
   return GetRawButtonPressed(Button::kFrame);
 }
 
-bool StadiaController::GetFrameButtonReleased() {
+bool NiDsStadiaController::GetFrameButtonReleased() {
   return GetRawButtonReleased(Button::kFrame);
 }
 
-BooleanEvent StadiaController::Frame(EventLoop* loop) const {
+BooleanEvent NiDsStadiaController::Frame(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetFrameButton(); });
 }
 
-bool StadiaController::GetLeftBumper() const {
-  return GetRawButton(Button::kLeftBumper);
-}
-
-bool StadiaController::GetRightBumper() const {
-  return GetRawButton(Button::kRightBumper);
-}
-
-bool StadiaController::GetLeftBumperPressed() {
-  return GetRawButtonPressed(Button::kLeftBumper);
-}
-
-bool StadiaController::GetRightBumperPressed() {
-  return GetRawButtonPressed(Button::kRightBumper);
-}
-
-bool StadiaController::GetLeftBumperReleased() {
-  return GetRawButtonReleased(Button::kLeftBumper);
-}
-
-bool StadiaController::GetRightBumperReleased() {
-  return GetRawButtonReleased(Button::kRightBumper);
-}
 
-void StadiaController::InitSendable(wpi::util::SendableBuilder& builder) {
+void NiDsStadiaController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
-  builder.PublishConstString("ControllerType", "Stadia");
+  builder.PublishConstString("ControllerType", "NiDsStadia");
   builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
   builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
   builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsXboxController.cpp
similarity index 56%
rename from wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
rename to wpilibc/src/generated/main/native/cpp/driverstation/NiDsXboxController.cpp
index 8def6d8b454..91baffb9000 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/NiDsXboxController.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/NiDsXboxController.hpp"
 
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/util/sendable/SendableBuilder.hpp"
@@ -13,237 +13,214 @@
 
 using namespace wpi;
 
-XboxController::XboxController(int port) : GenericHID(port) {
-  HAL_ReportUsage("HID", port, "XboxController");
+NiDsXboxController::NiDsXboxController(int port) : GenericHID(port) {
+  HAL_ReportUsage("HID", port, "NiDsXboxController");
 }
 
-double XboxController::GetLeftX() const {
+double NiDsXboxController::GetLeftX() const {
   return GetRawAxis(Axis::kLeftX);
 }
 
-double XboxController::GetRightX() const {
+double NiDsXboxController::GetRightX() const {
   return GetRawAxis(Axis::kRightX);
 }
 
-double XboxController::GetLeftY() const {
+double NiDsXboxController::GetLeftY() const {
   return GetRawAxis(Axis::kLeftY);
 }
 
-double XboxController::GetRightY() const {
+double NiDsXboxController::GetRightY() const {
   return GetRawAxis(Axis::kRightY);
 }
 
-double XboxController::GetLeftTriggerAxis() const {
+double NiDsXboxController::GetLeftTriggerAxis() const {
   return GetRawAxis(Axis::kLeftTrigger);
 }
 
-BooleanEvent XboxController::LeftTrigger(double threshold, EventLoop* loop) const {
+BooleanEvent NiDsXboxController::LeftTrigger(double threshold, EventLoop* loop) const {
   return BooleanEvent(loop, [this, threshold] { return this->GetLeftTriggerAxis() > threshold; });
 }
 
-BooleanEvent XboxController::LeftTrigger(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::LeftTrigger(EventLoop* loop) const {
   return this->LeftTrigger(0.5, loop);
 }
 
-double XboxController::GetRightTriggerAxis() const {
+double NiDsXboxController::GetRightTriggerAxis() const {
   return GetRawAxis(Axis::kRightTrigger);
 }
 
-BooleanEvent XboxController::RightTrigger(double threshold, EventLoop* loop) const {
+BooleanEvent NiDsXboxController::RightTrigger(double threshold, EventLoop* loop) const {
   return BooleanEvent(loop, [this, threshold] { return this->GetRightTriggerAxis() > threshold; });
 }
 
-BooleanEvent XboxController::RightTrigger(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::RightTrigger(EventLoop* loop) const {
   return this->RightTrigger(0.5, loop);
 }
 
-bool XboxController::GetAButton() const {
+bool NiDsXboxController::GetAButton() const {
   return GetRawButton(Button::kA);
 }
 
-bool XboxController::GetAButtonPressed() {
+bool NiDsXboxController::GetAButtonPressed() {
   return GetRawButtonPressed(Button::kA);
 }
 
-bool XboxController::GetAButtonReleased() {
+bool NiDsXboxController::GetAButtonReleased() {
   return GetRawButtonReleased(Button::kA);
 }
 
-BooleanEvent XboxController::A(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::A(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetAButton(); });
 }
 
-bool XboxController::GetBButton() const {
+bool NiDsXboxController::GetBButton() const {
   return GetRawButton(Button::kB);
 }
 
-bool XboxController::GetBButtonPressed() {
+bool NiDsXboxController::GetBButtonPressed() {
   return GetRawButtonPressed(Button::kB);
 }
 
-bool XboxController::GetBButtonReleased() {
+bool NiDsXboxController::GetBButtonReleased() {
   return GetRawButtonReleased(Button::kB);
 }
 
-BooleanEvent XboxController::B(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::B(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetBButton(); });
 }
 
-bool XboxController::GetXButton() const {
+bool NiDsXboxController::GetXButton() const {
   return GetRawButton(Button::kX);
 }
 
-bool XboxController::GetXButtonPressed() {
+bool NiDsXboxController::GetXButtonPressed() {
   return GetRawButtonPressed(Button::kX);
 }
 
-bool XboxController::GetXButtonReleased() {
+bool NiDsXboxController::GetXButtonReleased() {
   return GetRawButtonReleased(Button::kX);
 }
 
-BooleanEvent XboxController::X(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::X(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetXButton(); });
 }
 
-bool XboxController::GetYButton() const {
+bool NiDsXboxController::GetYButton() const {
   return GetRawButton(Button::kY);
 }
 
-bool XboxController::GetYButtonPressed() {
+bool NiDsXboxController::GetYButtonPressed() {
   return GetRawButtonPressed(Button::kY);
 }
 
-bool XboxController::GetYButtonReleased() {
+bool NiDsXboxController::GetYButtonReleased() {
   return GetRawButtonReleased(Button::kY);
 }
 
-BooleanEvent XboxController::Y(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::Y(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetYButton(); });
 }
 
-bool XboxController::GetLeftBumperButton() const {
+bool NiDsXboxController::GetLeftBumperButton() const {
   return GetRawButton(Button::kLeftBumper);
 }
 
-bool XboxController::GetLeftBumperButtonPressed() {
+bool NiDsXboxController::GetLeftBumperButtonPressed() {
   return GetRawButtonPressed(Button::kLeftBumper);
 }
 
-bool XboxController::GetLeftBumperButtonReleased() {
+bool NiDsXboxController::GetLeftBumperButtonReleased() {
   return GetRawButtonReleased(Button::kLeftBumper);
 }
 
-BooleanEvent XboxController::LeftBumper(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::LeftBumper(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetLeftBumperButton(); });
 }
 
-bool XboxController::GetRightBumperButton() const {
+bool NiDsXboxController::GetRightBumperButton() const {
   return GetRawButton(Button::kRightBumper);
 }
 
-bool XboxController::GetRightBumperButtonPressed() {
+bool NiDsXboxController::GetRightBumperButtonPressed() {
   return GetRawButtonPressed(Button::kRightBumper);
 }
 
-bool XboxController::GetRightBumperButtonReleased() {
+bool NiDsXboxController::GetRightBumperButtonReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
 
-BooleanEvent XboxController::RightBumper(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::RightBumper(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetRightBumperButton(); });
 }
 
-bool XboxController::GetBackButton() const {
+bool NiDsXboxController::GetBackButton() const {
   return GetRawButton(Button::kBack);
 }
 
-bool XboxController::GetBackButtonPressed() {
+bool NiDsXboxController::GetBackButtonPressed() {
   return GetRawButtonPressed(Button::kBack);
 }
 
-bool XboxController::GetBackButtonReleased() {
+bool NiDsXboxController::GetBackButtonReleased() {
   return GetRawButtonReleased(Button::kBack);
 }
 
-BooleanEvent XboxController::Back(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::Back(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetBackButton(); });
 }
 
-bool XboxController::GetStartButton() const {
+bool NiDsXboxController::GetStartButton() const {
   return GetRawButton(Button::kStart);
 }
 
-bool XboxController::GetStartButtonPressed() {
+bool NiDsXboxController::GetStartButtonPressed() {
   return GetRawButtonPressed(Button::kStart);
 }
 
-bool XboxController::GetStartButtonReleased() {
+bool NiDsXboxController::GetStartButtonReleased() {
   return GetRawButtonReleased(Button::kStart);
 }
 
-BooleanEvent XboxController::Start(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::Start(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetStartButton(); });
 }
 
-bool XboxController::GetLeftStickButton() const {
+bool NiDsXboxController::GetLeftStickButton() const {
   return GetRawButton(Button::kLeftStick);
 }
 
-bool XboxController::GetLeftStickButtonPressed() {
+bool NiDsXboxController::GetLeftStickButtonPressed() {
   return GetRawButtonPressed(Button::kLeftStick);
 }
 
-bool XboxController::GetLeftStickButtonReleased() {
+bool NiDsXboxController::GetLeftStickButtonReleased() {
   return GetRawButtonReleased(Button::kLeftStick);
 }
 
-BooleanEvent XboxController::LeftStick(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::LeftStick(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
 }
 
-bool XboxController::GetRightStickButton() const {
+bool NiDsXboxController::GetRightStickButton() const {
   return GetRawButton(Button::kRightStick);
 }
 
-bool XboxController::GetRightStickButtonPressed() {
+bool NiDsXboxController::GetRightStickButtonPressed() {
   return GetRawButtonPressed(Button::kRightStick);
 }
 
-bool XboxController::GetRightStickButtonReleased() {
+bool NiDsXboxController::GetRightStickButtonReleased() {
   return GetRawButtonReleased(Button::kRightStick);
 }
 
-BooleanEvent XboxController::RightStick(EventLoop* loop) const {
+BooleanEvent NiDsXboxController::RightStick(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
 }
 
-bool XboxController::GetLeftBumper() const {
-  return GetRawButton(Button::kLeftBumper);
-}
-
-bool XboxController::GetRightBumper() const {
-  return GetRawButton(Button::kRightBumper);
-}
-
-bool XboxController::GetLeftBumperPressed() {
-  return GetRawButtonPressed(Button::kLeftBumper);
-}
-
-bool XboxController::GetRightBumperPressed() {
-  return GetRawButtonPressed(Button::kRightBumper);
-}
-
-bool XboxController::GetLeftBumperReleased() {
-  return GetRawButtonReleased(Button::kLeftBumper);
-}
-
-bool XboxController::GetRightBumperReleased() {
-  return GetRawButtonReleased(Button::kRightBumper);
-}
 
-void XboxController::InitSendable(wpi::util::SendableBuilder& builder) {
+void NiDsXboxController::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("HID");
-  builder.PublishConstString("ControllerType", "Xbox");
+  builder.PublishConstString("ControllerType", "NiDsXbox");
   builder.AddDoubleProperty("LeftTrigger Axis", [this] { return GetLeftTriggerAxis(); }, nullptr);
   builder.AddDoubleProperty("RightTrigger Axis", [this] { return GetRightTriggerAxis(); }, nullptr);
   builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/NiDsPS4ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/NiDsPS4ControllerSim.cpp
new file mode 100644
index 00000000000..f07c3020c09
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/NiDsPS4ControllerSim.cpp
@@ -0,0 +1,105 @@
+// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
+
+#include "wpi/simulation/NiDsPS4ControllerSim.hpp"
+
+#include "wpi/driverstation/NiDsPS4Controller.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+NiDsPS4ControllerSim::NiDsPS4ControllerSim(const NiDsPS4Controller& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxesMaximumIndex(6);
+  SetButtonsMaximumIndex(14);
+  SetPOVsMaximumIndex(1);
+}
+
+NiDsPS4ControllerSim::NiDsPS4ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesMaximumIndex(6);
+  SetButtonsMaximumIndex(14);
+  SetPOVsMaximumIndex(1);
+}
+
+void NiDsPS4ControllerSim::SetLeftX(double value) {
+  SetRawAxis(NiDsPS4Controller::Axis::kLeftX, value);
+}
+
+void NiDsPS4ControllerSim::SetLeftY(double value) {
+  SetRawAxis(NiDsPS4Controller::Axis::kLeftY, value);
+}
+
+void NiDsPS4ControllerSim::SetRightX(double value) {
+  SetRawAxis(NiDsPS4Controller::Axis::kRightX, value);
+}
+
+void NiDsPS4ControllerSim::SetRightY(double value) {
+  SetRawAxis(NiDsPS4Controller::Axis::kRightY, value);
+}
+
+void NiDsPS4ControllerSim::SetL2Axis(double value) {
+  SetRawAxis(NiDsPS4Controller::Axis::kL2, value);
+}
+
+void NiDsPS4ControllerSim::SetR2Axis(double value) {
+  SetRawAxis(NiDsPS4Controller::Axis::kR2, value);
+}
+
+void NiDsPS4ControllerSim::SetSquareButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kSquare, value);
+}
+
+void NiDsPS4ControllerSim::SetCrossButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kCross, value);
+}
+
+void NiDsPS4ControllerSim::SetCircleButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kCircle, value);
+}
+
+void NiDsPS4ControllerSim::SetTriangleButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kTriangle, value);
+}
+
+void NiDsPS4ControllerSim::SetL1Button(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kL1, value);
+}
+
+void NiDsPS4ControllerSim::SetR1Button(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kR1, value);
+}
+
+void NiDsPS4ControllerSim::SetL2Button(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kL2, value);
+}
+
+void NiDsPS4ControllerSim::SetR2Button(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kR2, value);
+}
+
+void NiDsPS4ControllerSim::SetShareButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kShare, value);
+}
+
+void NiDsPS4ControllerSim::SetOptionsButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kOptions, value);
+}
+
+void NiDsPS4ControllerSim::SetL3Button(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kL3, value);
+}
+
+void NiDsPS4ControllerSim::SetR3Button(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kR3, value);
+}
+
+void NiDsPS4ControllerSim::SetPSButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kPS, value);
+}
+
+void NiDsPS4ControllerSim::SetTouchpadButton(bool value) {
+  SetRawButton(NiDsPS4Controller::Button::kTouchpad, value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/NiDsPS5ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/NiDsPS5ControllerSim.cpp
new file mode 100644
index 00000000000..2ba9a750f5d
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/NiDsPS5ControllerSim.cpp
@@ -0,0 +1,105 @@
+// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
+
+#include "wpi/simulation/NiDsPS5ControllerSim.hpp"
+
+#include "wpi/driverstation/NiDsPS5Controller.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+NiDsPS5ControllerSim::NiDsPS5ControllerSim(const NiDsPS5Controller& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxesMaximumIndex(6);
+  SetButtonsMaximumIndex(14);
+  SetPOVsMaximumIndex(1);
+}
+
+NiDsPS5ControllerSim::NiDsPS5ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesMaximumIndex(6);
+  SetButtonsMaximumIndex(14);
+  SetPOVsMaximumIndex(1);
+}
+
+void NiDsPS5ControllerSim::SetLeftX(double value) {
+  SetRawAxis(NiDsPS5Controller::Axis::kLeftX, value);
+}
+
+void NiDsPS5ControllerSim::SetLeftY(double value) {
+  SetRawAxis(NiDsPS5Controller::Axis::kLeftY, value);
+}
+
+void NiDsPS5ControllerSim::SetRightX(double value) {
+  SetRawAxis(NiDsPS5Controller::Axis::kRightX, value);
+}
+
+void NiDsPS5ControllerSim::SetRightY(double value) {
+  SetRawAxis(NiDsPS5Controller::Axis::kRightY, value);
+}
+
+void NiDsPS5ControllerSim::SetL2Axis(double value) {
+  SetRawAxis(NiDsPS5Controller::Axis::kL2, value);
+}
+
+void NiDsPS5ControllerSim::SetR2Axis(double value) {
+  SetRawAxis(NiDsPS5Controller::Axis::kR2, value);
+}
+
+void NiDsPS5ControllerSim::SetSquareButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kSquare, value);
+}
+
+void NiDsPS5ControllerSim::SetCrossButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kCross, value);
+}
+
+void NiDsPS5ControllerSim::SetCircleButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kCircle, value);
+}
+
+void NiDsPS5ControllerSim::SetTriangleButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kTriangle, value);
+}
+
+void NiDsPS5ControllerSim::SetL1Button(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kL1, value);
+}
+
+void NiDsPS5ControllerSim::SetR1Button(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kR1, value);
+}
+
+void NiDsPS5ControllerSim::SetL2Button(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kL2, value);
+}
+
+void NiDsPS5ControllerSim::SetR2Button(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kR2, value);
+}
+
+void NiDsPS5ControllerSim::SetCreateButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kCreate, value);
+}
+
+void NiDsPS5ControllerSim::SetOptionsButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kOptions, value);
+}
+
+void NiDsPS5ControllerSim::SetL3Button(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kL3, value);
+}
+
+void NiDsPS5ControllerSim::SetR3Button(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kR3, value);
+}
+
+void NiDsPS5ControllerSim::SetPSButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kPS, value);
+}
+
+void NiDsPS5ControllerSim::SetTouchpadButton(bool value) {
+  SetRawButton(NiDsPS5Controller::Button::kTouchpad, value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/NiDsStadiaControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/NiDsStadiaControllerSim.cpp
new file mode 100644
index 00000000000..f04a0b551ca
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/NiDsStadiaControllerSim.cpp
@@ -0,0 +1,101 @@
+// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
+
+#include "wpi/simulation/NiDsStadiaControllerSim.hpp"
+
+#include "wpi/driverstation/NiDsStadiaController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+NiDsStadiaControllerSim::NiDsStadiaControllerSim(const NiDsStadiaController& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxesMaximumIndex(4);
+  SetButtonsMaximumIndex(15);
+  SetPOVsMaximumIndex(1);
+}
+
+NiDsStadiaControllerSim::NiDsStadiaControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesMaximumIndex(4);
+  SetButtonsMaximumIndex(15);
+  SetPOVsMaximumIndex(1);
+}
+
+void NiDsStadiaControllerSim::SetLeftX(double value) {
+  SetRawAxis(NiDsStadiaController::Axis::kLeftX, value);
+}
+
+void NiDsStadiaControllerSim::SetRightX(double value) {
+  SetRawAxis(NiDsStadiaController::Axis::kRightX, value);
+}
+
+void NiDsStadiaControllerSim::SetLeftY(double value) {
+  SetRawAxis(NiDsStadiaController::Axis::kLeftY, value);
+}
+
+void NiDsStadiaControllerSim::SetRightY(double value) {
+  SetRawAxis(NiDsStadiaController::Axis::kRightY, value);
+}
+
+void NiDsStadiaControllerSim::SetAButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kA, value);
+}
+
+void NiDsStadiaControllerSim::SetBButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kB, value);
+}
+
+void NiDsStadiaControllerSim::SetXButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kX, value);
+}
+
+void NiDsStadiaControllerSim::SetYButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kY, value);
+}
+
+void NiDsStadiaControllerSim::SetLeftBumperButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kLeftBumper, value);
+}
+
+void NiDsStadiaControllerSim::SetRightBumperButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kRightBumper, value);
+}
+
+void NiDsStadiaControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kLeftStick, value);
+}
+
+void NiDsStadiaControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kRightStick, value);
+}
+
+void NiDsStadiaControllerSim::SetEllipsesButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kEllipses, value);
+}
+
+void NiDsStadiaControllerSim::SetHamburgerButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kHamburger, value);
+}
+
+void NiDsStadiaControllerSim::SetStadiaButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kStadia, value);
+}
+
+void NiDsStadiaControllerSim::SetRightTriggerButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kRightTrigger, value);
+}
+
+void NiDsStadiaControllerSim::SetLeftTriggerButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kLeftTrigger, value);
+}
+
+void NiDsStadiaControllerSim::SetGoogleButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kGoogle, value);
+}
+
+void NiDsStadiaControllerSim::SetFrameButton(bool value) {
+  SetRawButton(NiDsStadiaController::Button::kFrame, value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/NiDsXboxControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/NiDsXboxControllerSim.cpp
new file mode 100644
index 00000000000..c4291182d84
--- /dev/null
+++ b/wpilibc/src/generated/main/native/cpp/simulation/NiDsXboxControllerSim.cpp
@@ -0,0 +1,89 @@
+// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
+
+#include "wpi/simulation/NiDsXboxControllerSim.hpp"
+
+#include "wpi/driverstation/NiDsXboxController.hpp"
+
+using namespace wpi;
+using namespace wpi::sim;
+
+NiDsXboxControllerSim::NiDsXboxControllerSim(const NiDsXboxController& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxesMaximumIndex(6);
+  SetButtonsMaximumIndex(10);
+  SetPOVsMaximumIndex(1);
+}
+
+NiDsXboxControllerSim::NiDsXboxControllerSim(int port) : GenericHIDSim{port} {
+  SetAxesMaximumIndex(6);
+  SetButtonsMaximumIndex(10);
+  SetPOVsMaximumIndex(1);
+}
+
+void NiDsXboxControllerSim::SetLeftX(double value) {
+  SetRawAxis(NiDsXboxController::Axis::kLeftX, value);
+}
+
+void NiDsXboxControllerSim::SetRightX(double value) {
+  SetRawAxis(NiDsXboxController::Axis::kRightX, value);
+}
+
+void NiDsXboxControllerSim::SetLeftY(double value) {
+  SetRawAxis(NiDsXboxController::Axis::kLeftY, value);
+}
+
+void NiDsXboxControllerSim::SetRightY(double value) {
+  SetRawAxis(NiDsXboxController::Axis::kRightY, value);
+}
+
+void NiDsXboxControllerSim::SetLeftTriggerAxis(double value) {
+  SetRawAxis(NiDsXboxController::Axis::kLeftTrigger, value);
+}
+
+void NiDsXboxControllerSim::SetRightTriggerAxis(double value) {
+  SetRawAxis(NiDsXboxController::Axis::kRightTrigger, value);
+}
+
+void NiDsXboxControllerSim::SetAButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kA, value);
+}
+
+void NiDsXboxControllerSim::SetBButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kB, value);
+}
+
+void NiDsXboxControllerSim::SetXButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kX, value);
+}
+
+void NiDsXboxControllerSim::SetYButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kY, value);
+}
+
+void NiDsXboxControllerSim::SetLeftBumperButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kLeftBumper, value);
+}
+
+void NiDsXboxControllerSim::SetRightBumperButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kRightBumper, value);
+}
+
+void NiDsXboxControllerSim::SetBackButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kBack, value);
+}
+
+void NiDsXboxControllerSim::SetStartButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kStart, value);
+}
+
+void NiDsXboxControllerSim::SetLeftStickButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kLeftStick, value);
+}
+
+void NiDsXboxControllerSim::SetRightStickButton(bool value) {
+  SetRawButton(NiDsXboxController::Button::kRightStick, value);
+}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
deleted file mode 100644
index 0b21c90d0ee..00000000000
--- a/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
-
-#include "wpi/simulation/PS4ControllerSim.hpp"
-
-#include "wpi/driverstation/PS4Controller.hpp"
-
-using namespace wpi;
-using namespace wpi::sim;
-
-PS4ControllerSim::PS4ControllerSim(const PS4Controller& joystick)
-    : GenericHIDSim{joystick} {
-  SetAxesMaximumIndex(6);
-  SetButtonsMaximumIndex(14);
-  SetPOVsMaximumIndex(1);
-}
-
-PS4ControllerSim::PS4ControllerSim(int port) : GenericHIDSim{port} {
-  SetAxesMaximumIndex(6);
-  SetButtonsMaximumIndex(14);
-  SetPOVsMaximumIndex(1);
-}
-
-void PS4ControllerSim::SetLeftX(double value) {
-  SetRawAxis(PS4Controller::Axis::kLeftX, value);
-}
-
-void PS4ControllerSim::SetLeftY(double value) {
-  SetRawAxis(PS4Controller::Axis::kLeftY, value);
-}
-
-void PS4ControllerSim::SetRightX(double value) {
-  SetRawAxis(PS4Controller::Axis::kRightX, value);
-}
-
-void PS4ControllerSim::SetRightY(double value) {
-  SetRawAxis(PS4Controller::Axis::kRightY, value);
-}
-
-void PS4ControllerSim::SetL2Axis(double value) {
-  SetRawAxis(PS4Controller::Axis::kL2, value);
-}
-
-void PS4ControllerSim::SetR2Axis(double value) {
-  SetRawAxis(PS4Controller::Axis::kR2, value);
-}
-
-void PS4ControllerSim::SetSquareButton(bool value) {
-  SetRawButton(PS4Controller::Button::kSquare, value);
-}
-
-void PS4ControllerSim::SetCrossButton(bool value) {
-  SetRawButton(PS4Controller::Button::kCross, value);
-}
-
-void PS4ControllerSim::SetCircleButton(bool value) {
-  SetRawButton(PS4Controller::Button::kCircle, value);
-}
-
-void PS4ControllerSim::SetTriangleButton(bool value) {
-  SetRawButton(PS4Controller::Button::kTriangle, value);
-}
-
-void PS4ControllerSim::SetL1Button(bool value) {
-  SetRawButton(PS4Controller::Button::kL1, value);
-}
-
-void PS4ControllerSim::SetR1Button(bool value) {
-  SetRawButton(PS4Controller::Button::kR1, value);
-}
-
-void PS4ControllerSim::SetL2Button(bool value) {
-  SetRawButton(PS4Controller::Button::kL2, value);
-}
-
-void PS4ControllerSim::SetR2Button(bool value) {
-  SetRawButton(PS4Controller::Button::kR2, value);
-}
-
-void PS4ControllerSim::SetShareButton(bool value) {
-  SetRawButton(PS4Controller::Button::kShare, value);
-}
-
-void PS4ControllerSim::SetOptionsButton(bool value) {
-  SetRawButton(PS4Controller::Button::kOptions, value);
-}
-
-void PS4ControllerSim::SetL3Button(bool value) {
-  SetRawButton(PS4Controller::Button::kL3, value);
-}
-
-void PS4ControllerSim::SetR3Button(bool value) {
-  SetRawButton(PS4Controller::Button::kR3, value);
-}
-
-void PS4ControllerSim::SetPSButton(bool value) {
-  SetRawButton(PS4Controller::Button::kPS, value);
-}
-
-void PS4ControllerSim::SetTouchpadButton(bool value) {
-  SetRawButton(PS4Controller::Button::kTouchpad, value);
-}
-
-void PS4ControllerSim::SetTouchpad(bool value) {
-  SetRawButton(PS4Controller::Button::kTouchpad, value);
-}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
deleted file mode 100644
index 717c60e9663..00000000000
--- a/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
-
-#include "wpi/simulation/PS5ControllerSim.hpp"
-
-#include "wpi/driverstation/PS5Controller.hpp"
-
-using namespace wpi;
-using namespace wpi::sim;
-
-PS5ControllerSim::PS5ControllerSim(const PS5Controller& joystick)
-    : GenericHIDSim{joystick} {
-  SetAxesMaximumIndex(6);
-  SetButtonsMaximumIndex(14);
-  SetPOVsMaximumIndex(1);
-}
-
-PS5ControllerSim::PS5ControllerSim(int port) : GenericHIDSim{port} {
-  SetAxesMaximumIndex(6);
-  SetButtonsMaximumIndex(14);
-  SetPOVsMaximumIndex(1);
-}
-
-void PS5ControllerSim::SetLeftX(double value) {
-  SetRawAxis(PS5Controller::Axis::kLeftX, value);
-}
-
-void PS5ControllerSim::SetLeftY(double value) {
-  SetRawAxis(PS5Controller::Axis::kLeftY, value);
-}
-
-void PS5ControllerSim::SetRightX(double value) {
-  SetRawAxis(PS5Controller::Axis::kRightX, value);
-}
-
-void PS5ControllerSim::SetRightY(double value) {
-  SetRawAxis(PS5Controller::Axis::kRightY, value);
-}
-
-void PS5ControllerSim::SetL2Axis(double value) {
-  SetRawAxis(PS5Controller::Axis::kL2, value);
-}
-
-void PS5ControllerSim::SetR2Axis(double value) {
-  SetRawAxis(PS5Controller::Axis::kR2, value);
-}
-
-void PS5ControllerSim::SetSquareButton(bool value) {
-  SetRawButton(PS5Controller::Button::kSquare, value);
-}
-
-void PS5ControllerSim::SetCrossButton(bool value) {
-  SetRawButton(PS5Controller::Button::kCross, value);
-}
-
-void PS5ControllerSim::SetCircleButton(bool value) {
-  SetRawButton(PS5Controller::Button::kCircle, value);
-}
-
-void PS5ControllerSim::SetTriangleButton(bool value) {
-  SetRawButton(PS5Controller::Button::kTriangle, value);
-}
-
-void PS5ControllerSim::SetL1Button(bool value) {
-  SetRawButton(PS5Controller::Button::kL1, value);
-}
-
-void PS5ControllerSim::SetR1Button(bool value) {
-  SetRawButton(PS5Controller::Button::kR1, value);
-}
-
-void PS5ControllerSim::SetL2Button(bool value) {
-  SetRawButton(PS5Controller::Button::kL2, value);
-}
-
-void PS5ControllerSim::SetR2Button(bool value) {
-  SetRawButton(PS5Controller::Button::kR2, value);
-}
-
-void PS5ControllerSim::SetCreateButton(bool value) {
-  SetRawButton(PS5Controller::Button::kCreate, value);
-}
-
-void PS5ControllerSim::SetOptionsButton(bool value) {
-  SetRawButton(PS5Controller::Button::kOptions, value);
-}
-
-void PS5ControllerSim::SetL3Button(bool value) {
-  SetRawButton(PS5Controller::Button::kL3, value);
-}
-
-void PS5ControllerSim::SetR3Button(bool value) {
-  SetRawButton(PS5Controller::Button::kR3, value);
-}
-
-void PS5ControllerSim::SetPSButton(bool value) {
-  SetRawButton(PS5Controller::Button::kPS, value);
-}
-
-void PS5ControllerSim::SetTouchpadButton(bool value) {
-  SetRawButton(PS5Controller::Button::kTouchpad, value);
-}
-
-void PS5ControllerSim::SetTouchpad(bool value) {
-  SetRawButton(PS5Controller::Button::kTouchpad, value);
-}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
deleted file mode 100644
index 4b70aad36d0..00000000000
--- a/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
-
-#include "wpi/simulation/StadiaControllerSim.hpp"
-
-#include "wpi/driverstation/StadiaController.hpp"
-
-using namespace wpi;
-using namespace wpi::sim;
-
-StadiaControllerSim::StadiaControllerSim(const StadiaController& joystick)
-    : GenericHIDSim{joystick} {
-  SetAxesMaximumIndex(4);
-  SetButtonsMaximumIndex(15);
-  SetPOVsMaximumIndex(1);
-}
-
-StadiaControllerSim::StadiaControllerSim(int port) : GenericHIDSim{port} {
-  SetAxesMaximumIndex(4);
-  SetButtonsMaximumIndex(15);
-  SetPOVsMaximumIndex(1);
-}
-
-void StadiaControllerSim::SetLeftX(double value) {
-  SetRawAxis(StadiaController::Axis::kLeftX, value);
-}
-
-void StadiaControllerSim::SetRightX(double value) {
-  SetRawAxis(StadiaController::Axis::kRightX, value);
-}
-
-void StadiaControllerSim::SetLeftY(double value) {
-  SetRawAxis(StadiaController::Axis::kLeftY, value);
-}
-
-void StadiaControllerSim::SetRightY(double value) {
-  SetRawAxis(StadiaController::Axis::kRightY, value);
-}
-
-void StadiaControllerSim::SetAButton(bool value) {
-  SetRawButton(StadiaController::Button::kA, value);
-}
-
-void StadiaControllerSim::SetBButton(bool value) {
-  SetRawButton(StadiaController::Button::kB, value);
-}
-
-void StadiaControllerSim::SetXButton(bool value) {
-  SetRawButton(StadiaController::Button::kX, value);
-}
-
-void StadiaControllerSim::SetYButton(bool value) {
-  SetRawButton(StadiaController::Button::kY, value);
-}
-
-void StadiaControllerSim::SetLeftBumperButton(bool value) {
-  SetRawButton(StadiaController::Button::kLeftBumper, value);
-}
-
-void StadiaControllerSim::SetRightBumperButton(bool value) {
-  SetRawButton(StadiaController::Button::kRightBumper, value);
-}
-
-void StadiaControllerSim::SetLeftStickButton(bool value) {
-  SetRawButton(StadiaController::Button::kLeftStick, value);
-}
-
-void StadiaControllerSim::SetRightStickButton(bool value) {
-  SetRawButton(StadiaController::Button::kRightStick, value);
-}
-
-void StadiaControllerSim::SetEllipsesButton(bool value) {
-  SetRawButton(StadiaController::Button::kEllipses, value);
-}
-
-void StadiaControllerSim::SetHamburgerButton(bool value) {
-  SetRawButton(StadiaController::Button::kHamburger, value);
-}
-
-void StadiaControllerSim::SetStadiaButton(bool value) {
-  SetRawButton(StadiaController::Button::kStadia, value);
-}
-
-void StadiaControllerSim::SetRightTriggerButton(bool value) {
-  SetRawButton(StadiaController::Button::kRightTrigger, value);
-}
-
-void StadiaControllerSim::SetLeftTriggerButton(bool value) {
-  SetRawButton(StadiaController::Button::kLeftTrigger, value);
-}
-
-void StadiaControllerSim::SetGoogleButton(bool value) {
-  SetRawButton(StadiaController::Button::kGoogle, value);
-}
-
-void StadiaControllerSim::SetFrameButton(bool value) {
-  SetRawButton(StadiaController::Button::kFrame, value);
-}
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
deleted file mode 100644
index 1f54ef6f3ab..00000000000
--- a/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-// 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 ./wpilibc/generate_hids.py. DO NOT MODIFY
-
-#include "wpi/simulation/XboxControllerSim.hpp"
-
-#include "wpi/driverstation/XboxController.hpp"
-
-using namespace wpi;
-using namespace wpi::sim;
-
-XboxControllerSim::XboxControllerSim(const XboxController& joystick)
-    : GenericHIDSim{joystick} {
-  SetAxesMaximumIndex(6);
-  SetButtonsMaximumIndex(10);
-  SetPOVsMaximumIndex(1);
-}
-
-XboxControllerSim::XboxControllerSim(int port) : GenericHIDSim{port} {
-  SetAxesMaximumIndex(6);
-  SetButtonsMaximumIndex(10);
-  SetPOVsMaximumIndex(1);
-}
-
-void XboxControllerSim::SetLeftX(double value) {
-  SetRawAxis(XboxController::Axis::kLeftX, value);
-}
-
-void XboxControllerSim::SetRightX(double value) {
-  SetRawAxis(XboxController::Axis::kRightX, value);
-}
-
-void XboxControllerSim::SetLeftY(double value) {
-  SetRawAxis(XboxController::Axis::kLeftY, value);
-}
-
-void XboxControllerSim::SetRightY(double value) {
-  SetRawAxis(XboxController::Axis::kRightY, value);
-}
-
-void XboxControllerSim::SetLeftTriggerAxis(double value) {
-  SetRawAxis(XboxController::Axis::kLeftTrigger, value);
-}
-
-void XboxControllerSim::SetRightTriggerAxis(double value) {
-  SetRawAxis(XboxController::Axis::kRightTrigger, value);
-}
-
-void XboxControllerSim::SetAButton(bool value) {
-  SetRawButton(XboxController::Button::kA, value);
-}
-
-void XboxControllerSim::SetBButton(bool value) {
-  SetRawButton(XboxController::Button::kB, value);
-}
-
-void XboxControllerSim::SetXButton(bool value) {
-  SetRawButton(XboxController::Button::kX, value);
-}
-
-void XboxControllerSim::SetYButton(bool value) {
-  SetRawButton(XboxController::Button::kY, value);
-}
-
-void XboxControllerSim::SetLeftBumperButton(bool value) {
-  SetRawButton(XboxController::Button::kLeftBumper, value);
-}
-
-void XboxControllerSim::SetRightBumperButton(bool value) {
-  SetRawButton(XboxController::Button::kRightBumper, value);
-}
-
-void XboxControllerSim::SetBackButton(bool value) {
-  SetRawButton(XboxController::Button::kBack, value);
-}
-
-void XboxControllerSim::SetStartButton(bool value) {
-  SetRawButton(XboxController::Button::kStart, value);
-}
-
-void XboxControllerSim::SetLeftStickButton(bool value) {
-  SetRawButton(XboxController::Button::kLeftStick, value);
-}
-
-void XboxControllerSim::SetRightStickButton(bool value) {
-  SetRawButton(XboxController::Button::kRightStick, value);
-}
-
-void XboxControllerSim::SetLeftBumper(bool value) {
-  SetRawButton(XboxController::Button::kLeftBumper, value);
-}
-
-void XboxControllerSim::SetRightBumper(bool value) {
-  SetRawButton(XboxController::Button::kRightBumper, value);
-}
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS4Controller.hpp
similarity index 90%
rename from wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
rename to wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS4Controller.hpp
index b3b512699e7..2d745d72c8b 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS4Controller.hpp
@@ -14,9 +14,9 @@
 namespace wpi {
 
 /**
- * Handle input from PS4 controllers connected to the Driver Station.
+ * Handle input from NiDsPS4 controllers connected to the Driver Station.
  *
- * This class handles PS4 input that comes from the Driver Station. Each
+ * This class handles NiDsPS4 input that comes from the Driver Station. Each
  * time a value is requested the most recent value is returned. There is a
  * single class instance for each controller and the mapping of ports to
  * hardware buttons depends on the code in the Driver Station.
@@ -25,9 +25,9 @@ namespace wpi {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class PS4Controller : public GenericHID,
+class NiDsPS4Controller : public GenericHID,
                                     public wpi::util::Sendable,
-                                    public wpi::util::SendableHelper<PS4Controller> {
+                                    public wpi::util::SendableHelper<NiDsPS4Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -37,12 +37,12 @@ class PS4Controller : public GenericHID,
    * @param port The port on the Driver Station that the controller is plugged
    *             into (0-5).
    */
-  explicit PS4Controller(int port);
+  explicit NiDsPS4Controller(int port);
 
-  ~PS4Controller() override = default;
+  ~NiDsPS4Controller() override = default;
 
-  PS4Controller(PS4Controller&&) = default;
-  PS4Controller& operator=(PS4Controller&&) = default;
+  NiDsPS4Controller(NiDsPS4Controller&&) = default;
+  NiDsPS4Controller& operator=(NiDsPS4Controller&&) = default;
 
   /**
    * Get the X axis value of left side of the controller. Right is positive.
@@ -522,39 +522,7 @@ class PS4Controller : public GenericHID,
    */
   BooleanEvent Touchpad(EventLoop* loop) const;
 
-  /**
-   * Read the value of the touchpad button on the controller.
-   *
-   * @return The state of the button.
-   * @deprecated Use GetTouchpadButton instead. This function is deprecated for
-   * removal to make function names consistent to allow the HID classes to be
-   * automatically generated.
-   */
-  [[deprecated("Use GetTouchpadButton instead")]]
-  bool GetTouchpad() const;
-  /**
-   * Whether the touchpad was pressed since the last check.
-   *
-   * @return Whether the touchpad was pressed since the last check.
-   * @deprecated Use GetTouchpadButtonPressed instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetTouchpadButtonPressed instead")]]
-  bool GetTouchpadPressed();
-
-  /**
-   * Whether the touchpad was released since the last check.
-   *
-   * @return Whether the touchpad was released since the last check.
-   * @deprecated Use GetLeftBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use GetTouchpadButtonReleased instead")]]
-  bool GetTouchpadReleased();
-
-  /** Represents a digital button on an PS4Controller. */
+  /** Represents a digital button on an NiDsPS4Controller. */
   struct Button {
     /// Square button.
     static constexpr int kSquare = 0;
@@ -586,7 +554,7 @@ class PS4Controller : public GenericHID,
     static constexpr int kTouchpad = 13;
   };
 
-  /** Represents an axis on an PS4Controller. */
+  /** Represents an axis on an NiDsPS4Controller. */
   struct Axis {
     /// Left X axis.
     static constexpr int kLeftX = 0;
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS5Controller.hpp
similarity index 90%
rename from wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
rename to wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS5Controller.hpp
index dd80e2f5ab9..15cd2a5a8f1 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS5Controller.hpp
@@ -14,9 +14,9 @@
 namespace wpi {
 
 /**
- * Handle input from PS5 controllers connected to the Driver Station.
+ * Handle input from NiDsPS5 controllers connected to the Driver Station.
  *
- * This class handles PS5 input that comes from the Driver Station. Each
+ * This class handles NiDsPS5 input that comes from the Driver Station. Each
  * time a value is requested the most recent value is returned. There is a
  * single class instance for each controller and the mapping of ports to
  * hardware buttons depends on the code in the Driver Station.
@@ -25,9 +25,9 @@ namespace wpi {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class PS5Controller : public GenericHID,
+class NiDsPS5Controller : public GenericHID,
                                     public wpi::util::Sendable,
-                                    public wpi::util::SendableHelper<PS5Controller> {
+                                    public wpi::util::SendableHelper<NiDsPS5Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -37,12 +37,12 @@ class PS5Controller : public GenericHID,
    * @param port The port on the Driver Station that the controller is plugged
    *             into (0-5).
    */
-  explicit PS5Controller(int port);
+  explicit NiDsPS5Controller(int port);
 
-  ~PS5Controller() override = default;
+  ~NiDsPS5Controller() override = default;
 
-  PS5Controller(PS5Controller&&) = default;
-  PS5Controller& operator=(PS5Controller&&) = default;
+  NiDsPS5Controller(NiDsPS5Controller&&) = default;
+  NiDsPS5Controller& operator=(NiDsPS5Controller&&) = default;
 
   /**
    * Get the X axis value of left side of the controller. Right is positive.
@@ -522,39 +522,7 @@ class PS5Controller : public GenericHID,
    */
   BooleanEvent Touchpad(EventLoop* loop) const;
 
-  /**
-   * Read the value of the touchpad button on the controller.
-   *
-   * @return The state of the button.
-   * @deprecated Use GetTouchpadButton instead. This function is deprecated for
-   * removal to make function names consistent to allow the HID classes to be
-   * automatically generated.
-   */
-  [[deprecated("Use GetTouchpadButton instead")]]
-  bool GetTouchpad() const;
-  /**
-   * Whether the touchpad was pressed since the last check.
-   *
-   * @return Whether the touchpad was pressed since the last check.
-   * @deprecated Use GetTouchpadButtonPressed instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetTouchpadButtonPressed instead")]]
-  bool GetTouchpadPressed();
-
-  /**
-   * Whether the touchpad was released since the last check.
-   *
-   * @return Whether the touchpad was released since the last check.
-   * @deprecated Use GetLeftBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use GetTouchpadButtonReleased instead")]]
-  bool GetTouchpadReleased();
-
-  /** Represents a digital button on an PS5Controller. */
+  /** Represents a digital button on an NiDsPS5Controller. */
   struct Button {
     /// Square button.
     static constexpr int kSquare = 0;
@@ -586,7 +554,7 @@ class PS5Controller : public GenericHID,
     static constexpr int kTouchpad = 13;
   };
 
-  /** Represents an axis on an PS5Controller. */
+  /** Represents an axis on an NiDsPS5Controller. */
   struct Axis {
     /// Left X axis.
     static constexpr int kLeftX = 0;
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsStadiaController.hpp
similarity index 83%
rename from wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
rename to wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsStadiaController.hpp
index 26402a5d424..7016989ad5d 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsStadiaController.hpp
@@ -14,9 +14,9 @@
 namespace wpi {
 
 /**
- * Handle input from Stadia controllers connected to the Driver Station.
+ * Handle input from NiDsStadia controllers connected to the Driver Station.
  *
- * This class handles Stadia input that comes from the Driver Station. Each
+ * This class handles NiDsStadia input that comes from the Driver Station. Each
  * time a value is requested the most recent value is returned. There is a
  * single class instance for each controller and the mapping of ports to
  * hardware buttons depends on the code in the Driver Station.
@@ -25,9 +25,9 @@ namespace wpi {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class StadiaController : public GenericHID,
+class NiDsStadiaController : public GenericHID,
                                     public wpi::util::Sendable,
-                                    public wpi::util::SendableHelper<StadiaController> {
+                                    public wpi::util::SendableHelper<NiDsStadiaController> {
  public:
   /**
    * Construct an instance of a controller.
@@ -37,12 +37,12 @@ class StadiaController : public GenericHID,
    * @param port The port on the Driver Station that the controller is plugged
    *             into (0-5).
    */
-  explicit StadiaController(int port);
+  explicit NiDsStadiaController(int port);
 
-  ~StadiaController() override = default;
+  ~NiDsStadiaController() override = default;
 
-  StadiaController(StadiaController&&) = default;
-  StadiaController& operator=(StadiaController&&) = default;
+  NiDsStadiaController(NiDsStadiaController&&) = default;
+  NiDsStadiaController& operator=(NiDsStadiaController&&) = default;
 
   /**
    * Get the X axis value of left side of the controller. Right is positive.
@@ -537,73 +537,7 @@ class StadiaController : public GenericHID,
    */
   BooleanEvent Frame(EventLoop* loop) const;
 
-  /**
-   * Read the value of the left bumper (LB) button on the controller.
-   *
-   * @return the state of the button
-   * @deprecated Use GetLeftBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use GetLeftBumperButton instead")]]
-  bool GetLeftBumper() const;
-
-  /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return the state of the button
-   * @deprecated Use GetRightBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use GetRightBumperButton instead")]]
-  bool GetRightBumper() const;
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   * @deprecated Use GetLeftBumperButtonPressed instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetLeftBumperButtonPressed instead")]]
-  bool GetLeftBumperPressed();
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   * @deprecated Use GetRightBumperButtonPressed instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetRightBumperButtonPressed instead")]]
-  bool GetRightBumperPressed();
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use GetLeftBumperButtonReleased instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetLeftBumperButtonReleased instead")]]
-  bool GetLeftBumperReleased();
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use GetRightBumperButtonReleased instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetRightBumperButtonReleased instead")]]
-  bool GetRightBumperReleased();
-
-  /** Represents a digital button on an StadiaController. */
+  /** Represents a digital button on an NiDsStadiaController. */
   struct Button {
     /// A button.
     static constexpr int kA = 0;
@@ -637,7 +571,7 @@ class StadiaController : public GenericHID,
     static constexpr int kFrame = 14;
   };
 
-  /** Represents an axis on an StadiaController. */
+  /** Represents an axis on an NiDsStadiaController. */
   struct Axis {
     /// Left X axis.
     static constexpr int kLeftX = 0;
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsXboxController.hpp
similarity index 81%
rename from wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
rename to wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsXboxController.hpp
index 9d66898937f..682e2a662b9 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsXboxController.hpp
@@ -14,9 +14,9 @@
 namespace wpi {
 
 /**
- * Handle input from Xbox controllers connected to the Driver Station.
+ * Handle input from NiDsXbox controllers connected to the Driver Station.
  *
- * This class handles Xbox input that comes from the Driver Station. Each
+ * This class handles NiDsXbox input that comes from the Driver Station. Each
  * time a value is requested the most recent value is returned. There is a
  * single class instance for each controller and the mapping of ports to
  * hardware buttons depends on the code in the Driver Station.
@@ -25,9 +25,9 @@ namespace wpi {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class XboxController : public GenericHID,
+class NiDsXboxController : public GenericHID,
                                     public wpi::util::Sendable,
-                                    public wpi::util::SendableHelper<XboxController> {
+                                    public wpi::util::SendableHelper<NiDsXboxController> {
  public:
   /**
    * Construct an instance of a controller.
@@ -37,12 +37,12 @@ class XboxController : public GenericHID,
    * @param port The port on the Driver Station that the controller is plugged
    *             into (0-5).
    */
-  explicit XboxController(int port);
+  explicit NiDsXboxController(int port);
 
-  ~XboxController() override = default;
+  ~NiDsXboxController() override = default;
 
-  XboxController(XboxController&&) = default;
-  XboxController& operator=(XboxController&&) = default;
+  NiDsXboxController(NiDsXboxController&&) = default;
+  NiDsXboxController& operator=(NiDsXboxController&&) = default;
 
   /**
    * Get the X axis value of left side of the controller. Right is positive.
@@ -442,73 +442,7 @@ class XboxController : public GenericHID,
    */
   BooleanEvent RightStick(EventLoop* loop) const;
 
-  /**
-   * Read the value of the left bumper (LB) button on the controller.
-   *
-   * @return the state of the button
-   * @deprecated Use GetLeftBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use GetLeftBumperButton instead")]]
-  bool GetLeftBumper() const;
-
-  /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return the state of the button
-   * @deprecated Use GetRightBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use GetRightBumperButton instead")]]
-  bool GetRightBumper() const;
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   * @deprecated Use GetLeftBumperButtonPressed instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetLeftBumperButtonPressed instead")]]
-  bool GetLeftBumperPressed();
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check
-   * @deprecated Use GetRightBumperButtonPressed instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetRightBumperButtonPressed instead")]]
-  bool GetRightBumperPressed();
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use GetLeftBumperButtonReleased instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetLeftBumperButtonReleased instead")]]
-  bool GetLeftBumperReleased();
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use GetRightBumperButtonReleased instead. This function is
-   * deprecated for removal to make function names consistent to allow the HID
-   * classes to be automatically generated.
-   */
-  [[deprecated("Use GetRightBumperButtonReleased instead")]]
-  bool GetRightBumperReleased();
-
-  /** Represents a digital button on an XboxController. */
+  /** Represents a digital button on an NiDsXboxController. */
   struct Button {
     /// A button.
     static constexpr int kA = 0;
@@ -532,7 +466,7 @@ class XboxController : public GenericHID,
     static constexpr int kRightStick = 9;
   };
 
-  /** Represents an axis on an XboxController. */
+  /** Represents an axis on an NiDsXboxController. */
   struct Axis {
     /// Left X axis.
     static constexpr int kLeftX = 0;
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS4ControllerSim.hpp
similarity index 84%
rename from wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
rename to wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS4ControllerSim.hpp
index 238c907dbfa..59f8207f28b 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS4ControllerSim.hpp
@@ -10,28 +10,28 @@
 
 namespace wpi {
 
-class PS4Controller;
+class NiDsPS4Controller;
 
 namespace sim {
 
 /**
- * Class to control a simulated PS4 controller.
+ * Class to control a simulated NiDsPS4 controller.
  */
-class PS4ControllerSim : public GenericHIDSim {
+class NiDsPS4ControllerSim : public GenericHIDSim {
  public:
   /**
-   * Constructs from a PS4Controller object.
+   * Constructs from a NiDsPS4Controller object.
    *
    * @param joystick controller to simulate
    */
-  explicit PS4ControllerSim(const PS4Controller& joystick);
+  explicit NiDsPS4ControllerSim(const NiDsPS4Controller& joystick);
 
   /**
    * Constructs from a joystick port number.
    *
    * @param port port number
    */
-  explicit PS4ControllerSim(int port);
+  explicit NiDsPS4ControllerSim(int port);
 
   /**
    * Change the left X value of the controller's joystick.
@@ -173,17 +173,6 @@ class PS4ControllerSim : public GenericHIDSim {
    */
   void SetTouchpadButton(bool value);
 
-  /**
-   * Change the value of the touchpad button on the controller.
-   *
-   * @param value the new value
-   * @deprecated Use SetTouchpadButton instead. This function is deprecated for
-   * removal to make function names consistent to allow the HID classes to be
-   * automatically generated.
-   */
-  [[deprecated("Use SetTouchpadButton instead")]]
-  void SetTouchpad(bool value);
-
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS5ControllerSim.hpp
similarity index 84%
rename from wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
rename to wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS5ControllerSim.hpp
index aa8ba5562f7..04eb31b0787 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS5ControllerSim.hpp
@@ -10,28 +10,28 @@
 
 namespace wpi {
 
-class PS5Controller;
+class NiDsPS5Controller;
 
 namespace sim {
 
 /**
- * Class to control a simulated PS5 controller.
+ * Class to control a simulated NiDsPS5 controller.
  */
-class PS5ControllerSim : public GenericHIDSim {
+class NiDsPS5ControllerSim : public GenericHIDSim {
  public:
   /**
-   * Constructs from a PS5Controller object.
+   * Constructs from a NiDsPS5Controller object.
    *
    * @param joystick controller to simulate
    */
-  explicit PS5ControllerSim(const PS5Controller& joystick);
+  explicit NiDsPS5ControllerSim(const NiDsPS5Controller& joystick);
 
   /**
    * Constructs from a joystick port number.
    *
    * @param port port number
    */
-  explicit PS5ControllerSim(int port);
+  explicit NiDsPS5ControllerSim(int port);
 
   /**
    * Change the left X value of the controller's joystick.
@@ -173,17 +173,6 @@ class PS5ControllerSim : public GenericHIDSim {
    */
   void SetTouchpadButton(bool value);
 
-  /**
-   * Change the value of the touchpad button on the controller.
-   *
-   * @param value the new value
-   * @deprecated Use SetTouchpadButton instead. This function is deprecated for
-   * removal to make function names consistent to allow the HID classes to be
-   * automatically generated.
-   */
-  [[deprecated("Use SetTouchpadButton instead")]]
-  void SetTouchpad(bool value);
-
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsStadiaControllerSim.hpp
similarity index 91%
rename from wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
rename to wpilibc/src/generated/main/native/include/wpi/simulation/NiDsStadiaControllerSim.hpp
index 2e3961bacb3..7c9d2db1480 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsStadiaControllerSim.hpp
@@ -10,28 +10,28 @@
 
 namespace wpi {
 
-class StadiaController;
+class NiDsStadiaController;
 
 namespace sim {
 
 /**
- * Class to control a simulated Stadia controller.
+ * Class to control a simulated NiDsStadia controller.
  */
-class StadiaControllerSim : public GenericHIDSim {
+class NiDsStadiaControllerSim : public GenericHIDSim {
  public:
   /**
-   * Constructs from a StadiaController object.
+   * Constructs from a NiDsStadiaController object.
    *
    * @param joystick controller to simulate
    */
-  explicit StadiaControllerSim(const StadiaController& joystick);
+  explicit NiDsStadiaControllerSim(const NiDsStadiaController& joystick);
 
   /**
    * Constructs from a joystick port number.
    *
    * @param port port number
    */
-  explicit StadiaControllerSim(int port);
+  explicit NiDsStadiaControllerSim(int port);
 
   /**
    * Change the left X value of the controller's joystick.
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsXboxControllerSim.hpp
similarity index 74%
rename from wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
rename to wpilibc/src/generated/main/native/include/wpi/simulation/NiDsXboxControllerSim.hpp
index d2745a519d8..dda8d0b144c 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsXboxControllerSim.hpp
@@ -10,28 +10,28 @@
 
 namespace wpi {
 
-class XboxController;
+class NiDsXboxController;
 
 namespace sim {
 
 /**
- * Class to control a simulated Xbox controller.
+ * Class to control a simulated NiDsXbox controller.
  */
-class XboxControllerSim : public GenericHIDSim {
+class NiDsXboxControllerSim : public GenericHIDSim {
  public:
   /**
-   * Constructs from a XboxController object.
+   * Constructs from a NiDsXboxController object.
    *
    * @param joystick controller to simulate
    */
-  explicit XboxControllerSim(const XboxController& joystick);
+  explicit NiDsXboxControllerSim(const NiDsXboxController& joystick);
 
   /**
    * Constructs from a joystick port number.
    *
    * @param port port number
    */
-  explicit XboxControllerSim(int port);
+  explicit NiDsXboxControllerSim(int port);
 
   /**
    * Change the left X value of the controller's joystick.
@@ -145,28 +145,6 @@ class XboxControllerSim : public GenericHIDSim {
    */
   void SetRightStickButton(bool value);
 
-  /**
-   * Change the left bumper value of the joystick.
-   *
-   * @param value the new value
-   * @deprecated Use SetLeftBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use SetLeftBumperButton instead")]]
-  void SetLeftBumper(bool value);
-
-  /**
-   * Change the right bumper value of the joystick.
-   *
-   * @param value the new value
-   * @deprecated Use SetRightBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use SetRightBumperButton instead")]]
-  void SetRightBumper(bool value);
-
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/main/python/semiwrap/PS4Controller.yml b/wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml
similarity index 91%
rename from wpilibc/src/main/python/semiwrap/PS4Controller.yml
rename to wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml
index 6864efd1508..ca3e4c70792 100644
--- a/wpilibc/src/main/python/semiwrap/PS4Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml
@@ -3,11 +3,11 @@ extra_includes:
 - wpi/event/BooleanEvent.hpp
 
 classes:
-  wpi::PS4Controller:
+  wpi::NiDsPS4Controller:
     ignored_bases:
-    - wpi::util::SendableHelper<PS4Controller>
+    - wpi::util::SendableHelper<NiDsPS4Controller>
     methods:
-      PS4Controller:
+      NiDsPS4Controller:
       GetLeftX:
       GetRightX:
       GetLeftY:
@@ -74,7 +74,7 @@ classes:
       GetTouchpadButtonPressed:
       GetTouchpadButtonReleased:
       InitSendable:
-  wpi::PS4Controller::Button:
+  wpi::NiDsPS4Controller::Button:
     attributes:
       kSquare:
       kCross:
@@ -90,7 +90,7 @@ classes:
       kR3:
       kPS:
       kTouchpad:
-  wpi::PS4Controller::Axis:
+  wpi::NiDsPS4Controller::Axis:
     attributes:
       kLeftX:
       kLeftY:
diff --git a/wpilibc/src/main/python/semiwrap/PS5Controller.yml b/wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml
similarity index 91%
rename from wpilibc/src/main/python/semiwrap/PS5Controller.yml
rename to wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml
index afe1a1cc95a..07c8dbfd12e 100644
--- a/wpilibc/src/main/python/semiwrap/PS5Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml
@@ -2,11 +2,11 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  wpi::PS5Controller:
+  wpi::NiDsPS5Controller:
     ignored_bases:
-    - wpi::util::SendableHelper<PS5Controller>
+    - wpi::util::SendableHelper<NiDsPS5Controller>
     methods:
-      PS5Controller:
+      NiDsPS5Controller:
       GetLeftX:
       GetRightX:
       GetLeftY:
@@ -73,7 +73,7 @@ classes:
       GetTouchpadButtonPressed:
       GetTouchpadButtonReleased:
       InitSendable:
-  wpi::PS5Controller::Button:
+  wpi::NiDsPS5Controller::Button:
     attributes:
       kSquare:
       kCross:
@@ -89,7 +89,7 @@ classes:
       kR3:
       kPS:
       kTouchpad:
-  wpi::PS5Controller::Axis:
+  wpi::NiDsPS5Controller::Axis:
     attributes:
       kLeftX:
       kLeftY:
diff --git a/wpilibc/src/main/python/semiwrap/StadiaController.yml b/wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml
similarity index 92%
rename from wpilibc/src/main/python/semiwrap/StadiaController.yml
rename to wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml
index ec4ba044517..b18859ae8c9 100644
--- a/wpilibc/src/main/python/semiwrap/StadiaController.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml
@@ -2,11 +2,11 @@ extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
 
 classes:
-  wpi::StadiaController:
+  wpi::NiDsStadiaController:
     ignored_bases:
-    - wpi::util::SendableHelper<StadiaController>
+    - wpi::util::SendableHelper<NiDsStadiaController>
     methods:
-      StadiaController:
+      NiDsStadiaController:
       GetLeftX:
       GetRightX:
       GetLeftY:
@@ -78,7 +78,7 @@ classes:
       GetRightBumperButtonPressed:
       GetRightBumperButtonReleased:
       InitSendable:
-  wpi::StadiaController::Button:
+  wpi::NiDsStadiaController::Button:
     attributes:
       kA:
       kB:
@@ -95,7 +95,7 @@ classes:
       kLeftTrigger:
       kGoogle:
       kFrame:
-  wpi::StadiaController::Axis:
+  wpi::NiDsStadiaController::Axis:
     attributes:
       kLeftX:
       kRightX:
diff --git a/wpilibc/src/main/python/semiwrap/XboxController.yml b/wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
similarity index 91%
rename from wpilibc/src/main/python/semiwrap/XboxController.yml
rename to wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
index 05d1301b4fe..5a7b0d36b16 100644
--- a/wpilibc/src/main/python/semiwrap/XboxController.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
@@ -4,11 +4,11 @@ extra_includes:
 - wpi/event/BooleanEvent.hpp
 
 classes:
-  wpi::XboxController:
+  wpi::NiDsXboxController:
     ignored_bases:
-    - wpi::util::SendableHelper<XboxController>
+    - wpi::util::SendableHelper<NiDsXboxController>
     methods:
-      XboxController:
+      NiDsXboxController:
       GetLeftX:
       GetRightX:
       GetLeftY:
@@ -70,7 +70,7 @@ classes:
       GetRightBumperButtonPressed:
       GetRightBumperButtonReleased:
       InitSendable:
-  wpi::XboxController::Button:
+  wpi::NiDsXboxController::Button:
     attributes:
       kLeftBumper:
       kRightBumper:
@@ -82,7 +82,7 @@ classes:
       kY:
       kBack:
       kStart:
-  wpi::XboxController::Axis:
+  wpi::NiDsXboxController::Axis:
     attributes:
       kLeftX:
       kRightX:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS4ControllerSim.yml
similarity index 79%
rename from wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
rename to wpilibc/src/main/python/semiwrap/simulation/NiDsPS4ControllerSim.yml
index cc19ca4968e..04955a58629 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS4ControllerSim.yml
@@ -1,13 +1,13 @@
 extra_includes:
-- wpi/driverstation/PS4Controller.hpp
+- wpi/driverstation/NiDsPS4Controller.hpp
 
 classes:
-  wpi::sim::PS4ControllerSim:
+  wpi::sim::NiDsPS4ControllerSim:
     force_no_trampoline: true
     methods:
-      PS4ControllerSim:
+      NiDsPS4ControllerSim:
         overloads:
-          const PS4Controller&:
+          const NiDsPS4Controller&:
           int:
       SetLeftX:
       SetRightX:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS5ControllerSim.yml
similarity index 79%
rename from wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
rename to wpilibc/src/main/python/semiwrap/simulation/NiDsPS5ControllerSim.yml
index 36cb9c57c10..7f37b5a1a27 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS5ControllerSim.yml
@@ -1,13 +1,13 @@
 extra_includes:
-- wpi/driverstation/PS5Controller.hpp
+- wpi/driverstation/NiDsPS5Controller.hpp
 
 classes:
-  wpi::sim::PS5ControllerSim:
+  wpi::sim::NiDsPS5ControllerSim:
     force_no_trampoline: true
     methods:
-      PS5ControllerSim:
+      NiDsPS5ControllerSim:
         overloads:
-          const PS5Controller&:
+          const NiDsPS5Controller&:
           int:
       SetLeftX:
       SetRightX:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/NiDsStadiaControllerSim.yml
similarity index 77%
rename from wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
rename to wpilibc/src/main/python/semiwrap/simulation/NiDsStadiaControllerSim.yml
index 171bbec1a00..7e453cdec8d 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/NiDsStadiaControllerSim.yml
@@ -1,13 +1,13 @@
 extra_includes:
-- wpi/driverstation/StadiaController.hpp
+- wpi/driverstation/NiDsStadiaController.hpp
 
 classes:
-  wpi::sim::StadiaControllerSim:
+  wpi::sim::NiDsStadiaControllerSim:
     force_no_trampoline: true
     methods:
-      StadiaControllerSim:
+      NiDsStadiaControllerSim:
         overloads:
-          const StadiaController&:
+          const NiDsStadiaController&:
           int:
       SetLeftX:
       SetRightX:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/NiDsXboxControllerSim.yml
similarity index 75%
rename from wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
rename to wpilibc/src/main/python/semiwrap/simulation/NiDsXboxControllerSim.yml
index 9f1eb5813bc..ef41b50a15f 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/NiDsXboxControllerSim.yml
@@ -1,15 +1,15 @@
 extra_includes:
-- wpi/driverstation/XboxController.hpp
+- wpi/driverstation/NiDsXboxController.hpp
 
 classes:
-  wpi::sim::XboxControllerSim:
+  wpi::sim::NiDsXboxControllerSim:
     force_no_trampoline: true
     typealias:
-    - wpi::XboxController
+    - wpi::NiDsXboxController
     methods:
-      XboxControllerSim:
+      NiDsXboxControllerSim:
         overloads:
-          const XboxController&:
+          const NiDsXboxController&:
           int:
       SetLeftX:
       SetRightX:
diff --git a/wpilibc/src/main/python/wpilib/__init__.py b/wpilibc/src/main/python/wpilib/__init__.py
index d9a35bab702..29c86c6e669 100644
--- a/wpilibc/src/main/python/wpilib/__init__.py
+++ b/wpilibc/src/main/python/wpilib/__init__.py
@@ -53,8 +53,8 @@
     OnboardIMU,
     OpMode,
     OpModeRobotBase,
-    PS4Controller,
-    PS5Controller,
+    NiDsPS4Controller,
+    NiDsPS5Controller,
     PWM,
     PWMMotorController,
     PWMSparkFlex,
@@ -84,7 +84,7 @@
     Solenoid,
     Spark,
     SparkMini,
-    StadiaController,
+    NiDsStadiaController,
     SystemServer,
     Tachometer,
     Talon,
@@ -95,7 +95,7 @@
     UpDownCounter,
     VictorSP,
     Watchdog,
-    XboxController,
+    NiDsXboxController,
     getCurrentThreadPriority,
     getDeployDirectory,
     getErrorMessage,
@@ -157,8 +157,8 @@
     "OnboardIMU",
     "OpMode",
     "OpModeRobotBase",
-    "PS4Controller",
-    "PS5Controller",
+    "NiDsPS4Controller",
+    "NiDsPS5Controller",
     "PWM",
     "PWMMotorController",
     "PWMSparkFlex",
@@ -188,7 +188,7 @@
     "Solenoid",
     "Spark",
     "SparkMini",
-    "StadiaController",
+    "NiDsStadiaController",
     "SystemServer",
     "Tachometer",
     "Talon",
@@ -199,7 +199,7 @@
     "UpDownCounter",
     "VictorSP",
     "Watchdog",
-    "XboxController",
+    "NiDsXboxController",
     "getCurrentThreadPriority",
     "getDeployDirectory",
     "getErrorMessage",
diff --git a/wpilibc/src/main/python/wpilib/simulation/__init__.py b/wpilibc/src/main/python/wpilib/simulation/__init__.py
index 065cff2919a..2d620115464 100644
--- a/wpilibc/src/main/python/wpilib/simulation/__init__.py
+++ b/wpilibc/src/main/python/wpilib/simulation/__init__.py
@@ -30,8 +30,8 @@
     LinearSystemSim_2_2_1,
     LinearSystemSim_2_2_2,
     OpModeOptions,
-    PS4ControllerSim,
-    PS5ControllerSim,
+    NiDsPS4ControllerSim,
+    NiDsPS5ControllerSim,
     PWMMotorControllerSim,
     PWMSim,
     PneumaticsBaseSim,
@@ -43,8 +43,8 @@
     SimDeviceSim,
     SingleJointedArmSim,
     SolenoidSim,
-    StadiaControllerSim,
-    XboxControllerSim,
+    NiDsStadiaControllerSim,
+    NiDsXboxControllerSim,
     getProgramStarted,
     getProgramState,
     isTimingPaused,
@@ -88,8 +88,8 @@
     "LinearSystemSim_2_2_1",
     "LinearSystemSim_2_2_2",
     "OpModeOptions",
-    "PS4ControllerSim",
-    "PS5ControllerSim",
+    "NiDsPS4ControllerSim",
+    "NiDsPS5ControllerSim",
     "PWMMotorControllerSim",
     "PWMSim",
     "PneumaticsBaseSim",
@@ -101,8 +101,8 @@
     "SimDeviceSim",
     "SingleJointedArmSim",
     "SolenoidSim",
-    "StadiaControllerSim",
-    "XboxControllerSim",
+    "NiDsStadiaControllerSim",
+    "NiDsXboxControllerSim",
     "getProgramStarted",
     "getProgramState",
     "isTimingPaused",
diff --git a/wpilibc/src/test/native/cpp/NiDsPS4ControllerTest.cpp b/wpilibc/src/test/native/cpp/NiDsPS4ControllerTest.cpp
new file mode 100644
index 00000000000..ccdf2bae37b
--- /dev/null
+++ b/wpilibc/src/test/native/cpp/NiDsPS4ControllerTest.cpp
@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/driverstation/NiDsPS4Controller.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/NiDsPS4ControllerSim.hpp"
+
+using namespace wpi;
+
+BUTTON_TEST(NiDsPS4Controller, SquareButton)
+BUTTON_TEST(NiDsPS4Controller, CrossButton)
+BUTTON_TEST(NiDsPS4Controller, CircleButton)
+BUTTON_TEST(NiDsPS4Controller, TriangleButton)
+
+BUTTON_TEST(NiDsPS4Controller, L1Button)
+BUTTON_TEST(NiDsPS4Controller, R1Button)
+BUTTON_TEST(NiDsPS4Controller, L2Button)
+BUTTON_TEST(NiDsPS4Controller, R2Button)
+
+BUTTON_TEST(NiDsPS4Controller, ShareButton)
+BUTTON_TEST(NiDsPS4Controller, OptionsButton)
+
+BUTTON_TEST(NiDsPS4Controller, L3Button)
+BUTTON_TEST(NiDsPS4Controller, R3Button)
+
+BUTTON_TEST(NiDsPS4Controller, PSButton)
+BUTTON_TEST(NiDsPS4Controller, TouchpadButton)
+
+AXIS_TEST(NiDsPS4Controller, LeftX)
+AXIS_TEST(NiDsPS4Controller, RightX)
+AXIS_TEST(NiDsPS4Controller, LeftY)
+AXIS_TEST(NiDsPS4Controller, RightY)
+AXIS_TEST(NiDsPS4Controller, L2Axis)
+AXIS_TEST(NiDsPS4Controller, R2Axis)
diff --git a/wpilibc/src/test/native/cpp/NiDsPS5ControllerTest.cpp b/wpilibc/src/test/native/cpp/NiDsPS5ControllerTest.cpp
new file mode 100644
index 00000000000..23fdabc51f5
--- /dev/null
+++ b/wpilibc/src/test/native/cpp/NiDsPS5ControllerTest.cpp
@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/driverstation/NiDsPS5Controller.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/NiDsPS5ControllerSim.hpp"
+
+using namespace wpi;
+
+BUTTON_TEST(NiDsPS5Controller, SquareButton)
+BUTTON_TEST(NiDsPS5Controller, CrossButton)
+BUTTON_TEST(NiDsPS5Controller, CircleButton)
+BUTTON_TEST(NiDsPS5Controller, TriangleButton)
+
+BUTTON_TEST(NiDsPS5Controller, L1Button)
+BUTTON_TEST(NiDsPS5Controller, R1Button)
+BUTTON_TEST(NiDsPS5Controller, L2Button)
+BUTTON_TEST(NiDsPS5Controller, R2Button)
+
+BUTTON_TEST(NiDsPS5Controller, CreateButton)
+BUTTON_TEST(NiDsPS5Controller, OptionsButton)
+
+BUTTON_TEST(NiDsPS5Controller, L3Button)
+BUTTON_TEST(NiDsPS5Controller, R3Button)
+
+BUTTON_TEST(NiDsPS5Controller, PSButton)
+BUTTON_TEST(NiDsPS5Controller, TouchpadButton)
+
+AXIS_TEST(NiDsPS5Controller, LeftX)
+AXIS_TEST(NiDsPS5Controller, RightX)
+AXIS_TEST(NiDsPS5Controller, LeftY)
+AXIS_TEST(NiDsPS5Controller, RightY)
+AXIS_TEST(NiDsPS5Controller, L2Axis)
+AXIS_TEST(NiDsPS5Controller, R2Axis)
diff --git a/wpilibc/src/test/native/cpp/NiDsXboxControllerTest.cpp b/wpilibc/src/test/native/cpp/NiDsXboxControllerTest.cpp
new file mode 100644
index 00000000000..549bc8f1da0
--- /dev/null
+++ b/wpilibc/src/test/native/cpp/NiDsXboxControllerTest.cpp
@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/driverstation/NiDsXboxController.hpp"
+
+#include <gtest/gtest.h>
+
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/NiDsXboxControllerSim.hpp"
+
+using namespace wpi;
+
+BUTTON_TEST(NiDsXboxController, LeftBumperButton)
+BUTTON_TEST(NiDsXboxController, RightBumperButton)
+
+BUTTON_TEST(NiDsXboxController, LeftStickButton)
+BUTTON_TEST(NiDsXboxController, RightStickButton)
+BUTTON_TEST(NiDsXboxController, AButton)
+BUTTON_TEST(NiDsXboxController, BButton)
+BUTTON_TEST(NiDsXboxController, XButton)
+BUTTON_TEST(NiDsXboxController, YButton)
+BUTTON_TEST(NiDsXboxController, BackButton)
+BUTTON_TEST(NiDsXboxController, StartButton)
+
+AXIS_TEST(NiDsXboxController, LeftX)
+AXIS_TEST(NiDsXboxController, RightX)
+AXIS_TEST(NiDsXboxController, LeftY)
+AXIS_TEST(NiDsXboxController, RightY)
+
+AXIS_TEST(NiDsXboxController, LeftTriggerAxis)
+AXIS_TEST(NiDsXboxController, RightTriggerAxis)
diff --git a/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp b/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
deleted file mode 100644
index bdf51acdc97..00000000000
--- a/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "wpi/driverstation/PS4Controller.hpp"
-
-#include <gtest/gtest.h>
-
-#include "JoystickTestMacros.hpp"
-#include "wpi/simulation/PS4ControllerSim.hpp"
-
-using namespace wpi;
-
-BUTTON_TEST(PS4Controller, SquareButton)
-BUTTON_TEST(PS4Controller, CrossButton)
-BUTTON_TEST(PS4Controller, CircleButton)
-BUTTON_TEST(PS4Controller, TriangleButton)
-
-BUTTON_TEST(PS4Controller, L1Button)
-BUTTON_TEST(PS4Controller, R1Button)
-BUTTON_TEST(PS4Controller, L2Button)
-BUTTON_TEST(PS4Controller, R2Button)
-
-BUTTON_TEST(PS4Controller, ShareButton)
-BUTTON_TEST(PS4Controller, OptionsButton)
-
-BUTTON_TEST(PS4Controller, L3Button)
-BUTTON_TEST(PS4Controller, R3Button)
-
-BUTTON_TEST(PS4Controller, PSButton)
-BUTTON_TEST(PS4Controller, TouchpadButton)
-
-AXIS_TEST(PS4Controller, LeftX)
-AXIS_TEST(PS4Controller, RightX)
-AXIS_TEST(PS4Controller, LeftY)
-AXIS_TEST(PS4Controller, RightY)
-AXIS_TEST(PS4Controller, L2Axis)
-AXIS_TEST(PS4Controller, R2Axis)
diff --git a/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp b/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
deleted file mode 100644
index 8185942eaf0..00000000000
--- a/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "wpi/driverstation/PS5Controller.hpp"
-
-#include <gtest/gtest.h>
-
-#include "JoystickTestMacros.hpp"
-#include "wpi/simulation/PS5ControllerSim.hpp"
-
-using namespace wpi;
-
-BUTTON_TEST(PS5Controller, SquareButton)
-BUTTON_TEST(PS5Controller, CrossButton)
-BUTTON_TEST(PS5Controller, CircleButton)
-BUTTON_TEST(PS5Controller, TriangleButton)
-
-BUTTON_TEST(PS5Controller, L1Button)
-BUTTON_TEST(PS5Controller, R1Button)
-BUTTON_TEST(PS5Controller, L2Button)
-BUTTON_TEST(PS5Controller, R2Button)
-
-BUTTON_TEST(PS5Controller, CreateButton)
-BUTTON_TEST(PS5Controller, OptionsButton)
-
-BUTTON_TEST(PS5Controller, L3Button)
-BUTTON_TEST(PS5Controller, R3Button)
-
-BUTTON_TEST(PS5Controller, PSButton)
-BUTTON_TEST(PS5Controller, TouchpadButton)
-
-AXIS_TEST(PS5Controller, LeftX)
-AXIS_TEST(PS5Controller, RightX)
-AXIS_TEST(PS5Controller, LeftY)
-AXIS_TEST(PS5Controller, RightY)
-AXIS_TEST(PS5Controller, L2Axis)
-AXIS_TEST(PS5Controller, R2Axis)
diff --git a/wpilibc/src/test/native/cpp/XboxControllerTest.cpp b/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
deleted file mode 100644
index 545b4b83612..00000000000
--- a/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "wpi/driverstation/XboxController.hpp"
-
-#include <gtest/gtest.h>
-
-#include "JoystickTestMacros.hpp"
-#include "wpi/simulation/XboxControllerSim.hpp"
-
-using namespace wpi;
-
-BUTTON_TEST(XboxController, LeftBumperButton)
-BUTTON_TEST(XboxController, RightBumperButton)
-
-BUTTON_TEST(XboxController, LeftStickButton)
-BUTTON_TEST(XboxController, RightStickButton)
-
-BUTTON_TEST(XboxController, AButton)
-BUTTON_TEST(XboxController, BButton)
-BUTTON_TEST(XboxController, XButton)
-BUTTON_TEST(XboxController, YButton)
-BUTTON_TEST(XboxController, BackButton)
-BUTTON_TEST(XboxController, StartButton)
-
-AXIS_TEST(XboxController, LeftX)
-AXIS_TEST(XboxController, RightX)
-AXIS_TEST(XboxController, LeftY)
-AXIS_TEST(XboxController, RightY)
-
-AXIS_TEST(XboxController, LeftTriggerAxis)
-AXIS_TEST(XboxController, RightTriggerAxis)
diff --git a/wpilibcExamples/example_projects.bzl b/wpilibcExamples/example_projects.bzl
index 96e4db6b338..38c10222d05 100644
--- a/wpilibcExamples/example_projects.bzl
+++ b/wpilibcExamples/example_projects.bzl
@@ -2,7 +2,7 @@ EXAMPLE_FOLDERS = [
     "AddressableLED",
     "AprilTagsVision",
     "ArcadeDrive",
-    "ArcadeDriveXboxController",
+    "ArcadeDriveGamepad",
     "ArmSimulation",
     "CANPDP",
     "DifferentialDriveBot",
@@ -49,7 +49,7 @@ EXAMPLE_FOLDERS = [
     "SwerveDrivePoseEstimator",
     "SysIdRoutine",
     "TankDrive",
-    "TankDriveXboxController",
+    "TankDriveGamepad",
     "UnitTest",
     "XRPReference",
 ]
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp
similarity index 90%
rename from wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
rename to wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp
index 9098074c8fb..91a8d7061a5 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveGamepad/cpp/Robot.cpp
@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
- * Runs the motors with split arcade steering and an Xbox controller.
+ * Runs the motors with split arcade steering and a Gamepad.
  */
 class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_leftMotor{0};
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  wpi::XboxController m_driverController{0};
+  wpi::Gamepad m_driverController{0};
 
  public:
   Robot() {
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
index 7780414fc88..40c27289c1f 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -15,14 +15,14 @@ class Robot : public wpi::TimedRobot {
   }
 
   void TeleopPeriodic() override {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;
@@ -31,7 +31,7 @@ class Robot : public wpi::TimedRobot {
   }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
index 0f9f04f7744..50a2b164261 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,14 +17,14 @@ class Robot : public wpi::TimedRobot {
   void RobotPeriodic() override { m_drive.Periodic(); }
 
   void TeleopPeriodic() override {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;
@@ -35,7 +35,7 @@ class Robot : public wpi::TimedRobot {
   void SimulationPeriodic() override { m_drive.SimulationPeriodic(); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index 70ff2482c2a..9800bce7eff 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -25,18 +25,18 @@ void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
   // While holding the shoulder button, drive at half speed
-  m_driverController.RightBumper()
+  m_driverController.RightShoulder()
       .OnTrue(m_driveHalfSpeed.get())
       .OnFalse(m_driveFullSpeed.get());
 
-  // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of
+  // Drive forward by 3 meters when the 'South Face' button is pressed, with a timeout of
   // 10 seconds
-  m_driverController.A().OnTrue(
+  m_driverController.SouthFace().OnTrue(
       m_drive.ProfiledDriveDistance(3_m).WithTimeout(10_s));
 
-  // Do the same thing as above when the 'B' button is pressed, but without
+  // Do the same thing as above when the 'East Face' button is pressed, but without
   // resetting the encoders
-  m_driverController.B().OnTrue(
+  m_driverController.EastFace().OnTrue(
       m_drive.DynamicProfiledDriveDistance(3_m).WithTimeout(10_s));
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
index 0199f465533..d5817a74ec5 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
@@ -9,7 +9,7 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/commands2/Commands.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
@@ -26,7 +26,7 @@ class RobotContainer {
 
  private:
   // The driver's controller
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index fe5f9391b0e..4745c4f020d 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/system/Timer.hpp"
@@ -55,7 +55,7 @@ class Robot : public wpi::TimedRobot {
       [&](double output) { m_left.Set(output); },
       [&](double output) { m_right.Set(output); }};
 
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   wpi::Timer m_timer;
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
index 92c213fb5eb..55772788188 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -35,12 +35,12 @@ RobotContainer::RobotContainer() {
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
-  // Grab the hatch when the 'Circle' button is pressed.
-  m_driverController.Circle().OnTrue(m_hatch.GrabHatchCommand());
-  // Release the hatch when the 'Square' button is pressed.
-  m_driverController.Square().OnTrue(m_hatch.ReleaseHatchCommand());
-  // While holding R1, drive at half speed
-  m_driverController.R1()
+  // Grab the hatch when the 'East Face' button is pressed.
+  m_driverController.EastFace().OnTrue(m_hatch.GrabHatchCommand());
+  // Release the hatch when the 'West Face' button is pressed.
+  m_driverController.WestFace().OnTrue(m_hatch.ReleaseHatchCommand());
+  // While holding Right Bumper, drive at half speed
+  m_driverController.RightShoulder()
       .OnTrue(wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
       .OnFalse(
           wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }, {}));
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
index 41b33de0bff..27b5326b3e7 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
@@ -10,7 +10,7 @@
 #include "subsystems/HatchSubsystem.hpp"
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/Commands.hpp"
-#include "wpi/commands2/button/CommandPS4Controller.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 #include "wpi/smartdashboard/SendableChooser.hpp"
 
 namespace ac = AutoConstants;
@@ -30,7 +30,7 @@ class RobotContainer {
 
  private:
   // The driver's controller
-  wpi::cmd::CommandPS4Controller m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index fed5adf5556..2e918ce82ba 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -39,15 +39,15 @@ void RobotContainer::ConfigureButtonBindings() {
   // NOTE: since we're binding a CommandPtr, command ownership here is moved to
   // the scheduler thus, no memory leaks!
 
-  // Grab the hatch when the 'A' button is pressed.
-  wpi::cmd::JoystickButton(&m_driverController, wpi::XboxController::Button::kA)
+  // Grab the hatch when the 'South Face' button is pressed.
+  wpi::cmd::JoystickButton(&m_driverController, wpi::Gamepad::Button::kSouthFace)
       .OnTrue(GrabHatch(&m_hatch).ToPtr());
-  // Release the hatch when the 'B' button is pressed.
-  wpi::cmd::JoystickButton(&m_driverController, wpi::XboxController::Button::kB)
+  // Release the hatch when the 'East Face' button is pressed.
+  wpi::cmd::JoystickButton(&m_driverController, wpi::Gamepad::Button::kEastFace)
       .OnTrue(ReleaseHatch(&m_hatch).ToPtr());
   // While holding the shoulder button, drive at half speed
   wpi::cmd::JoystickButton(&m_driverController,
-                           wpi::XboxController::Button::kRightBumper)
+                           wpi::Gamepad::Button::kRightShoulder)
       .WhileTrue(HalveDriveSpeed(&m_drive).ToPtr());
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
index 9c83ec9c695..493f6a66900 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
@@ -11,7 +11,7 @@
 #include "subsystems/DriveSubsystem.hpp"
 #include "subsystems/HatchSubsystem.hpp"
 #include "wpi/commands2/Command.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/smartdashboard/SendableChooser.hpp"
 
 /**
@@ -43,7 +43,7 @@ class RobotContainer {
   wpi::SendableChooser<wpi::cmd::Command*> m_chooser;
 
   // The driver's controller
-  wpi::XboxController m_driverController{OIConstants::kDriverControllerPort};
+  wpi::Gamepad m_driverController{OIConstants::kDriverControllerPort};
 
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
index bcf17348395..72629c53d9c 100644
--- a/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // 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 "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 
 /**
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
index 6ea04f1d1f3..6afe88685eb 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_mecanum;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -27,20 +27,20 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
index 6ea04f1d1f3..6afe88685eb 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_mecanum;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -27,20 +27,20 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
index 52017521029..aaa39584647 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
@@ -24,13 +24,13 @@ void RapidReactCommandBot::ConfigureBindings() {
       [this] { return -m_driverController.GetLeftY(); },
       [this] { return -m_driverController.GetRightX(); }));
 
-  // Deploy the intake with the X button
-  m_driverController.X().OnTrue(m_intake.IntakeCommand());
-  // Retract the intake with the Y button
-  m_driverController.Y().OnTrue(m_intake.RetractCommand());
+  // Deploy the intake with the West Face button
+  m_driverController.WestFace().OnTrue(m_intake.IntakeCommand());
+  // Retract the intake with the North Face button
+  m_driverController.NorthFace().OnTrue(m_intake.RetractCommand());
 
-  // Fire the shooter with the A button
-  m_driverController.A().OnTrue(
+  // Fire the shooter with the South Face button
+  m_driverController.SouthFace().OnTrue(
       wpi::cmd::cmd::Parallel(
           m_shooter.ShootCommand(ShooterConstants::kShooterTarget),
           m_storage.RunCommand())
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
index 0a7049669cc..c8aa9ad9ff3 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
@@ -11,7 +11,7 @@
 #include "subsystems/Shooter.hpp"
 #include "subsystems/Storage.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -48,6 +48,6 @@ class RapidReactCommandBot {
   Pneumatics m_pneumatics;
 
   // The driver's controller
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OIConstants::kDriverControllerPort};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
index 50cc1693b82..3ee158b1126 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/controller/LTVUnicycleController.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
@@ -52,7 +52,7 @@ class Robot : public wpi::TimedRobot {
   void SimulationPeriodic() override { m_drive.SimulationPeriodic(); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
index 6b16f1e88df..e0ece933813 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -85,7 +85,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
   wpi::math::TrapezoidProfile<wpi::units::radians> m_profile{
       {45_deg_per_s, 90_deg_per_s / 1_s}};
@@ -112,7 +112,7 @@ class Robot : public wpi::TimedRobot {
     // Sets the target position of our arm. This is similar to setting the
     // setpoint of a PID controller.
     wpi::math::TrapezoidProfile<wpi::units::radians>::State goal;
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_rad_per_s};
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
index b94574551ab..591855c5869 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -84,7 +84,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
   wpi::math::TrapezoidProfile<wpi::units::meters> m_profile{{3_fps, 6_fps_sq}};
 
@@ -112,7 +112,7 @@ class Robot : public wpi::TimedRobot {
     // Sets the target height of our elevator. This is similar to setting the
     // setpoint of a PID controller.
     wpi::math::TrapezoidProfile<wpi::units::meters>::State goal;
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_fps};
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
index 8174767a055..7aafdf128d4 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -76,7 +76,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
  public:
   Robot() {
@@ -91,7 +91,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override {
     // Sets the target speed of our flywheel. This is similar to setting the
     // setpoint of a PID controller.
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
index 54aa0cb8320..e77fe6124c8 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 #include "wpi/hardware/rotation/Encoder.hpp"
@@ -73,7 +73,7 @@ class Robot : public wpi::TimedRobot {
   wpi::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
 
   wpi::PWMSparkMax m_motor{kMotorPort};
-  wpi::XboxController m_joystick{kJoystickPort};
+  wpi::Gamepad m_joystick{kJoystickPort};
 
  public:
   Robot() {
@@ -88,7 +88,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override {
     // Sets the target speed of our flywheel. This is similar to setting the
     // setpoint of a PID controller.
-    if (m_joystick.GetRightBumperButton()) {
+    if (m_joystick.GetRightShoulderButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
index 51a3d3560c2..43fef0197f9 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 #include "wpi/math/util/MathUtil.hpp"
@@ -18,7 +18,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_swerve;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -28,14 +28,14 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(wpi::math::ApplyDeadband(
                             m_controller.GetLeftY(), 0.02)) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(wpi::math::ApplyDeadband(
                             m_controller.GetLeftX(), 0.02)) *
@@ -43,7 +43,7 @@ class Robot : public wpi::TimedRobot {
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(wpi::math::ApplyDeadband(
                          m_controller.GetRightX(), 0.02)) *
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
index 7695f7ac8b4..1a571de33c5 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "Drivetrain.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/math/filter/SlewRateLimiter.hpp"
 
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override { DriveWithJoystick(true); }
 
  private:
-  wpi::XboxController m_controller{0};
+  wpi::Gamepad m_controller{0};
   Drivetrain m_swerve;
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
@@ -27,20 +27,20 @@ class Robot : public wpi::TimedRobot {
   wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
 
   void DriveWithJoystick(bool fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
                         Drivetrain::kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
                      Drivetrain::kMaxAngularSpeed;
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
index 5bc4abfaf1b..4b0e3cbc8c6 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
@@ -17,29 +17,29 @@ void SysIdRoutineBot::ConfigureBindings() {
 
   // Using bumpers as a modifier and combining it with the buttons so that we
   // can have both sets of bindings at once
-  (m_driverController.A() && m_driverController.RightBumper())
+  (m_driverController.SouthFace() && m_driverController.RightShoulder())
       .WhileTrue(
           m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.B() && m_driverController.RightBumper())
+  (m_driverController.EastFace() && m_driverController.RightShoulder())
       .WhileTrue(
           m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
-  (m_driverController.X() && m_driverController.RightBumper())
+  (m_driverController.WestFace() && m_driverController.RightShoulder())
       .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.Y() && m_driverController.RightBumper())
+  (m_driverController.NorthFace() && m_driverController.RightShoulder())
       .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 
   m_shooter.SetDefaultCommand(m_shooter.RunShooterCommand(
       [this] { return m_driverController.GetLeftTriggerAxis(); }));
 
-  (m_driverController.A() && m_driverController.LeftBumper())
+  (m_driverController.SouthFace() && m_driverController.LeftShoulder())
       .WhileTrue(
           m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.B() && m_driverController.LeftBumper())
+  (m_driverController.EastFace() && m_driverController.LeftShoulder())
       .WhileTrue(
           m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
-  (m_driverController.X() && m_driverController.LeftBumper())
+  (m_driverController.WestFace() && m_driverController.LeftShoulder())
       .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.Y() && m_driverController.LeftBumper())
+  (m_driverController.NorthFace() && m_driverController.LeftShoulder())
       .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
index 717ca732d89..dd5d208fb04 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
@@ -8,7 +8,7 @@
 #include "subsystems/Drive.hpp"
 #include "subsystems/Shooter.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 class SysIdRoutineBot {
  public:
@@ -18,7 +18,7 @@ class SysIdRoutineBot {
 
  private:
   void ConfigureBindings();
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       constants::oi::kDriverControllerPort};
   Drive m_drive;
   Shooter m_shooter;
diff --git a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp
similarity index 89%
rename from wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
rename to wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp
index 8587c1d7a66..220b1b00cfc 100644
--- a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDriveGamepad/cpp/Robot.cpp
@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "wpi/drive/DifferentialDrive.hpp"
-#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/driverstation/Gamepad.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
- * Runs the motors with tank steering and an Xbox controller.
+ * Runs the motors with tank steering and a gamepad.
  */
 class Robot : public wpi::TimedRobot {
   wpi::PWMSparkMax m_leftMotor{0};
@@ -17,7 +17,7 @@ class Robot : public wpi::TimedRobot {
   wpi::DifferentialDrive m_robotDrive{
       [&](double output) { m_leftMotor.Set(output); },
       [&](double output) { m_rightMotor.Set(output); }};
-  wpi::XboxController m_driverController{0};
+  wpi::Gamepad m_driverController{0};
 
  public:
   Robot() {
diff --git a/wpilibcExamples/src/main/cpp/examples/examples.json b/wpilibcExamples/src/main/cpp/examples/examples.json
index 0560d95ca19..c9180f0b7af 100644
--- a/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -146,7 +146,7 @@
     "description": "Make human interface devices (HID) rumble.",
     "tags": [
       "Hardware",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "HidRumble",
     "gradlebase": "cpp",
@@ -305,7 +305,7 @@
       "Sendable",
       "DataLog",
       "Pneumatics",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "HatchbotTraditional",
     "gradlebase": "cpp",
@@ -343,7 +343,7 @@
       "PID",
       "Gyro",
       "Profiled PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "RapidReactCommandBot",
     "gradlebase": "cpp",
@@ -365,7 +365,7 @@
     "tags": [
       "Swerve Drive",
       "Odometry",
-      "XboxController",
+      "Gamepad",
       "Gyro",
       "Encoder"
     ],
@@ -381,7 +381,7 @@
       "Odometry",
       "Encoder",
       "Gyro",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "MecanumBot",
     "gradlebase": "cpp",
@@ -395,7 +395,7 @@
       "Odometry",
       "Encoder",
       "Gyro",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "DifferentialDriveBot",
     "gradlebase": "cpp",
@@ -407,21 +407,21 @@
     "tags": [
       "Basic Robot",
       "Differential Drive",
-      "XboxController"
+      "Gamepad"
     ],
-    "foldername": "ArcadeDriveXboxController",
+    "foldername": "ArcadeDriveGamepad",
     "gradlebase": "cpp",
     "commandversion": 2
   },
   {
-    "name": "Tank Drive Xbox Controller",
-    "description": "Control a differential drive with Xbox tank drive in teleop.",
+    "name": "Tank Drive Gamepad",
+    "description": "Control a differential drive with gamepad tank drive in teleop.",
     "tags": [
       "Basic Robot",
       "Differential Drive",
-      "XboxController"
+      "Gamepad"
     ],
-    "foldername": "TankDriveXboxController",
+    "foldername": "TankDriveGamepad",
     "gradlebase": "cpp",
     "commandversion": 2
   },
@@ -470,7 +470,7 @@
       "Differential Drive",
       "Trapezoid Profile",
       "Smart Motor Controller",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "DriveDistanceOffboard",
     "gradlebase": "cpp",
@@ -611,7 +611,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "DifferentialDrivePoseEstimator",
     "gradlebase": "cpp",
@@ -626,7 +626,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "MecanumDrivePoseEstimator",
     "gradlebase": "cpp",
@@ -670,7 +670,7 @@
       "Path Following",
       "Trajectory",
       "Encoder",
-      "XboxController",
+      "Gamepad",
       "Simulation"
     ],
     "foldername": "SimpleDifferentialDriveSimulation",
@@ -686,7 +686,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "SwerveDrivePoseEstimator",
     "gradlebase": "cpp",
diff --git a/wpilibcExamples/src/main/cpp/templates/commandv2/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/templates/commandv2/cpp/RobotContainer.cpp
index 9500eb48488..e8720c0149a 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandv2/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandv2/cpp/RobotContainer.cpp
@@ -23,9 +23,9 @@ void RobotContainer::ConfigureBindings() {
     return m_subsystem.ExampleCondition();
   }).OnTrue(ExampleCommand(&m_subsystem).ToPtr());
 
-  // Schedule `ExampleMethodCommand` when the Xbox controller's B button is
+  // Schedule `ExampleMethodCommand` when the Gamepad's East Face button is
   // pressed, cancelling on release.
-  m_driverController.B().WhileTrue(m_subsystem.ExampleMethodCommand());
+  m_driverController.EastFace().WhileTrue(m_subsystem.ExampleMethodCommand());
 }
 
 wpi::cmd::CommandPtr RobotContainer::GetAutonomousCommand() {
diff --git a/wpilibcExamples/src/main/cpp/templates/commandv2/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/templates/commandv2/include/RobotContainer.hpp
index d0667141485..e9c311e8673 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandv2/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandv2/include/RobotContainer.hpp
@@ -7,7 +7,7 @@
 #include "Constants.hpp"
 #include "subsystems/ExampleSubsystem.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
-#include "wpi/commands2/button/CommandXboxController.hpp"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
@@ -24,7 +24,7 @@ class RobotContainer {
 
  private:
   // Replace with CommandPS4Controller or CommandJoystick if needed
-  wpi::cmd::CommandXboxController m_driverController{
+  wpi::cmd::CommandGamepad m_driverController{
       OperatorConstants::kDriverControllerPort};
 
   // The robot's subsystems are defined here...
diff --git a/wpilibj/src/generate/hids.json b/wpilibj/src/generate/hids.json
index 9bf8a8f3d1c..4b9f70037c7 100644
--- a/wpilibj/src/generate/hids.json
+++ b/wpilibj/src/generate/hids.json
@@ -1,6 +1,6 @@
 [
   {
-    "ConsoleName": "Xbox",
+    "ConsoleName": "NiDsXbox",
     "Manufacturer": "Microsoft",
     "AxisNameSuffix": "Trigger",
     "buttons": [
@@ -103,7 +103,7 @@
     ]
   },
   {
-    "ConsoleName": "PS4",
+    "ConsoleName": "NiDsPS4",
     "Manufacturer": "Sony",
     "AxisNameSuffix": "2",
     "buttons": [
@@ -221,7 +221,7 @@
     ]
   },
   {
-    "ConsoleName": "PS5",
+    "ConsoleName": "NiDsPS5",
     "Manufacturer": "Sony",
     "AxisNameSuffix": "2",
     "buttons": [
@@ -339,7 +339,7 @@
     ]
   },
   {
-    "ConsoleName": "Stadia",
+    "ConsoleName": "NiDsStadia",
     "Manufacturer": "Google",
     "AxisNameSuffix": "Trigger",
     "buttons": [
diff --git a/wpilibj/src/generate/main/java/hidsim.java.jinja b/wpilibj/src/generate/main/java/hidsim.java.jinja
index 318f9995365..7e7c96cacdb 100644
--- a/wpilibj/src/generate/main/java/hidsim.java.jinja
+++ b/wpilibj/src/generate/main/java/hidsim.java.jinja
@@ -67,53 +67,4 @@ public class {{ ConsoleName }}ControllerSim extends GenericHIDSim {
     setRawButton({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, value);
   }
 {% endfor -%}
-{% if ConsoleName == "Xbox" %}
-  /**
-   * Change the value of the left bumper on the joystick.
-   *
-   * @param state the new value
-   * @deprecated Use {@link setLeftBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setLeftBumper(boolean state) {
-    setRawButton(XboxController.Button.kLeftBumper.value, state);
-  }
-
-  /**
-   * Change the value of the right bumper on the joystick.
-   *
-   * @param state the new value
-   * @deprecated Use {@link setRightBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setRightBumper(boolean state) {
-    setRawButton(XboxController.Button.kRightBumper.value, state);
-  }
-{% elif ConsoleName == "PS4" %}
-  /**
-   * Change the value of the touchpad button on the controller.
-   *
-   * @param value the new value
-   * @deprecated Use {@link setTouchpadButton} instead. This function is deprecated for removal to
-   *     make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setTouchpad(boolean value) {
-    setRawButton(PS4Controller.Button.kTouchpad.value, value);
-  }
-{% elif ConsoleName == "PS5" %}
-  /**
-   * Change the value of the touchpad button on the controller.
-   *
-   * @param value the new value
-   * @deprecated Use {@link setTouchpadButton} instead. This function is deprecated for removal to
-   *     make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setTouchpad(boolean value) {
-    setRawButton(PS5Controller.Button.kTouchpad.value, value);
-  }
-{% endif -%}
 }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/PS4Controller.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS4Controller.java
similarity index 91%
rename from wpilibj/src/generated/main/java/org/wpilib/driverstation/PS4Controller.java
rename to wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS4Controller.java
index 73e1c7b87f5..501f09b7cf9 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/driverstation/PS4Controller.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS4Controller.java
@@ -13,9 +13,9 @@
 import org.wpilib.util.sendable.SendableBuilder;
 
 /**
- * Handle input from PS4 controllers connected to the Driver Station.
+ * Handle input from NiDsPS4 controllers connected to the Driver Station.
  *
- * <p>This class handles PS4 input that comes from the Driver Station. Each time a value is
+ * <p>This class handles NiDsPS4 input that comes from the Driver Station. Each time a value is
  * requested the most recent value is returned. There is a single class instance for each controller
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  *
@@ -23,8 +23,8 @@
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class PS4Controller extends GenericHID implements Sendable {
-  /** Represents a digital button on a PS4Controller. */
+public class NiDsPS4Controller extends GenericHID implements Sendable {
+  /** Represents a digital button on a NiDsPS4Controller. */
   public enum Button {
     /** Square button. */
     kSquare(0),
@@ -77,7 +77,7 @@ public String toString() {
     }
   }
 
-  /** Represents an axis on an PS4Controller. */
+  /** Represents an axis on an NiDsPS4Controller. */
   public enum Axis {
     /** Left X axis. */
     kLeftX(0),
@@ -122,9 +122,9 @@ public String toString() {
    *
    * @param port The port index on the Driver Station that the controller is plugged into (0-5).
    */
-  public PS4Controller(final int port) {
+  public NiDsPS4Controller(final int port) {
     super(port);
-    HAL.reportUsage("HID", port, "PS4Controller");
+    HAL.reportUsage("HID", port, "NiDsPS4Controller");
   }
 
   /**
@@ -715,48 +715,11 @@ public BooleanEvent touchpad(EventLoop loop) {
     return button(Button.kTouchpad.value, loop);
   }
 
-  /**
-   * Read the value of the touchpad on the controller.
-   *
-   * @return The state of the touchpad.
-   * @deprecated Use {@link getTouchpadButton} instead. This function is deprecated for removal to
-   *     make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getTouchpad() {
-    return getRawButton(Button.kTouchpad.value);
-  }
-
-  /**
-   * Whether the touchpad was pressed since the last check.
-   *
-   * @return Whether the touchpad was pressed since the last check.
-   * @deprecated Use {@link getTouchpadButtonPressed} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getTouchpadPressed() {
-    return getRawButtonPressed(Button.kTouchpad.value);
-  }
-
-  /**
-   * Whether the touchpad was released since the last check.
-   *
-   * @return Whether the touchpad was released since the last check.
-   * @deprecated Use {@link getTouchpadButtonReleased} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getTouchpadReleased() {
-    return getRawButtonReleased(Button.kTouchpad.value);
-  }
 
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("HID");
-    builder.publishConstString("ControllerType", "PS4");
+    builder.publishConstString("ControllerType", "NiDsPS4");
     builder.addDoubleProperty("L2 Axis", this::getL2Axis, null);
     builder.addDoubleProperty("R2 Axis", this::getR2Axis, null);
     builder.addDoubleProperty("LeftX", this::getLeftX, null);
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/PS5Controller.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS5Controller.java
similarity index 91%
rename from wpilibj/src/generated/main/java/org/wpilib/driverstation/PS5Controller.java
rename to wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS5Controller.java
index aa7c0855c10..de358a2e348 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/driverstation/PS5Controller.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS5Controller.java
@@ -13,9 +13,9 @@
 import org.wpilib.util.sendable.SendableBuilder;
 
 /**
- * Handle input from PS5 controllers connected to the Driver Station.
+ * Handle input from NiDsPS5 controllers connected to the Driver Station.
  *
- * <p>This class handles PS5 input that comes from the Driver Station. Each time a value is
+ * <p>This class handles NiDsPS5 input that comes from the Driver Station. Each time a value is
  * requested the most recent value is returned. There is a single class instance for each controller
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  *
@@ -23,8 +23,8 @@
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class PS5Controller extends GenericHID implements Sendable {
-  /** Represents a digital button on a PS5Controller. */
+public class NiDsPS5Controller extends GenericHID implements Sendable {
+  /** Represents a digital button on a NiDsPS5Controller. */
   public enum Button {
     /** Square button. */
     kSquare(0),
@@ -77,7 +77,7 @@ public String toString() {
     }
   }
 
-  /** Represents an axis on an PS5Controller. */
+  /** Represents an axis on an NiDsPS5Controller. */
   public enum Axis {
     /** Left X axis. */
     kLeftX(0),
@@ -122,9 +122,9 @@ public String toString() {
    *
    * @param port The port index on the Driver Station that the controller is plugged into (0-5).
    */
-  public PS5Controller(final int port) {
+  public NiDsPS5Controller(final int port) {
     super(port);
-    HAL.reportUsage("HID", port, "PS5Controller");
+    HAL.reportUsage("HID", port, "NiDsPS5Controller");
   }
 
   /**
@@ -715,48 +715,11 @@ public BooleanEvent touchpad(EventLoop loop) {
     return button(Button.kTouchpad.value, loop);
   }
 
-  /**
-   * Read the value of the touchpad on the controller.
-   *
-   * @return The state of the touchpad.
-   * @deprecated Use {@link getTouchpadButton} instead. This function is deprecated for removal to
-   *     make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getTouchpad() {
-    return getRawButton(Button.kTouchpad.value);
-  }
-
-  /**
-   * Whether the touchpad was pressed since the last check.
-   *
-   * @return Whether the touchpad was pressed since the last check.
-   * @deprecated Use {@link getTouchpadButtonPressed} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getTouchpadPressed() {
-    return getRawButtonPressed(Button.kTouchpad.value);
-  }
-
-  /**
-   * Whether the touchpad was released since the last check.
-   *
-   * @return Whether the touchpad was released since the last check.
-   * @deprecated Use {@link getTouchpadButtonReleased} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getTouchpadReleased() {
-    return getRawButtonReleased(Button.kTouchpad.value);
-  }
 
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("HID");
-    builder.publishConstString("ControllerType", "PS5");
+    builder.publishConstString("ControllerType", "NiDsPS5");
     builder.addDoubleProperty("L2 Axis", this::getL2Axis, null);
     builder.addDoubleProperty("R2 Axis", this::getR2Axis, null);
     builder.addDoubleProperty("LeftX", this::getLeftX, null);
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/StadiaController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsStadiaController.java
similarity index 86%
rename from wpilibj/src/generated/main/java/org/wpilib/driverstation/StadiaController.java
rename to wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsStadiaController.java
index 285f3593947..bc9df892d05 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/driverstation/StadiaController.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsStadiaController.java
@@ -13,9 +13,9 @@
 import org.wpilib.util.sendable.SendableBuilder;
 
 /**
- * Handle input from Stadia controllers connected to the Driver Station.
+ * Handle input from NiDsStadia controllers connected to the Driver Station.
  *
- * <p>This class handles Stadia input that comes from the Driver Station. Each time a value is
+ * <p>This class handles NiDsStadia input that comes from the Driver Station. Each time a value is
  * requested the most recent value is returned. There is a single class instance for each controller
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  *
@@ -23,8 +23,8 @@
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class StadiaController extends GenericHID implements Sendable {
-  /** Represents a digital button on a StadiaController. */
+public class NiDsStadiaController extends GenericHID implements Sendable {
+  /** Represents a digital button on a NiDsStadiaController. */
   public enum Button {
     /** A button. */
     kA(0),
@@ -79,7 +79,7 @@ public String toString() {
     }
   }
 
-  /** Represents an axis on an StadiaController. */
+  /** Represents an axis on an NiDsStadiaController. */
   public enum Axis {
     /** Left X axis. */
     kLeftX(0),
@@ -120,9 +120,9 @@ public String toString() {
    *
    * @param port The port index on the Driver Station that the controller is plugged into (0-5).
    */
-  public StadiaController(final int port) {
+  public NiDsStadiaController(final int port) {
     super(port);
-    HAL.reportUsage("HID", port, "StadiaController");
+    HAL.reportUsage("HID", port, "NiDsStadiaController");
   }
 
   /**
@@ -731,86 +731,11 @@ public BooleanEvent frame(EventLoop loop) {
     return button(Button.kFrame.value, loop);
   }
 
-  /**
-   * Read the value of the left bumper (LB) button on the controller.
-   *
-   * @return The state of the button.
-   * @deprecated Use {@link getLeftBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getLeftBumper() {
-    return getRawButton(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return The state of the button.
-   * @deprecated Use {@link getRightBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getRightBumper() {
-    return getRawButton(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   * @deprecated Use {@link getLeftBumperButtonPressed} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getLeftBumperPressed() {
-    return getRawButtonPressed(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   * @deprecated Use {@link getRightBumperButtonPressed} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getRightBumperPressed() {
-    return getRawButtonPressed(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use {@link getLeftBumperButtonReleased} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getLeftBumperReleased() {
-    return getRawButtonReleased(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use {@link getRightBumperButtonReleased} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getRightBumperReleased() {
-    return getRawButtonReleased(Button.kRightBumper.value);
-  }
 
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("HID");
-    builder.publishConstString("ControllerType", "Stadia");
+    builder.publishConstString("ControllerType", "NiDsStadia");
     builder.addDoubleProperty("LeftX", this::getLeftX, null);
     builder.addDoubleProperty("RightX", this::getRightX, null);
     builder.addDoubleProperty("LeftY", this::getLeftY, null);
diff --git a/wpilibj/src/generated/main/java/org/wpilib/driverstation/XboxController.java b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsXboxController.java
similarity index 84%
rename from wpilibj/src/generated/main/java/org/wpilib/driverstation/XboxController.java
rename to wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsXboxController.java
index e0fd0d39d50..5ec5a782dae 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/driverstation/XboxController.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsXboxController.java
@@ -13,9 +13,9 @@
 import org.wpilib.util.sendable.SendableBuilder;
 
 /**
- * Handle input from Xbox controllers connected to the Driver Station.
+ * Handle input from NiDsXbox controllers connected to the Driver Station.
  *
- * <p>This class handles Xbox input that comes from the Driver Station. Each time a value is
+ * <p>This class handles NiDsXbox input that comes from the Driver Station. Each time a value is
  * requested the most recent value is returned. There is a single class instance for each controller
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  *
@@ -23,8 +23,8 @@
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class XboxController extends GenericHID implements Sendable {
-  /** Represents a digital button on a XboxController. */
+public class NiDsXboxController extends GenericHID implements Sendable {
+  /** Represents a digital button on a NiDsXboxController. */
   public enum Button {
     /** A button. */
     kA(0),
@@ -69,7 +69,7 @@ public String toString() {
     }
   }
 
-  /** Represents an axis on an XboxController. */
+  /** Represents an axis on an NiDsXboxController. */
   public enum Axis {
     /** Left X axis. */
     kLeftX(0),
@@ -114,9 +114,9 @@ public String toString() {
    *
    * @param port The port index on the Driver Station that the controller is plugged into (0-5).
    */
-  public XboxController(final int port) {
+  public NiDsXboxController(final int port) {
     super(port);
-    HAL.reportUsage("HID", port, "XboxController");
+    HAL.reportUsage("HID", port, "NiDsXboxController");
   }
 
   /**
@@ -607,86 +607,11 @@ public BooleanEvent rightStick(EventLoop loop) {
     return button(Button.kRightStick.value, loop);
   }
 
-  /**
-   * Read the value of the left bumper (LB) button on the controller.
-   *
-   * @return The state of the button.
-   * @deprecated Use {@link getLeftBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getLeftBumper() {
-    return getRawButton(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Read the value of the right bumper (RB) button on the controller.
-   *
-   * @return The state of the button.
-   * @deprecated Use {@link getRightBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getRightBumper() {
-    return getRawButton(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   * @deprecated Use {@link getLeftBumperButtonPressed} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getLeftBumperPressed() {
-    return getRawButtonPressed(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was pressed since the last check.
-   *
-   * @return Whether the button was pressed since the last check.
-   * @deprecated Use {@link getRightBumperButtonPressed} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getRightBumperPressed() {
-    return getRawButtonPressed(Button.kRightBumper.value);
-  }
-
-  /**
-   * Whether the left bumper (LB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use {@link getLeftBumperButtonReleased} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getLeftBumperReleased() {
-    return getRawButtonReleased(Button.kLeftBumper.value);
-  }
-
-  /**
-   * Whether the right bumper (RB) was released since the last check.
-   *
-   * @return Whether the button was released since the last check.
-   * @deprecated Use {@link getRightBumperButtonReleased} instead. This function is deprecated for
-   *     removal to make function names consistent to allow the HID classes to be automatically
-   *     generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public boolean getRightBumperReleased() {
-    return getRawButtonReleased(Button.kRightBumper.value);
-  }
 
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("HID");
-    builder.publishConstString("ControllerType", "Xbox");
+    builder.publishConstString("ControllerType", "NiDsXbox");
     builder.addDoubleProperty("LeftTrigger Axis", this::getLeftTriggerAxis, null);
     builder.addDoubleProperty("RightTrigger Axis", this::getRightTriggerAxis, null);
     builder.addDoubleProperty("LeftX", this::getLeftX, null);
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/PS4ControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS4ControllerSim.java
similarity index 67%
rename from wpilibj/src/generated/main/java/org/wpilib/simulation/PS4ControllerSim.java
rename to wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS4ControllerSim.java
index 36f2c134988..0f8f2ce1fcc 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/simulation/PS4ControllerSim.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS4ControllerSim.java
@@ -6,17 +6,17 @@
 
 package org.wpilib.simulation;
 
-import org.wpilib.driverstation.PS4Controller;
+import org.wpilib.driverstation.NiDsPS4Controller;
 
-/** Class to control a simulated PS4 controller. */
-public class PS4ControllerSim extends GenericHIDSim {
+/** Class to control a simulated NiDsPS4 controller. */
+public class NiDsPS4ControllerSim extends GenericHIDSim {
   /**
-   * Constructs from a PS4Controller object.
+   * Constructs from a NiDsPS4Controller object.
    *
    * @param joystick controller to simulate
    */
   @SuppressWarnings("this-escape")
-  public PS4ControllerSim(PS4Controller joystick) {
+  public NiDsPS4ControllerSim(NiDsPS4Controller joystick) {
     super(joystick);
     setAxesMaximumIndex(6);
     setButtonsMaximumIndex(14);
@@ -29,7 +29,7 @@ public PS4ControllerSim(PS4Controller joystick) {
    * @param port port number
    */
   @SuppressWarnings("this-escape")
-  public PS4ControllerSim(int port) {
+  public NiDsPS4ControllerSim(int port) {
     super(port);
     setAxesMaximumIndex(6);
     setButtonsMaximumIndex(14);
@@ -42,7 +42,7 @@ public PS4ControllerSim(int port) {
    * @param value the new value
    */
   public void setLeftX(double value) {
-    setRawAxis(PS4Controller.Axis.kLeftX.value, value);
+    setRawAxis(NiDsPS4Controller.Axis.kLeftX.value, value);
   }
 
   /**
@@ -51,7 +51,7 @@ public void setLeftX(double value) {
    * @param value the new value
    */
   public void setLeftY(double value) {
-    setRawAxis(PS4Controller.Axis.kLeftY.value, value);
+    setRawAxis(NiDsPS4Controller.Axis.kLeftY.value, value);
   }
 
   /**
@@ -60,7 +60,7 @@ public void setLeftY(double value) {
    * @param value the new value
    */
   public void setRightX(double value) {
-    setRawAxis(PS4Controller.Axis.kRightX.value, value);
+    setRawAxis(NiDsPS4Controller.Axis.kRightX.value, value);
   }
 
   /**
@@ -69,7 +69,7 @@ public void setRightX(double value) {
    * @param value the new value
    */
   public void setRightY(double value) {
-    setRawAxis(PS4Controller.Axis.kRightY.value, value);
+    setRawAxis(NiDsPS4Controller.Axis.kRightY.value, value);
   }
 
   /**
@@ -78,7 +78,7 @@ public void setRightY(double value) {
    * @param value the new value
    */
   public void setL2Axis(double value) {
-    setRawAxis(PS4Controller.Axis.kL2.value, value);
+    setRawAxis(NiDsPS4Controller.Axis.kL2.value, value);
   }
 
   /**
@@ -87,7 +87,7 @@ public void setL2Axis(double value) {
    * @param value the new value
    */
   public void setR2Axis(double value) {
-    setRawAxis(PS4Controller.Axis.kR2.value, value);
+    setRawAxis(NiDsPS4Controller.Axis.kR2.value, value);
   }
 
   /**
@@ -96,7 +96,7 @@ public void setR2Axis(double value) {
    * @param value the new value
    */
   public void setSquareButton(boolean value) {
-    setRawButton(PS4Controller.Button.kSquare.value, value);
+    setRawButton(NiDsPS4Controller.Button.kSquare.value, value);
   }
 
   /**
@@ -105,7 +105,7 @@ public void setSquareButton(boolean value) {
    * @param value the new value
    */
   public void setCrossButton(boolean value) {
-    setRawButton(PS4Controller.Button.kCross.value, value);
+    setRawButton(NiDsPS4Controller.Button.kCross.value, value);
   }
 
   /**
@@ -114,7 +114,7 @@ public void setCrossButton(boolean value) {
    * @param value the new value
    */
   public void setCircleButton(boolean value) {
-    setRawButton(PS4Controller.Button.kCircle.value, value);
+    setRawButton(NiDsPS4Controller.Button.kCircle.value, value);
   }
 
   /**
@@ -123,7 +123,7 @@ public void setCircleButton(boolean value) {
    * @param value the new value
    */
   public void setTriangleButton(boolean value) {
-    setRawButton(PS4Controller.Button.kTriangle.value, value);
+    setRawButton(NiDsPS4Controller.Button.kTriangle.value, value);
   }
 
   /**
@@ -132,7 +132,7 @@ public void setTriangleButton(boolean value) {
    * @param value the new value
    */
   public void setL1Button(boolean value) {
-    setRawButton(PS4Controller.Button.kL1.value, value);
+    setRawButton(NiDsPS4Controller.Button.kL1.value, value);
   }
 
   /**
@@ -141,7 +141,7 @@ public void setL1Button(boolean value) {
    * @param value the new value
    */
   public void setR1Button(boolean value) {
-    setRawButton(PS4Controller.Button.kR1.value, value);
+    setRawButton(NiDsPS4Controller.Button.kR1.value, value);
   }
 
   /**
@@ -150,7 +150,7 @@ public void setR1Button(boolean value) {
    * @param value the new value
    */
   public void setL2Button(boolean value) {
-    setRawButton(PS4Controller.Button.kL2.value, value);
+    setRawButton(NiDsPS4Controller.Button.kL2.value, value);
   }
 
   /**
@@ -159,7 +159,7 @@ public void setL2Button(boolean value) {
    * @param value the new value
    */
   public void setR2Button(boolean value) {
-    setRawButton(PS4Controller.Button.kR2.value, value);
+    setRawButton(NiDsPS4Controller.Button.kR2.value, value);
   }
 
   /**
@@ -168,7 +168,7 @@ public void setR2Button(boolean value) {
    * @param value the new value
    */
   public void setShareButton(boolean value) {
-    setRawButton(PS4Controller.Button.kShare.value, value);
+    setRawButton(NiDsPS4Controller.Button.kShare.value, value);
   }
 
   /**
@@ -177,7 +177,7 @@ public void setShareButton(boolean value) {
    * @param value the new value
    */
   public void setOptionsButton(boolean value) {
-    setRawButton(PS4Controller.Button.kOptions.value, value);
+    setRawButton(NiDsPS4Controller.Button.kOptions.value, value);
   }
 
   /**
@@ -186,7 +186,7 @@ public void setOptionsButton(boolean value) {
    * @param value the new value
    */
   public void setL3Button(boolean value) {
-    setRawButton(PS4Controller.Button.kL3.value, value);
+    setRawButton(NiDsPS4Controller.Button.kL3.value, value);
   }
 
   /**
@@ -195,7 +195,7 @@ public void setL3Button(boolean value) {
    * @param value the new value
    */
   public void setR3Button(boolean value) {
-    setRawButton(PS4Controller.Button.kR3.value, value);
+    setRawButton(NiDsPS4Controller.Button.kR3.value, value);
   }
 
   /**
@@ -204,7 +204,7 @@ public void setR3Button(boolean value) {
    * @param value the new value
    */
   public void setPSButton(boolean value) {
-    setRawButton(PS4Controller.Button.kPS.value, value);
+    setRawButton(NiDsPS4Controller.Button.kPS.value, value);
   }
 
   /**
@@ -213,18 +213,6 @@ public void setPSButton(boolean value) {
    * @param value the new value
    */
   public void setTouchpadButton(boolean value) {
-    setRawButton(PS4Controller.Button.kTouchpad.value, value);
-  }
-
-  /**
-   * Change the value of the touchpad button on the controller.
-   *
-   * @param value the new value
-   * @deprecated Use {@link setTouchpadButton} instead. This function is deprecated for removal to
-   *     make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setTouchpad(boolean value) {
-    setRawButton(PS4Controller.Button.kTouchpad.value, value);
+    setRawButton(NiDsPS4Controller.Button.kTouchpad.value, value);
   }
 }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/PS5ControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS5ControllerSim.java
similarity index 67%
rename from wpilibj/src/generated/main/java/org/wpilib/simulation/PS5ControllerSim.java
rename to wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS5ControllerSim.java
index 59a11eb4e30..5cf9b470019 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/simulation/PS5ControllerSim.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS5ControllerSim.java
@@ -6,17 +6,17 @@
 
 package org.wpilib.simulation;
 
-import org.wpilib.driverstation.PS5Controller;
+import org.wpilib.driverstation.NiDsPS5Controller;
 
-/** Class to control a simulated PS5 controller. */
-public class PS5ControllerSim extends GenericHIDSim {
+/** Class to control a simulated NiDsPS5 controller. */
+public class NiDsPS5ControllerSim extends GenericHIDSim {
   /**
-   * Constructs from a PS5Controller object.
+   * Constructs from a NiDsPS5Controller object.
    *
    * @param joystick controller to simulate
    */
   @SuppressWarnings("this-escape")
-  public PS5ControllerSim(PS5Controller joystick) {
+  public NiDsPS5ControllerSim(NiDsPS5Controller joystick) {
     super(joystick);
     setAxesMaximumIndex(6);
     setButtonsMaximumIndex(14);
@@ -29,7 +29,7 @@ public PS5ControllerSim(PS5Controller joystick) {
    * @param port port number
    */
   @SuppressWarnings("this-escape")
-  public PS5ControllerSim(int port) {
+  public NiDsPS5ControllerSim(int port) {
     super(port);
     setAxesMaximumIndex(6);
     setButtonsMaximumIndex(14);
@@ -42,7 +42,7 @@ public PS5ControllerSim(int port) {
    * @param value the new value
    */
   public void setLeftX(double value) {
-    setRawAxis(PS5Controller.Axis.kLeftX.value, value);
+    setRawAxis(NiDsPS5Controller.Axis.kLeftX.value, value);
   }
 
   /**
@@ -51,7 +51,7 @@ public void setLeftX(double value) {
    * @param value the new value
    */
   public void setLeftY(double value) {
-    setRawAxis(PS5Controller.Axis.kLeftY.value, value);
+    setRawAxis(NiDsPS5Controller.Axis.kLeftY.value, value);
   }
 
   /**
@@ -60,7 +60,7 @@ public void setLeftY(double value) {
    * @param value the new value
    */
   public void setRightX(double value) {
-    setRawAxis(PS5Controller.Axis.kRightX.value, value);
+    setRawAxis(NiDsPS5Controller.Axis.kRightX.value, value);
   }
 
   /**
@@ -69,7 +69,7 @@ public void setRightX(double value) {
    * @param value the new value
    */
   public void setRightY(double value) {
-    setRawAxis(PS5Controller.Axis.kRightY.value, value);
+    setRawAxis(NiDsPS5Controller.Axis.kRightY.value, value);
   }
 
   /**
@@ -78,7 +78,7 @@ public void setRightY(double value) {
    * @param value the new value
    */
   public void setL2Axis(double value) {
-    setRawAxis(PS5Controller.Axis.kL2.value, value);
+    setRawAxis(NiDsPS5Controller.Axis.kL2.value, value);
   }
 
   /**
@@ -87,7 +87,7 @@ public void setL2Axis(double value) {
    * @param value the new value
    */
   public void setR2Axis(double value) {
-    setRawAxis(PS5Controller.Axis.kR2.value, value);
+    setRawAxis(NiDsPS5Controller.Axis.kR2.value, value);
   }
 
   /**
@@ -96,7 +96,7 @@ public void setR2Axis(double value) {
    * @param value the new value
    */
   public void setSquareButton(boolean value) {
-    setRawButton(PS5Controller.Button.kSquare.value, value);
+    setRawButton(NiDsPS5Controller.Button.kSquare.value, value);
   }
 
   /**
@@ -105,7 +105,7 @@ public void setSquareButton(boolean value) {
    * @param value the new value
    */
   public void setCrossButton(boolean value) {
-    setRawButton(PS5Controller.Button.kCross.value, value);
+    setRawButton(NiDsPS5Controller.Button.kCross.value, value);
   }
 
   /**
@@ -114,7 +114,7 @@ public void setCrossButton(boolean value) {
    * @param value the new value
    */
   public void setCircleButton(boolean value) {
-    setRawButton(PS5Controller.Button.kCircle.value, value);
+    setRawButton(NiDsPS5Controller.Button.kCircle.value, value);
   }
 
   /**
@@ -123,7 +123,7 @@ public void setCircleButton(boolean value) {
    * @param value the new value
    */
   public void setTriangleButton(boolean value) {
-    setRawButton(PS5Controller.Button.kTriangle.value, value);
+    setRawButton(NiDsPS5Controller.Button.kTriangle.value, value);
   }
 
   /**
@@ -132,7 +132,7 @@ public void setTriangleButton(boolean value) {
    * @param value the new value
    */
   public void setL1Button(boolean value) {
-    setRawButton(PS5Controller.Button.kL1.value, value);
+    setRawButton(NiDsPS5Controller.Button.kL1.value, value);
   }
 
   /**
@@ -141,7 +141,7 @@ public void setL1Button(boolean value) {
    * @param value the new value
    */
   public void setR1Button(boolean value) {
-    setRawButton(PS5Controller.Button.kR1.value, value);
+    setRawButton(NiDsPS5Controller.Button.kR1.value, value);
   }
 
   /**
@@ -150,7 +150,7 @@ public void setR1Button(boolean value) {
    * @param value the new value
    */
   public void setL2Button(boolean value) {
-    setRawButton(PS5Controller.Button.kL2.value, value);
+    setRawButton(NiDsPS5Controller.Button.kL2.value, value);
   }
 
   /**
@@ -159,7 +159,7 @@ public void setL2Button(boolean value) {
    * @param value the new value
    */
   public void setR2Button(boolean value) {
-    setRawButton(PS5Controller.Button.kR2.value, value);
+    setRawButton(NiDsPS5Controller.Button.kR2.value, value);
   }
 
   /**
@@ -168,7 +168,7 @@ public void setR2Button(boolean value) {
    * @param value the new value
    */
   public void setCreateButton(boolean value) {
-    setRawButton(PS5Controller.Button.kCreate.value, value);
+    setRawButton(NiDsPS5Controller.Button.kCreate.value, value);
   }
 
   /**
@@ -177,7 +177,7 @@ public void setCreateButton(boolean value) {
    * @param value the new value
    */
   public void setOptionsButton(boolean value) {
-    setRawButton(PS5Controller.Button.kOptions.value, value);
+    setRawButton(NiDsPS5Controller.Button.kOptions.value, value);
   }
 
   /**
@@ -186,7 +186,7 @@ public void setOptionsButton(boolean value) {
    * @param value the new value
    */
   public void setL3Button(boolean value) {
-    setRawButton(PS5Controller.Button.kL3.value, value);
+    setRawButton(NiDsPS5Controller.Button.kL3.value, value);
   }
 
   /**
@@ -195,7 +195,7 @@ public void setL3Button(boolean value) {
    * @param value the new value
    */
   public void setR3Button(boolean value) {
-    setRawButton(PS5Controller.Button.kR3.value, value);
+    setRawButton(NiDsPS5Controller.Button.kR3.value, value);
   }
 
   /**
@@ -204,7 +204,7 @@ public void setR3Button(boolean value) {
    * @param value the new value
    */
   public void setPSButton(boolean value) {
-    setRawButton(PS5Controller.Button.kPS.value, value);
+    setRawButton(NiDsPS5Controller.Button.kPS.value, value);
   }
 
   /**
@@ -213,18 +213,6 @@ public void setPSButton(boolean value) {
    * @param value the new value
    */
   public void setTouchpadButton(boolean value) {
-    setRawButton(PS5Controller.Button.kTouchpad.value, value);
-  }
-
-  /**
-   * Change the value of the touchpad button on the controller.
-   *
-   * @param value the new value
-   * @deprecated Use {@link setTouchpadButton} instead. This function is deprecated for removal to
-   *     make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setTouchpad(boolean value) {
-    setRawButton(PS5Controller.Button.kTouchpad.value, value);
+    setRawButton(NiDsPS5Controller.Button.kTouchpad.value, value);
   }
 }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/StadiaControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsStadiaControllerSim.java
similarity index 70%
rename from wpilibj/src/generated/main/java/org/wpilib/simulation/StadiaControllerSim.java
rename to wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsStadiaControllerSim.java
index c6c54853471..05940e215f5 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/simulation/StadiaControllerSim.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsStadiaControllerSim.java
@@ -6,17 +6,17 @@
 
 package org.wpilib.simulation;
 
-import org.wpilib.driverstation.StadiaController;
+import org.wpilib.driverstation.NiDsStadiaController;
 
-/** Class to control a simulated Stadia controller. */
-public class StadiaControllerSim extends GenericHIDSim {
+/** Class to control a simulated NiDsStadia controller. */
+public class NiDsStadiaControllerSim extends GenericHIDSim {
   /**
-   * Constructs from a StadiaController object.
+   * Constructs from a NiDsStadiaController object.
    *
    * @param joystick controller to simulate
    */
   @SuppressWarnings("this-escape")
-  public StadiaControllerSim(StadiaController joystick) {
+  public NiDsStadiaControllerSim(NiDsStadiaController joystick) {
     super(joystick);
     setAxesMaximumIndex(4);
     setButtonsMaximumIndex(15);
@@ -29,7 +29,7 @@ public StadiaControllerSim(StadiaController joystick) {
    * @param port port number
    */
   @SuppressWarnings("this-escape")
-  public StadiaControllerSim(int port) {
+  public NiDsStadiaControllerSim(int port) {
     super(port);
     setAxesMaximumIndex(4);
     setButtonsMaximumIndex(15);
@@ -42,7 +42,7 @@ public StadiaControllerSim(int port) {
    * @param value the new value
    */
   public void setLeftX(double value) {
-    setRawAxis(StadiaController.Axis.kLeftX.value, value);
+    setRawAxis(NiDsStadiaController.Axis.kLeftX.value, value);
   }
 
   /**
@@ -51,7 +51,7 @@ public void setLeftX(double value) {
    * @param value the new value
    */
   public void setRightX(double value) {
-    setRawAxis(StadiaController.Axis.kRightX.value, value);
+    setRawAxis(NiDsStadiaController.Axis.kRightX.value, value);
   }
 
   /**
@@ -60,7 +60,7 @@ public void setRightX(double value) {
    * @param value the new value
    */
   public void setLeftY(double value) {
-    setRawAxis(StadiaController.Axis.kLeftY.value, value);
+    setRawAxis(NiDsStadiaController.Axis.kLeftY.value, value);
   }
 
   /**
@@ -69,7 +69,7 @@ public void setLeftY(double value) {
    * @param value the new value
    */
   public void setRightY(double value) {
-    setRawAxis(StadiaController.Axis.kRightY.value, value);
+    setRawAxis(NiDsStadiaController.Axis.kRightY.value, value);
   }
 
   /**
@@ -78,7 +78,7 @@ public void setRightY(double value) {
    * @param value the new value
    */
   public void setAButton(boolean value) {
-    setRawButton(StadiaController.Button.kA.value, value);
+    setRawButton(NiDsStadiaController.Button.kA.value, value);
   }
 
   /**
@@ -87,7 +87,7 @@ public void setAButton(boolean value) {
    * @param value the new value
    */
   public void setBButton(boolean value) {
-    setRawButton(StadiaController.Button.kB.value, value);
+    setRawButton(NiDsStadiaController.Button.kB.value, value);
   }
 
   /**
@@ -96,7 +96,7 @@ public void setBButton(boolean value) {
    * @param value the new value
    */
   public void setXButton(boolean value) {
-    setRawButton(StadiaController.Button.kX.value, value);
+    setRawButton(NiDsStadiaController.Button.kX.value, value);
   }
 
   /**
@@ -105,7 +105,7 @@ public void setXButton(boolean value) {
    * @param value the new value
    */
   public void setYButton(boolean value) {
-    setRawButton(StadiaController.Button.kY.value, value);
+    setRawButton(NiDsStadiaController.Button.kY.value, value);
   }
 
   /**
@@ -114,7 +114,7 @@ public void setYButton(boolean value) {
    * @param value the new value
    */
   public void setLeftBumperButton(boolean value) {
-    setRawButton(StadiaController.Button.kLeftBumper.value, value);
+    setRawButton(NiDsStadiaController.Button.kLeftBumper.value, value);
   }
 
   /**
@@ -123,7 +123,7 @@ public void setLeftBumperButton(boolean value) {
    * @param value the new value
    */
   public void setRightBumperButton(boolean value) {
-    setRawButton(StadiaController.Button.kRightBumper.value, value);
+    setRawButton(NiDsStadiaController.Button.kRightBumper.value, value);
   }
 
   /**
@@ -132,7 +132,7 @@ public void setRightBumperButton(boolean value) {
    * @param value the new value
    */
   public void setLeftStickButton(boolean value) {
-    setRawButton(StadiaController.Button.kLeftStick.value, value);
+    setRawButton(NiDsStadiaController.Button.kLeftStick.value, value);
   }
 
   /**
@@ -141,7 +141,7 @@ public void setLeftStickButton(boolean value) {
    * @param value the new value
    */
   public void setRightStickButton(boolean value) {
-    setRawButton(StadiaController.Button.kRightStick.value, value);
+    setRawButton(NiDsStadiaController.Button.kRightStick.value, value);
   }
 
   /**
@@ -150,7 +150,7 @@ public void setRightStickButton(boolean value) {
    * @param value the new value
    */
   public void setEllipsesButton(boolean value) {
-    setRawButton(StadiaController.Button.kEllipses.value, value);
+    setRawButton(NiDsStadiaController.Button.kEllipses.value, value);
   }
 
   /**
@@ -159,7 +159,7 @@ public void setEllipsesButton(boolean value) {
    * @param value the new value
    */
   public void setHamburgerButton(boolean value) {
-    setRawButton(StadiaController.Button.kHamburger.value, value);
+    setRawButton(NiDsStadiaController.Button.kHamburger.value, value);
   }
 
   /**
@@ -168,7 +168,7 @@ public void setHamburgerButton(boolean value) {
    * @param value the new value
    */
   public void setStadiaButton(boolean value) {
-    setRawButton(StadiaController.Button.kStadia.value, value);
+    setRawButton(NiDsStadiaController.Button.kStadia.value, value);
   }
 
   /**
@@ -177,7 +177,7 @@ public void setStadiaButton(boolean value) {
    * @param value the new value
    */
   public void setRightTriggerButton(boolean value) {
-    setRawButton(StadiaController.Button.kRightTrigger.value, value);
+    setRawButton(NiDsStadiaController.Button.kRightTrigger.value, value);
   }
 
   /**
@@ -186,7 +186,7 @@ public void setRightTriggerButton(boolean value) {
    * @param value the new value
    */
   public void setLeftTriggerButton(boolean value) {
-    setRawButton(StadiaController.Button.kLeftTrigger.value, value);
+    setRawButton(NiDsStadiaController.Button.kLeftTrigger.value, value);
   }
 
   /**
@@ -195,7 +195,7 @@ public void setLeftTriggerButton(boolean value) {
    * @param value the new value
    */
   public void setGoogleButton(boolean value) {
-    setRawButton(StadiaController.Button.kGoogle.value, value);
+    setRawButton(NiDsStadiaController.Button.kGoogle.value, value);
   }
 
   /**
@@ -204,6 +204,6 @@ public void setGoogleButton(boolean value) {
    * @param value the new value
    */
   public void setFrameButton(boolean value) {
-    setRawButton(StadiaController.Button.kFrame.value, value);
+    setRawButton(NiDsStadiaController.Button.kFrame.value, value);
   }
 }
diff --git a/wpilibj/src/generated/main/java/org/wpilib/simulation/XboxControllerSim.java b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsXboxControllerSim.java
similarity index 60%
rename from wpilibj/src/generated/main/java/org/wpilib/simulation/XboxControllerSim.java
rename to wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsXboxControllerSim.java
index efd02ff5840..155b4111322 100644
--- a/wpilibj/src/generated/main/java/org/wpilib/simulation/XboxControllerSim.java
+++ b/wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsXboxControllerSim.java
@@ -6,17 +6,17 @@
 
 package org.wpilib.simulation;
 
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.NiDsXboxController;
 
-/** Class to control a simulated Xbox controller. */
-public class XboxControllerSim extends GenericHIDSim {
+/** Class to control a simulated NiDsXbox controller. */
+public class NiDsXboxControllerSim extends GenericHIDSim {
   /**
-   * Constructs from a XboxController object.
+   * Constructs from a NiDsXboxController object.
    *
    * @param joystick controller to simulate
    */
   @SuppressWarnings("this-escape")
-  public XboxControllerSim(XboxController joystick) {
+  public NiDsXboxControllerSim(NiDsXboxController joystick) {
     super(joystick);
     setAxesMaximumIndex(6);
     setButtonsMaximumIndex(10);
@@ -29,7 +29,7 @@ public XboxControllerSim(XboxController joystick) {
    * @param port port number
    */
   @SuppressWarnings("this-escape")
-  public XboxControllerSim(int port) {
+  public NiDsXboxControllerSim(int port) {
     super(port);
     setAxesMaximumIndex(6);
     setButtonsMaximumIndex(10);
@@ -42,7 +42,7 @@ public XboxControllerSim(int port) {
    * @param value the new value
    */
   public void setLeftX(double value) {
-    setRawAxis(XboxController.Axis.kLeftX.value, value);
+    setRawAxis(NiDsXboxController.Axis.kLeftX.value, value);
   }
 
   /**
@@ -51,7 +51,7 @@ public void setLeftX(double value) {
    * @param value the new value
    */
   public void setRightX(double value) {
-    setRawAxis(XboxController.Axis.kRightX.value, value);
+    setRawAxis(NiDsXboxController.Axis.kRightX.value, value);
   }
 
   /**
@@ -60,7 +60,7 @@ public void setRightX(double value) {
    * @param value the new value
    */
   public void setLeftY(double value) {
-    setRawAxis(XboxController.Axis.kLeftY.value, value);
+    setRawAxis(NiDsXboxController.Axis.kLeftY.value, value);
   }
 
   /**
@@ -69,7 +69,7 @@ public void setLeftY(double value) {
    * @param value the new value
    */
   public void setRightY(double value) {
-    setRawAxis(XboxController.Axis.kRightY.value, value);
+    setRawAxis(NiDsXboxController.Axis.kRightY.value, value);
   }
 
   /**
@@ -78,7 +78,7 @@ public void setRightY(double value) {
    * @param value the new value
    */
   public void setLeftTriggerAxis(double value) {
-    setRawAxis(XboxController.Axis.kLeftTrigger.value, value);
+    setRawAxis(NiDsXboxController.Axis.kLeftTrigger.value, value);
   }
 
   /**
@@ -87,7 +87,7 @@ public void setLeftTriggerAxis(double value) {
    * @param value the new value
    */
   public void setRightTriggerAxis(double value) {
-    setRawAxis(XboxController.Axis.kRightTrigger.value, value);
+    setRawAxis(NiDsXboxController.Axis.kRightTrigger.value, value);
   }
 
   /**
@@ -96,7 +96,7 @@ public void setRightTriggerAxis(double value) {
    * @param value the new value
    */
   public void setAButton(boolean value) {
-    setRawButton(XboxController.Button.kA.value, value);
+    setRawButton(NiDsXboxController.Button.kA.value, value);
   }
 
   /**
@@ -105,7 +105,7 @@ public void setAButton(boolean value) {
    * @param value the new value
    */
   public void setBButton(boolean value) {
-    setRawButton(XboxController.Button.kB.value, value);
+    setRawButton(NiDsXboxController.Button.kB.value, value);
   }
 
   /**
@@ -114,7 +114,7 @@ public void setBButton(boolean value) {
    * @param value the new value
    */
   public void setXButton(boolean value) {
-    setRawButton(XboxController.Button.kX.value, value);
+    setRawButton(NiDsXboxController.Button.kX.value, value);
   }
 
   /**
@@ -123,7 +123,7 @@ public void setXButton(boolean value) {
    * @param value the new value
    */
   public void setYButton(boolean value) {
-    setRawButton(XboxController.Button.kY.value, value);
+    setRawButton(NiDsXboxController.Button.kY.value, value);
   }
 
   /**
@@ -132,7 +132,7 @@ public void setYButton(boolean value) {
    * @param value the new value
    */
   public void setLeftBumperButton(boolean value) {
-    setRawButton(XboxController.Button.kLeftBumper.value, value);
+    setRawButton(NiDsXboxController.Button.kLeftBumper.value, value);
   }
 
   /**
@@ -141,7 +141,7 @@ public void setLeftBumperButton(boolean value) {
    * @param value the new value
    */
   public void setRightBumperButton(boolean value) {
-    setRawButton(XboxController.Button.kRightBumper.value, value);
+    setRawButton(NiDsXboxController.Button.kRightBumper.value, value);
   }
 
   /**
@@ -150,7 +150,7 @@ public void setRightBumperButton(boolean value) {
    * @param value the new value
    */
   public void setBackButton(boolean value) {
-    setRawButton(XboxController.Button.kBack.value, value);
+    setRawButton(NiDsXboxController.Button.kBack.value, value);
   }
 
   /**
@@ -159,7 +159,7 @@ public void setBackButton(boolean value) {
    * @param value the new value
    */
   public void setStartButton(boolean value) {
-    setRawButton(XboxController.Button.kStart.value, value);
+    setRawButton(NiDsXboxController.Button.kStart.value, value);
   }
 
   /**
@@ -168,7 +168,7 @@ public void setStartButton(boolean value) {
    * @param value the new value
    */
   public void setLeftStickButton(boolean value) {
-    setRawButton(XboxController.Button.kLeftStick.value, value);
+    setRawButton(NiDsXboxController.Button.kLeftStick.value, value);
   }
 
   /**
@@ -177,30 +177,6 @@ public void setLeftStickButton(boolean value) {
    * @param value the new value
    */
   public void setRightStickButton(boolean value) {
-    setRawButton(XboxController.Button.kRightStick.value, value);
-  }
-
-  /**
-   * Change the value of the left bumper on the joystick.
-   *
-   * @param state the new value
-   * @deprecated Use {@link setLeftBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setLeftBumper(boolean state) {
-    setRawButton(XboxController.Button.kLeftBumper.value, state);
-  }
-
-  /**
-   * Change the value of the right bumper on the joystick.
-   *
-   * @param state the new value
-   * @deprecated Use {@link setRightBumperButton} instead. This function is deprecated for removal
-   *     to make function names consistent to allow the HID classes to be automatically generated.
-   */
-  @Deprecated(since = "2025", forRemoval = true)
-  public void setRightBumper(boolean state) {
-    setRawButton(XboxController.Button.kRightBumper.value, state);
+    setRawButton(NiDsXboxController.Button.kRightStick.value, value);
   }
 }
diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/NiDsPS4ControllerTest.java
similarity index 83%
rename from wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java
rename to wpilibj/src/test/java/org/wpilib/driverstation/NiDsPS4ControllerTest.java
index 743d40372a8..0591b1297f9 100644
--- a/wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java
+++ b/wpilibj/src/test/java/org/wpilib/driverstation/NiDsPS4ControllerTest.java
@@ -13,16 +13,16 @@
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
 import org.wpilib.hardware.hal.HAL;
-import org.wpilib.simulation.PS4ControllerSim;
+import org.wpilib.simulation.NiDsPS4ControllerSim;
 
-class PS4ControllerTest {
+class NiDsPS4ControllerTest {
   @ParameterizedTest
-  @EnumSource(value = PS4Controller.Button.class)
-  void testButtons(PS4Controller.Button button)
+  @EnumSource(value = NiDsPS4Controller.Button.class)
+  void testButtons(NiDsPS4Controller.Button button)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
-    PS4Controller joy = new PS4Controller(2);
-    PS4ControllerSim joysim = new PS4ControllerSim(joy);
+    NiDsPS4Controller joy = new NiDsPS4Controller(2);
+    NiDsPS4ControllerSim joysim = new NiDsPS4ControllerSim(joy);
 
     var buttonName = button.toString();
 
@@ -57,12 +57,12 @@ void testButtons(PS4Controller.Button button)
   }
 
   @ParameterizedTest
-  @EnumSource(value = PS4Controller.Axis.class)
-  void testAxes(PS4Controller.Axis axis)
+  @EnumSource(value = NiDsPS4Controller.Axis.class)
+  void testAxes(NiDsPS4Controller.Axis axis)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
-    PS4Controller joy = new PS4Controller(2);
-    PS4ControllerSim joysim = new PS4ControllerSim(joy);
+    NiDsPS4Controller joy = new NiDsPS4Controller(2);
+    NiDsPS4ControllerSim joysim = new NiDsPS4ControllerSim(joy);
 
     var axisName = axis.toString();
 
diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/NiDsPS5ControllerTest.java
similarity index 83%
rename from wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java
rename to wpilibj/src/test/java/org/wpilib/driverstation/NiDsPS5ControllerTest.java
index 1be48794e28..e53d4ecae93 100644
--- a/wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java
+++ b/wpilibj/src/test/java/org/wpilib/driverstation/NiDsPS5ControllerTest.java
@@ -13,16 +13,16 @@
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
 import org.wpilib.hardware.hal.HAL;
-import org.wpilib.simulation.PS5ControllerSim;
+import org.wpilib.simulation.NiDsPS5ControllerSim;
 
-class PS5ControllerTest {
+class NiDsPS5ControllerTest {
   @ParameterizedTest
-  @EnumSource(value = PS5Controller.Button.class)
-  void testButtons(PS5Controller.Button button)
+  @EnumSource(value = NiDsPS5Controller.Button.class)
+  void testButtons(NiDsPS5Controller.Button button)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
-    PS5Controller joy = new PS5Controller(2);
-    PS5ControllerSim joysim = new PS5ControllerSim(joy);
+    NiDsPS5Controller joy = new NiDsPS5Controller(2);
+    NiDsPS5ControllerSim joysim = new NiDsPS5ControllerSim(joy);
 
     var buttonName = button.toString();
 
@@ -57,12 +57,12 @@ void testButtons(PS5Controller.Button button)
   }
 
   @ParameterizedTest
-  @EnumSource(value = PS5Controller.Axis.class)
-  void testAxes(PS5Controller.Axis axis)
+  @EnumSource(value = NiDsPS5Controller.Axis.class)
+  void testAxes(NiDsPS5Controller.Axis axis)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
-    PS5Controller joy = new PS5Controller(2);
-    PS5ControllerSim joysim = new PS5ControllerSim(joy);
+    NiDsPS5Controller joy = new NiDsPS5Controller(2);
+    NiDsPS5ControllerSim joysim = new NiDsPS5ControllerSim(joy);
 
     var axisName = axis.toString();
 
diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/NiDsXboxControllerTest.java
similarity index 83%
rename from wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java
rename to wpilibj/src/test/java/org/wpilib/driverstation/NiDsXboxControllerTest.java
index 984875887d0..16dd87759d7 100644
--- a/wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java
+++ b/wpilibj/src/test/java/org/wpilib/driverstation/NiDsXboxControllerTest.java
@@ -13,16 +13,16 @@
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
 import org.wpilib.hardware.hal.HAL;
-import org.wpilib.simulation.XboxControllerSim;
+import org.wpilib.simulation.NiDsXboxControllerSim;
 
-class XboxControllerTest {
+class NiDsXboxControllerTest {
   @ParameterizedTest
-  @EnumSource(value = XboxController.Button.class)
-  void testButtons(XboxController.Button button)
+  @EnumSource(value = NiDsXboxController.Button.class)
+  void testButtons(NiDsXboxController.Button button)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
-    XboxController joy = new XboxController(2);
-    XboxControllerSim joysim = new XboxControllerSim(joy);
+    NiDsXboxController joy = new NiDsXboxController(2);
+    NiDsXboxControllerSim joysim = new NiDsXboxControllerSim(joy);
 
     var buttonName = button.toString();
 
@@ -57,12 +57,12 @@ void testButtons(XboxController.Button button)
   }
 
   @ParameterizedTest
-  @EnumSource(value = XboxController.Axis.class)
-  void testAxes(XboxController.Axis axis)
+  @EnumSource(value = NiDsXboxController.Axis.class)
+  void testAxes(NiDsXboxController.Axis axis)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
-    XboxController joy = new XboxController(2);
-    XboxControllerSim joysim = new XboxControllerSim(joy);
+    NiDsXboxController joy = new NiDsXboxController(2);
+    NiDsXboxControllerSim joysim = new NiDsXboxControllerSim(joy);
 
     var axisName = axis.toString();
 
diff --git a/wpilibjExamples/example_projects.bzl b/wpilibjExamples/example_projects.bzl
index e9bf6b2436d..9d6e943fc01 100644
--- a/wpilibjExamples/example_projects.bzl
+++ b/wpilibjExamples/example_projects.bzl
@@ -2,7 +2,7 @@ EXAMPLES_FOLDERS = [
     "addressableled",
     "apriltagsvision",
     "arcadedrive",
-    "arcadedrivexboxcontroller",
+    "arcadedrivegamepad",
     "armsimulation",
     "canpdp",
     "differentialdrivebot",
@@ -48,7 +48,7 @@ EXAMPLES_FOLDERS = [
     "swervedriveposeestimator",
     "sysidroutine",
     "tankdrive",
-    "tankdrivexboxcontroller",
+    "tankdrivegamepad",
     "unittest",
     "xrpreference",
 ]
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Main.java b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Main.java
similarity index 93%
rename from wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Main.java
rename to wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Main.java
index 24c2f9efcb7..c06bf250458 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Main.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Main.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.examples.tankdrivexboxcontroller;
+package org.wpilib.examples.arcadedrivegamepad;
 
 import org.wpilib.framework.RobotBase;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Robot.java
similarity index 87%
rename from wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java
rename to wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Robot.java
index f8fc5136805..97a0760dc46 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivegamepad/Robot.java
@@ -2,24 +2,24 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.examples.arcadedrivexboxcontroller;
+package org.wpilib.examples.arcadedrivegamepad;
 
 import org.wpilib.drive.DifferentialDrive;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with split
- * arcade steering and an Xbox controller.
+ * arcade steering and a gamepad.
  */
 public class Robot extends TimedRobot {
   private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
   private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
   private final DifferentialDrive m_robotDrive =
       new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);
-  private final XboxController m_driverController = new XboxController(0);
+  private final Gamepad m_driverController = new Gamepad(0);
 
   /** Called once at the beginning of the robot program. */
   public Robot() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java
index f4c73ae0e4b..1b5348f4ca1 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java
@@ -4,12 +4,12 @@
 
 package org.wpilib.examples.differentialdrivebot;
 
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 
 public class Robot extends TimedRobot {
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
   private final Drivetrain m_drive = new Drivetrain();
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
@@ -24,13 +24,13 @@ public void autonomousPeriodic() {
 
   @Override
   public void teleopPeriodic() {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     final var xSpeed = -m_speedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java
index 721a623fb72..faa49e5747d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java
@@ -4,7 +4,7 @@
 
 package org.wpilib.examples.differentialdriveposeestimator;
 
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 import org.wpilib.networktables.DoubleArrayTopic;
@@ -15,7 +15,7 @@ public class Robot extends TimedRobot {
   private final DoubleArrayTopic m_doubleArrayTopic =
       m_inst.getDoubleArrayTopic("m_doubleArrayTopic");
 
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
   private final Drivetrain m_drive = new Drivetrain(m_doubleArrayTopic);
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
@@ -40,13 +40,13 @@ public void robotPeriodic() {
 
   @Override
   public void teleopPeriodic() {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepad return
     // negative values when we push forward.
     final var xSpeed = -m_speedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
index 90d944b228b..aa3d76f8a34 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
@@ -6,8 +6,8 @@
 
 import org.wpilib.command2.Command;
 import org.wpilib.command2.Commands;
-import org.wpilib.command2.button.CommandXboxController;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.command2.button.CommandGamepad;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.examples.drivedistanceoffboard.Constants.OIConstants;
 import org.wpilib.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
 
@@ -26,8 +26,8 @@ public class RobotContainer {
   private final Command m_driveHalfSpeed = Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5));
 
   // The driver's controller
-  CommandXboxController m_driverController =
-      new CommandXboxController(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController =
+      new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -49,18 +49,18 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link org.wpilib.driverstation.GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then passing it to a {@link
    * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     // Drive at half speed when the bumper is held
-    m_driverController.rightBumper().onTrue(m_driveHalfSpeed).onFalse(m_driveFullSpeed);
+    m_driverController.rightShoulder().onTrue(m_driveHalfSpeed).onFalse(m_driveFullSpeed);
 
-    // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of 10 seconds
-    m_driverController.a().onTrue(m_robotDrive.profiledDriveDistance(3).withTimeout(10));
+    // Drive forward by 3 meters when the 'South Face' button is pressed, with a timeout of 10 seconds
+    m_driverController.southFace().onTrue(m_robotDrive.profiledDriveDistance(3).withTimeout(10));
 
-    // Do the same thing as above when the 'B' button is pressed, but without resetting the encoders
-    m_driverController.b().onTrue(m_robotDrive.dynamicProfiledDriveDistance(3).withTimeout(10));
+    // Do the same thing as above when the 'East Face' button is pressed, but without resetting the encoders
+    m_driverController.eastFace().onTrue(m_robotDrive.dynamicProfiledDriveDistance(3).withTimeout(10));
   }
 
   /**
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json b/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
index 5987765a7fe..2345e73340c 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
@@ -197,7 +197,7 @@
     "description": "Make human interface devices (HID) rumble.",
     "tags": [
       "Hardware",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "hidrumble",
     "gradlebase": "java",
@@ -291,7 +291,7 @@
       "Pneumatics",
       "Sendable",
       "DataLog",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "hatchbottraditional",
     "gradlebase": "java",
@@ -331,7 +331,7 @@
       "PID",
       "Gyro",
       "Profiled PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "rapidreactcommandbot",
     "gradlebase": "java",
@@ -355,7 +355,7 @@
     "tags": [
       "Swerve Drive",
       "Odometry",
-      "XboxController",
+      "Gamepad",
       "Gyro",
       "Encoder"
     ],
@@ -372,7 +372,7 @@
       "Odometry",
       "Encoder",
       "Gyro",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "mecanumbot",
     "gradlebase": "java",
@@ -387,7 +387,7 @@
       "Odometry",
       "Encoder",
       "Gyro",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "differentialdrivebot",
     "gradlebase": "java",
@@ -400,22 +400,22 @@
     "tags": [
       "Basic Robot",
       "Differential Drive",
-      "XboxController"
+      "Gamepad"
     ],
-    "foldername": "arcadedrivexboxcontroller",
+    "foldername": "arcadedrivegamepad",
     "gradlebase": "java",
     "mainclass": "Main",
     "commandversion": 2
   },
   {
-    "name": "Tank Drive Xbox Controller",
+    "name": "Tank Drive Gamepad",
     "description": "Control a differential drive with Xbox tank drive in teleop.",
     "tags": [
       "Basic Robot",
       "Differential Drive",
-      "XboxController"
+      "Gamepad"
     ],
-    "foldername": "tankdrivexboxcontroller",
+    "foldername": "tankdrivegamepad",
     "gradlebase": "java",
     "mainclass": "Main",
     "commandversion": 2
@@ -468,7 +468,7 @@
       "Differential Drive",
       "Trapezoid Profile",
       "Smart Motor Controller",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "drivedistanceoffboard",
     "gradlebase": "java",
@@ -550,7 +550,7 @@
       "Path Following",
       "Trajectory",
       "Encoder",
-      "XboxController",
+      "Gamepad",
       "Simulation"
     ],
     "foldername": "simpledifferentialdrivesimulation",
@@ -631,7 +631,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "differentialdriveposeestimator",
     "gradlebase": "java",
@@ -647,7 +647,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "mecanumdriveposeestimator",
     "gradlebase": "java",
@@ -663,7 +663,7 @@
       "Pose Estimator",
       "Vision",
       "PID",
-      "XboxController"
+      "Gamepad"
     ],
     "foldername": "swervedriveposeestimator",
     "gradlebase": "java",
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java
index e72123b6eb4..74821c6d1c5 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java
@@ -5,7 +5,7 @@
 package org.wpilib.examples.gettingstarted;
 
 import org.wpilib.drive.DifferentialDrive;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.system.Timer;
@@ -21,7 +21,7 @@ public class Robot extends TimedRobot {
   private final PWMSparkMax m_rightDrive = new PWMSparkMax(1);
   private final DifferentialDrive m_robotDrive =
       new DifferentialDrive(m_leftDrive::set, m_rightDrive::set);
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
   private final Timer m_timer = new Timer();
 
   /** Called once at the beginning of the robot program. */
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
index b28c86ed686..4313fd6af5c 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
@@ -4,11 +4,11 @@
 
 package org.wpilib.examples.hatchbottraditional;
 
-import static org.wpilib.driverstation.XboxController.Button;
+import static org.wpilib.driverstation.Gamepad.Button;
 
 import org.wpilib.command2.Command;
 import org.wpilib.command2.button.JoystickButton;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.examples.hatchbottraditional.Constants.AutoConstants;
 import org.wpilib.examples.hatchbottraditional.Constants.OIConstants;
 import org.wpilib.examples.hatchbottraditional.commands.ComplexAuto;
@@ -47,7 +47,7 @@ public class RobotContainer {
   SendableChooser<Command> m_chooser = new SendableChooser<>();
 
   // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  Gamepad m_driverController = new Gamepad(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -78,17 +78,17 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link org.wpilib.driverstation.GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then passing it to a {@link
    * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-    // Grab the hatch when the 'A' button is pressed.
-    new JoystickButton(m_driverController, Button.kA.value).onTrue(new GrabHatch(m_hatchSubsystem));
-    // Release the hatch when the 'B' button is pressed.
-    new JoystickButton(m_driverController, Button.kB.value)
+    // Grab the hatch when the 'South Face' button is pressed.
+    new JoystickButton(m_driverController, Button.kSouthFace.value).onTrue(new GrabHatch(m_hatchSubsystem));
+    // Release the hatch when the 'East Face' button is pressed.
+    new JoystickButton(m_driverController, Button.kEastFace.value)
         .onTrue(new ReleaseHatch(m_hatchSubsystem));
     // While holding the shoulder button, drive at half speed
-    new JoystickButton(m_driverController, Button.kRightBumper.value)
+    new JoystickButton(m_driverController, Button.kRightShoulder.value)
         .whileTrue(new HalveDriveSpeed(m_robotDrive));
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java
index 744d5999673..e0658e32d61 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java
@@ -5,12 +5,12 @@
 package org.wpilib.examples.hidrumble;
 
 import org.wpilib.driverstation.GenericHID.RumbleType;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 
 /** This is a demo program showing the use of GenericHID's rumble feature. */
 public class Robot extends TimedRobot {
-  private final XboxController m_hid = new XboxController(0);
+  private final Gamepad m_hid = new Gamepad(0);
 
   @Override
   public void autonomousInit() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java
index 8ab9e68bcb4..a34559054bd 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java
@@ -4,12 +4,12 @@
 
 package org.wpilib.examples.mecanumbot;
 
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 
 public class Robot extends TimedRobot {
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
   private final Drivetrain m_mecanum = new Drivetrain();
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
@@ -29,18 +29,18 @@ public void teleopPeriodic() {
   }
 
   private void driveWithJoystick(boolean fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     final var xSpeed = -m_xspeedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     final var ySpeed = -m_yspeedLimiter.calculate(m_controller.getLeftX()) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java
index 09fcae287b1..424854e119f 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java
@@ -4,12 +4,12 @@
 
 package org.wpilib.examples.mecanumdriveposeestimator;
 
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 
 public class Robot extends TimedRobot {
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
   private final Drivetrain m_mecanum = new Drivetrain();
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
@@ -29,18 +29,18 @@ public void teleopPeriodic() {
   }
 
   private void driveWithJoystick(boolean fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     final var xSpeed = -m_xspeedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     final var ySpeed = -m_yspeedLimiter.calculate(m_controller.getLeftX()) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
index 9fa35347dbc..7ec0a5547d8 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
@@ -7,7 +7,7 @@
 import static org.wpilib.command2.Commands.parallel;
 
 import org.wpilib.command2.Command;
-import org.wpilib.command2.button.CommandXboxController;
+import org.wpilib.command2.button.CommandGamepad;
 import org.wpilib.command2.button.Trigger;
 import org.wpilib.epilogue.Logged;
 import org.wpilib.examples.rapidreactcommandbot.Constants.AutoConstants;
@@ -35,8 +35,8 @@ public class RapidReactCommandBot {
   private final Pneumatics m_pneumatics = new Pneumatics();
 
   // The driver's controller
-  CommandXboxController m_driverController =
-      new CommandXboxController(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController =
+      new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /**
    * Use this method to define bindings between conditions and commands. These are useful for
@@ -60,14 +60,14 @@ public void configureBindings() {
         m_drive.arcadeDriveCommand(
             () -> -m_driverController.getLeftY(), () -> -m_driverController.getRightX()));
 
-    // Deploy the intake with the X button
-    m_driverController.x().onTrue(m_intake.intakeCommand());
-    // Retract the intake with the Y button
-    m_driverController.y().onTrue(m_intake.retractCommand());
+    // Deploy the intake with the east face button
+    m_driverController.eastFace().onTrue(m_intake.intakeCommand());
+    // Retract the intake with the north face button
+    m_driverController.northFace().onTrue(m_intake.retractCommand());
 
-    // Fire the shooter with the A button
+    // Fire the shooter with the south face button
     m_driverController
-        .a()
+        .southFace()
         .onTrue(
             parallel(
                     m_shooter.shootCommand(ShooterConstants.kShooterTargetRPS),
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java
index 76dbb22de85..5bfd7d8dcad 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java
@@ -9,7 +9,7 @@
 import org.wpilib.command2.button.Trigger;
 import org.wpilib.driverstation.GenericHID;
 import org.wpilib.driverstation.Joystick;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.examples.romireference.commands.ArcadeDrive;
 import org.wpilib.examples.romireference.commands.AutonomousDistance;
 import org.wpilib.examples.romireference.commands.AutonomousTime;
@@ -56,7 +56,7 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then passing it to a {@link
    * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
index fbff63c7737..f30d634b362 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
@@ -9,7 +9,7 @@
 import org.wpilib.command2.PrintCommand;
 import org.wpilib.command2.SelectCommand;
 import org.wpilib.driverstation.GenericHID;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -52,7 +52,7 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link XboxController}), and then calling passing it to a
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then calling passing it to a
    * {@link org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {}
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java
index 30379ef0f5a..257a5aa7523 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java
@@ -5,7 +5,7 @@
 package org.wpilib.examples.simpledifferentialdrivesimulation;
 
 import java.util.List;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.controller.LTVUnicycleController;
 import org.wpilib.math.filter.SlewRateLimiter;
@@ -18,7 +18,7 @@
 import org.wpilib.system.Timer;
 
 public class Robot extends TimedRobot {
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
   // to 1.
@@ -61,7 +61,7 @@ public void autonomousPeriodic() {
 
   @Override
   public void teleopPeriodic() {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     double xSpeed = -m_speedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java
index 6668e8abe95..d66e7d5c9d0 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java
@@ -4,13 +4,13 @@
 
 package org.wpilib.examples.swervebot;
 
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 import org.wpilib.math.util.MathUtil;
 
 public class Robot extends TimedRobot {
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
   private final Drivetrain m_swerve = new Drivetrain();
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
@@ -30,7 +30,7 @@ public void teleopPeriodic() {
   }
 
   private void driveWithJoystick(boolean fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     final var xSpeed =
         -m_xspeedLimiter.calculate(MathUtil.applyDeadband(m_controller.getLeftY(), 0.02))
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java
index 1fb7414eb47..3d4508753f4 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java
@@ -4,12 +4,12 @@
 
 package org.wpilib.examples.swervedriveposeestimator;
 
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.math.filter.SlewRateLimiter;
 
 public class Robot extends TimedRobot {
-  private final XboxController m_controller = new XboxController(0);
+  private final Gamepad m_controller = new Gamepad(0);
   private final Drivetrain m_swerve = new Drivetrain();
 
   // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
@@ -29,18 +29,18 @@ public void teleopPeriodic() {
   }
 
   private void driveWithJoystick(boolean fieldRelative) {
-    // Get the x speed. We are inverting this because Xbox controllers return
+    // Get the x speed. We are inverting this because gamepads return
     // negative values when we push forward.
     final var xSpeed = -m_xspeedLimiter.calculate(m_controller.getLeftY()) * Drivetrain.kMaxSpeed;
 
     // Get the y speed or sideways/strafe speed. We are inverting this because
-    // we want a positive value when we pull to the left. Xbox controllers
+    // we want a positive value when we pull to the left. Gamepads
     // return positive values when you pull to the right by default.
     final var ySpeed = -m_yspeedLimiter.calculate(m_controller.getLeftX()) * Drivetrain.kMaxSpeed;
 
     // Get the rate of angular rotation. We are inverting this because we want a
     // positive value when we pull to the left (remember, CCW is positive in
-    // mathematics). Xbox controllers return positive values when you pull to
+    // mathematics). Gamepads return positive values when you pull to
     // the right by default.
     final var rot = -m_rotLimiter.calculate(m_controller.getRightX()) * Drivetrain.kMaxAngularSpeed;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
index 236399efaf5..af8bca53e52 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
@@ -5,7 +5,7 @@
 package org.wpilib.examples.sysidroutine;
 
 import org.wpilib.command2.Command;
-import org.wpilib.command2.button.CommandXboxController;
+import org.wpilib.command2.button.CommandGamepad;
 import org.wpilib.command2.button.Trigger;
 import org.wpilib.command2.sysid.SysIdRoutine;
 import org.wpilib.examples.sysidroutine.Constants.OIConstants;
@@ -24,8 +24,8 @@ public class SysIdRoutineBot {
   private final Shooter m_shooter = new Shooter();
 
   // The driver's controller
-  CommandXboxController m_driverController =
-      new CommandXboxController(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController =
+      new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /**
    * Use this method to define bindings between conditions and commands. These are useful for
@@ -46,40 +46,40 @@ public void configureBindings() {
     // Using bumpers as a modifier and combining it with the buttons so that we can have both sets
     // of bindings at once
     m_driverController
-        .a()
-        .and(m_driverController.rightBumper())
+        .southFace()
+        .and(m_driverController.rightShoulder())
         .whileTrue(m_drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
     m_driverController
-        .b()
-        .and(m_driverController.rightBumper())
+        .eastFace()
+        .and(m_driverController.rightShoulder())
         .whileTrue(m_drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
     m_driverController
-        .x()
-        .and(m_driverController.rightBumper())
+        .westFace()
+        .and(m_driverController.rightShoulder())
         .whileTrue(m_drive.sysIdDynamic(SysIdRoutine.Direction.kForward));
     m_driverController
-        .y()
-        .and(m_driverController.rightBumper())
+        .northFace()
+        .and(m_driverController.rightShoulder())
         .whileTrue(m_drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
 
     // Control the shooter wheel with the left trigger
     m_shooter.setDefaultCommand(m_shooter.runShooter(m_driverController::getLeftTriggerAxis));
 
     m_driverController
-        .a()
-        .and(m_driverController.leftBumper())
+        .southFace()
+        .and(m_driverController.leftShoulder())
         .whileTrue(m_shooter.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
     m_driverController
-        .b()
-        .and(m_driverController.leftBumper())
+        .eastFace()
+        .and(m_driverController.leftShoulder())
         .whileTrue(m_shooter.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
     m_driverController
-        .x()
-        .and(m_driverController.leftBumper())
+        .westFace()
+        .and(m_driverController.leftShoulder())
         .whileTrue(m_shooter.sysIdDynamic(SysIdRoutine.Direction.kForward));
     m_driverController
-        .y()
-        .and(m_driverController.leftBumper())
+        .northFace()
+        .and(m_driverController.leftShoulder())
         .whileTrue(m_shooter.sysIdDynamic(SysIdRoutine.Direction.kReverse));
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Main.java b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Main.java
similarity index 93%
rename from wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Main.java
rename to wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Main.java
index ca1e1467284..6f40c45ad70 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Main.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Main.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.examples.arcadedrivexboxcontroller;
+package org.wpilib.examples.tankdrivegamepad;
 
 import org.wpilib.framework.RobotBase;
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Robot.java
similarity index 88%
rename from wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java
rename to wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Robot.java
index 63ab1d9258c..f72f6612a0b 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivegamepad/Robot.java
@@ -2,24 +2,24 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.examples.tankdrivexboxcontroller;
+package org.wpilib.examples.tankdrivegamepad;
 
 import org.wpilib.drive.DifferentialDrive;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.motor.PWMSparkMax;
 import org.wpilib.util.sendable.SendableRegistry;
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with tank
- * steering and an Xbox controller.
+ * steering and a gamepad.
  */
 public class Robot extends TimedRobot {
   private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
   private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
   private final DifferentialDrive m_robotDrive =
       new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);
-  private final XboxController m_driverController = new XboxController(0);
+  private final Gamepad m_driverController = new Gamepad(0);
 
   /** Called once at the beginning of the robot program. */
   public Robot() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java
index e2796a27776..42d488bb782 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java
@@ -11,7 +11,7 @@
 import org.wpilib.command2.button.Trigger;
 import org.wpilib.driverstation.GenericHID;
 import org.wpilib.driverstation.Joystick;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.examples.xrpreference.commands.ArcadeDrive;
 import org.wpilib.examples.xrpreference.commands.AutonomousDistance;
 import org.wpilib.examples.xrpreference.commands.AutonomousTime;
@@ -48,7 +48,7 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then passing it to a {@link
    * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/commandv2/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/templates/commandv2/RobotContainer.java
index ba03fcf4978..e6984909106 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/commandv2/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/commandv2/RobotContainer.java
@@ -5,7 +5,7 @@
 package org.wpilib.templates.commandv2;
 
 import org.wpilib.command2.Command;
-import org.wpilib.command2.button.CommandXboxController;
+import org.wpilib.command2.button.CommandGamepad;
 import org.wpilib.command2.button.Trigger;
 import org.wpilib.templates.commandv2.Constants.OperatorConstants;
 import org.wpilib.templates.commandv2.commands.Autos;
@@ -22,9 +22,8 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
-  // Replace with CommandPS4Controller or CommandJoystick if needed
-  private final CommandXboxController m_driverController =
-      new CommandXboxController(OperatorConstants.kDriverControllerPort);
+  private final CommandGamepad m_driverController =
+      new CommandGamepad(OperatorConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -36,8 +35,7 @@ public RobotContainer() {
    * Use this method to define your trigger->command mappings. Triggers can be created via the
    * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
    * predicate, or via the named factories in {@link org.wpilib.command2.button.CommandGenericHID}'s
-   * subclasses for {@link CommandXboxController Xbox}/{@link
-   * org.wpilib.command2.button.CommandPS4Controller PS4} controllers or {@link
+   * subclasses for {@link CommandGamepad Gamepad} gamepads or {@link
    * org.wpilib.command2.button.CommandJoystick Flight joysticks}.
    */
   private void configureBindings() {
@@ -45,9 +43,9 @@ private void configureBindings() {
     new Trigger(m_exampleSubsystem::exampleCondition)
         .onTrue(new ExampleCommand(m_exampleSubsystem));
 
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
+    // Schedule `exampleMethodCommand` when the Gamepad's east face button is pressed,
     // cancelling on release.
-    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
+    m_driverController.eastFace().whileTrue(m_exampleSubsystem.exampleMethodCommand());
   }
 
   /**
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/RobotContainer.java
index 3276d9c0388..5994d1914cf 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandv2/RobotContainer.java
@@ -5,7 +5,7 @@
 package org.wpilib.templates.romicommandv2;
 
 import org.wpilib.command2.Command;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.templates.romicommandv2.commands.ExampleCommand;
 import org.wpilib.templates.romicommandv2.subsystems.RomiDrivetrain;
 
@@ -30,7 +30,7 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link org.wpilib.driverstation.GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then passing it to a {@link
    * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {}
diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/RobotContainer.java
index f3a52b2ca88..193189ff5a0 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandv2/RobotContainer.java
@@ -5,7 +5,7 @@
 package org.wpilib.templates.xrpcommandv2;
 
 import org.wpilib.command2.Command;
-import org.wpilib.driverstation.XboxController;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.templates.xrpcommandv2.commands.ExampleCommand;
 import org.wpilib.templates.xrpcommandv2.subsystems.XRPDrivetrain;
 
@@ -30,7 +30,7 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link org.wpilib.driverstation.GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then passing it to a {@link
    * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {}

From 4070c9d1089cfdeb7b724f63abb348c19a5c0cdd Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sat, 31 Jan 2026 13:46:59 -0800
Subject: [PATCH 2/7] Formatting and other fixes

---
 wpilibc/robotpy_pybind_build_info.bzl         | 80 +++++++++----------
 wpilibc/src/main/python/pyproject.toml        | 16 ++--
 .../cpp/RobotContainer.cpp                    |  8 +-
 .../cpp/RobotContainer.cpp                    |  3 +-
 .../hatchbotinlined/RobotContainer.java       | 22 ++---
 5 files changed, 65 insertions(+), 64 deletions(-)

diff --git a/wpilibc/robotpy_pybind_build_info.bzl b/wpilibc/robotpy_pybind_build_info.bzl
index 5a534aea6dc..82b66a143b5 100644
--- a/wpilibc/robotpy_pybind_build_info.bzl
+++ b/wpilibc/robotpy_pybind_build_info.bzl
@@ -140,51 +140,51 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
             ],
         ),
         struct(
-            class_name = "PS4Controller",
-            yml_file = "semiwrap/PS4Controller.yml",
+            class_name = "NiDsPS4Controller",
+            yml_file = "semiwrap/NiDsPS4Controller.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/PS4Controller.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/NiDsPS4Controller.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::PS4Controller", "wpi__PS4Controller.hpp"),
-                ("wpi::PS4Controller::Button", "wpi__PS4Controller__Button.hpp"),
-                ("wpi::PS4Controller::Axis", "wpi__PS4Controller__Axis.hpp"),
+                ("wpi::NiDsPS4Controller", "wpi__NiDsPS4Controller.hpp"),
+                ("wpi::NiDsPS4Controller::Button", "wpi__NiDsPS4Controller__Button.hpp"),
+                ("wpi::NiDsPS4Controller::Axis", "wpi__NiDsPS4Controller__Axis.hpp"),
             ],
         ),
         struct(
-            class_name = "PS5Controller",
-            yml_file = "semiwrap/PS5Controller.yml",
+            class_name = "NiDsPS5Controller",
+            yml_file = "semiwrap/NiDsPS5Controller.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/PS5Controller.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/NiDsPS5Controller.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::PS5Controller", "wpi__PS5Controller.hpp"),
-                ("wpi::PS5Controller::Button", "wpi__PS5Controller__Button.hpp"),
-                ("wpi::PS5Controller::Axis", "wpi__PS5Controller__Axis.hpp"),
+                ("wpi::NiDsPS5Controller", "wpi__NiDsPS5Controller.hpp"),
+                ("wpi::NiDsPS5Controller::Button", "wpi__NiDsPS5Controller__Button.hpp"),
+                ("wpi::NiDsPS5Controller::Axis", "wpi__NiDsPS5Controller__Axis.hpp"),
             ],
         ),
         struct(
-            class_name = "StadiaController",
-            yml_file = "semiwrap/StadiaController.yml",
+            class_name = "NiDsStadiaController",
+            yml_file = "semiwrap/NiDsStadiaController.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/StadiaController.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/NiDsStadiaController.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::StadiaController", "wpi__StadiaController.hpp"),
-                ("wpi::StadiaController::Button", "wpi__StadiaController__Button.hpp"),
-                ("wpi::StadiaController::Axis", "wpi__StadiaController__Axis.hpp"),
+                ("wpi::NiDsStadiaController", "wpi__NiDsStadiaController.hpp"),
+                ("wpi::NiDsStadiaController::Button", "wpi__NiDsStadiaController__Button.hpp"),
+                ("wpi::NiDsStadiaController::Axis", "wpi__NiDsStadiaController__Axis.hpp"),
             ],
         ),
         struct(
-            class_name = "XboxController",
-            yml_file = "semiwrap/XboxController.yml",
+            class_name = "NiDsXboxController",
+            yml_file = "semiwrap/NiDsXboxController.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/XboxController.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/NiDsXboxController.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::XboxController", "wpi__XboxController.hpp"),
-                ("wpi::XboxController::Button", "wpi__XboxController__Button.hpp"),
-                ("wpi::XboxController::Axis", "wpi__XboxController__Axis.hpp"),
+                ("wpi::NiDsXboxController", "wpi__NiDsXboxController.hpp"),
+                ("wpi::NiDsXboxController::Button", "wpi__NiDsXboxController__Button.hpp"),
+                ("wpi::NiDsXboxController::Axis", "wpi__NiDsXboxController__Axis.hpp"),
             ],
         ),
         struct(
@@ -1329,23 +1329,23 @@ def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs =
             ],
         ),
         struct(
-            class_name = "PS4ControllerSim",
-            yml_file = "semiwrap/simulation/PS4ControllerSim.yml",
+            class_name = "NiDsPS4ControllerSim",
+            yml_file = "semiwrap/simulation/NiDsPS4ControllerSim.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/PS4ControllerSim.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/NiDsPS4ControllerSim.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::sim::PS4ControllerSim", "wpi__sim__PS4ControllerSim.hpp"),
+                ("wpi::sim::NiDsPS4ControllerSim", "wpi__sim__NiDsPS4ControllerSim.hpp"),
             ],
         ),
         struct(
-            class_name = "PS5ControllerSim",
-            yml_file = "semiwrap/simulation/PS5ControllerSim.yml",
+            class_name = "NiDsPS5ControllerSim",
+            yml_file = "semiwrap/simulation/NiDsPS5ControllerSim.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/PS5ControllerSim.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/NiDsPS5ControllerSim.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::sim::PS5ControllerSim", "wpi__sim__PS5ControllerSim.hpp"),
+                ("wpi::sim::NiDsPS5ControllerSim", "wpi__sim__NiDsPS5ControllerSim.hpp"),
             ],
         ),
         struct(
@@ -1467,23 +1467,23 @@ def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs =
             ],
         ),
         struct(
-            class_name = "StadiaControllerSim",
-            yml_file = "semiwrap/simulation/StadiaControllerSim.yml",
+            class_name = "NiDsStadiaControllerSim",
+            yml_file = "semiwrap/simulation/NiDsStadiaControllerSim.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/StadiaControllerSim.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/NiDsStadiaControllerSim.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::sim::StadiaControllerSim", "wpi__sim__StadiaControllerSim.hpp"),
+                ("wpi::sim::NiDsStadiaControllerSim", "wpi__sim__NiDsStadiaControllerSim.hpp"),
             ],
         ),
         struct(
-            class_name = "XboxControllerSim",
-            yml_file = "semiwrap/simulation/XboxControllerSim.yml",
+            class_name = "NiDsXboxControllerSim",
+            yml_file = "semiwrap/simulation/NiDsXboxControllerSim.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/XboxControllerSim.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/simulation/NiDsXboxControllerSim.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::sim::XboxControllerSim", "wpi__sim__XboxControllerSim.hpp"),
+                ("wpi::sim::NiDsXboxControllerSim", "wpi__sim__NiDsXboxControllerSim.hpp"),
             ],
         ),
     ]
diff --git a/wpilibc/src/main/python/pyproject.toml b/wpilibc/src/main/python/pyproject.toml
index c5658204af5..539838d2c58 100644
--- a/wpilibc/src/main/python/pyproject.toml
+++ b/wpilibc/src/main/python/pyproject.toml
@@ -109,10 +109,10 @@ DriverStation = "wpi/driverstation/DriverStation.hpp"
 Gamepad = "wpi/driverstation/Gamepad.hpp"
 GenericHID = "wpi/driverstation/GenericHID.hpp"
 Joystick = "wpi/driverstation/Joystick.hpp"
-PS4Controller = "wpi/driverstation/PS4Controller.hpp"
-PS5Controller = "wpi/driverstation/PS5Controller.hpp"
-StadiaController = "wpi/driverstation/StadiaController.hpp"
-XboxController = "wpi/driverstation/XboxController.hpp"
+NiDsPS4Controller = "wpi/driverstation/NiDsPS4Controller.hpp"
+NiDsPS5Controller = "wpi/driverstation/NiDsPS5Controller.hpp"
+NiDsStadiaController = "wpi/driverstation/NiDsStadiaController.hpp"
+NiDsXboxController = "wpi/driverstation/NiDsXboxController.hpp"
 
 # wpi/event
 BooleanEvent = "wpi/event/BooleanEvent.hpp"
@@ -264,8 +264,8 @@ GamepadSim = "wpi/simulation/GamepadSim.hpp"
 GenericHIDSim = "wpi/simulation/GenericHIDSim.hpp"
 JoystickSim = "wpi/simulation/JoystickSim.hpp"
 LinearSystemSim = "wpi/simulation/LinearSystemSim.hpp"
-PS4ControllerSim = "wpi/simulation/PS4ControllerSim.hpp"
-PS5ControllerSim = "wpi/simulation/PS5ControllerSim.hpp"
+NiDsPS4ControllerSim = "wpi/simulation/NiDsPS4ControllerSim.hpp"
+NiDsPS5ControllerSim = "wpi/simulation/NiDsPS5ControllerSim.hpp"
 PWMSim = "wpi/simulation/PWMSim.hpp"
 PneumaticsBaseSim = "wpi/simulation/PneumaticsBaseSim.hpp"
 PowerDistributionSim = "wpi/simulation/PowerDistributionSim.hpp"
@@ -278,5 +278,5 @@ SimDeviceSim = "wpi/simulation/SimDeviceSim.hpp"
 SimHooks = "wpi/simulation/SimHooks.hpp"
 SingleJointedArmSim = "wpi/simulation/SingleJointedArmSim.hpp"
 SolenoidSim = "wpi/simulation/SolenoidSim.hpp"
-StadiaControllerSim = "wpi/simulation/StadiaControllerSim.hpp"
-XboxControllerSim = "wpi/simulation/XboxControllerSim.hpp"
+NiDsStadiaControllerSim = "wpi/simulation/NiDsStadiaControllerSim.hpp"
+NiDsXboxControllerSim = "wpi/simulation/NiDsXboxControllerSim.hpp"
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index 9800bce7eff..295d5426e87 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -29,13 +29,13 @@ void RobotContainer::ConfigureButtonBindings() {
       .OnTrue(m_driveHalfSpeed.get())
       .OnFalse(m_driveFullSpeed.get());
 
-  // Drive forward by 3 meters when the 'South Face' button is pressed, with a timeout of
-  // 10 seconds
+  // Drive forward by 3 meters when the 'South Face' button is pressed, with a
+  // timeout of 10 seconds
   m_driverController.SouthFace().OnTrue(
       m_drive.ProfiledDriveDistance(3_m).WithTimeout(10_s));
 
-  // Do the same thing as above when the 'East Face' button is pressed, but without
-  // resetting the encoders
+  // Do the same thing as above when the 'East Face' button is pressed, but
+  // without resetting the encoders
   m_driverController.EastFace().OnTrue(
       m_drive.DynamicProfiledDriveDistance(3_m).WithTimeout(10_s));
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index 2e918ce82ba..70a58688c8c 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -40,7 +40,8 @@ void RobotContainer::ConfigureButtonBindings() {
   // the scheduler thus, no memory leaks!
 
   // Grab the hatch when the 'South Face' button is pressed.
-  wpi::cmd::JoystickButton(&m_driverController, wpi::Gamepad::Button::kSouthFace)
+  wpi::cmd::JoystickButton(&m_driverController,
+                           wpi::Gamepad::Button::kSouthFace)
       .OnTrue(GrabHatch(&m_hatch).ToPtr());
   // Release the hatch when the 'East Face' button is pressed.
   wpi::cmd::JoystickButton(&m_driverController, wpi::Gamepad::Button::kEastFace)
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
index e4f34f7edb8..9fb833ab52d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
@@ -6,8 +6,8 @@
 
 import org.wpilib.command2.Command;
 import org.wpilib.command2.Commands;
-import org.wpilib.command2.button.CommandPS4Controller;
-import org.wpilib.driverstation.PS4Controller;
+import org.wpilib.command2.button.CommandGamepad;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.examples.hatchbotinlined.Constants.OIConstants;
 import org.wpilib.examples.hatchbotinlined.commands.Autos;
 import org.wpilib.examples.hatchbotinlined.subsystems.DriveSubsystem;
@@ -38,8 +38,8 @@ public class RobotContainer {
   SendableChooser<Command> m_chooser = new SendableChooser<>();
 
   // The driver's controller
-  CommandPS4Controller m_driverController =
-      new CommandPS4Controller(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController =
+      new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -72,17 +72,17 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link org.wpilib.driverstation.GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link PS4Controller}), and then passing it to a {@link
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then passing it to a {@link
    * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-    // Grab the hatch when the Circle button is pressed.
-    m_driverController.circle().onTrue(m_hatchSubsystem.grabHatchCommand());
-    // Release the hatch when the Square button is pressed.
-    m_driverController.square().onTrue(m_hatchSubsystem.releaseHatchCommand());
-    // While holding R1, drive at half speed
+    // Grab the hatch when the east face button is pressed.
+    m_driverController.eastFace().onTrue(m_hatchSubsystem.grabHatchCommand());
+    // Release the hatch when the west face button is pressed.
+    m_driverController.westFace().onTrue(m_hatchSubsystem.releaseHatchCommand());
+    // While holding right bumper, drive at half speed
     m_driverController
-        .R1()
+        .rightShoulder()
         .onTrue(Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5)))
         .onFalse(Commands.runOnce(() -> m_robotDrive.setMaxOutput(1)));
   }

From 8c2d6568b5da2ede92a84c24189c30135317c610 Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sat, 31 Jan 2026 14:19:43 -0800
Subject: [PATCH 3/7] Update builds

---
 .github/workflows/bazel.yml                   |  2 +-
 .../native/cpp/simulation/hidsim.cpp.jinja    | 13 -------
 .../include/wpi/simulation/hidsim.hpp.jinja   | 34 -------------------
 .../wpi/simulation/NiDsPS4ControllerSim.hpp   |  1 -
 .../wpi/simulation/NiDsPS5ControllerSim.hpp   |  1 -
 .../simulation/NiDsStadiaControllerSim.hpp    |  1 -
 .../wpi/simulation/NiDsXboxControllerSim.hpp  |  1 -
 .../python/semiwrap/NiDsPS4Controller.yml     |  3 --
 .../python/semiwrap/NiDsPS5Controller.yml     |  3 --
 .../python/semiwrap/NiDsStadiaController.yml  |  6 ----
 .../python/semiwrap/NiDsXboxController.yml    |  6 ----
 .../simulation/NiDsPS4ControllerSim.yml       |  2 --
 .../simulation/NiDsPS5ControllerSim.yml       |  2 --
 .../simulation/NiDsXboxControllerSim.yml      |  4 ---
 14 files changed, 1 insertion(+), 78 deletions(-)

diff --git a/.github/workflows/bazel.yml b/.github/workflows/bazel.yml
index 138356b82e4..83b61a14850 100644
--- a/.github/workflows/bazel.yml
+++ b/.github/workflows/bazel.yml
@@ -73,7 +73,7 @@ jobs:
 
       - name: Install apt dependencies
         if: matrix.os == 'ubuntu-24.04'
-        run: sudo apt-get install -y libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+        run: sudo apt-get update && sudo apt-get install -y libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
 
       - if: matrix.os == 'ubuntu-24.04'
         uses: bazel-contrib/setup-bazel@0.15.0
diff --git a/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja b/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja
index e3a39046a82..06a2943f49e 100644
--- a/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja
@@ -40,16 +40,3 @@ void {{ ConsoleName }}ControllerSim::Set{{ capitalize_first(button.name) }}Butto
   SetRawButton({{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, value);
 }
 {% endfor -%}
-{% if ConsoleName == "Xbox" %}
-void {{ ConsoleName }}ControllerSim::SetLeftBumper(bool value) {
-  SetRawButton({{ ConsoleName }}Controller::Button::kLeftBumper, value);
-}
-
-void {{ ConsoleName }}ControllerSim::SetRightBumper(bool value) {
-  SetRawButton({{ ConsoleName }}Controller::Button::kRightBumper, value);
-}
-{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
-void {{ ConsoleName }}ControllerSim::SetTouchpad(bool value) {
-  SetRawButton({{ ConsoleName }}Controller::Button::kTouchpad, value);
-}
-{% endif %}
diff --git a/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
index 94d80642447..aab4c159b66 100644
--- a/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
+++ b/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
@@ -58,40 +58,6 @@ class {{ ConsoleName }}ControllerSim : public GenericHIDSim {
    */
   void Set{{ capitalize_first(button.name) }}Button(bool value);
 {% endfor -%}
-{% if ConsoleName == "Xbox" %}
-  /**
-   * Change the left bumper value of the joystick.
-   *
-   * @param value the new value
-   * @deprecated Use SetLeftBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use SetLeftBumperButton instead")]]
-  void SetLeftBumper(bool value);
-
-  /**
-   * Change the right bumper value of the joystick.
-   *
-   * @param value the new value
-   * @deprecated Use SetRightBumperButton instead. This function is deprecated
-   * for removal to make function names consistent to allow the HID classes to
-   * be automatically generated.
-   */
-  [[deprecated("Use SetRightBumperButton instead")]]
-  void SetRightBumper(bool value);
-{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
-  /**
-   * Change the value of the touchpad button on the controller.
-   *
-   * @param value the new value
-   * @deprecated Use SetTouchpadButton instead. This function is deprecated for
-   * removal to make function names consistent to allow the HID classes to be
-   * automatically generated.
-   */
-  [[deprecated("Use SetTouchpadButton instead")]]
-  void SetTouchpad(bool value);
-{% endif %}
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS4ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS4ControllerSim.hpp
index 59f8207f28b..4a9aff31f9e 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS4ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS4ControllerSim.hpp
@@ -172,7 +172,6 @@ class NiDsPS4ControllerSim : public GenericHIDSim {
    * @param value the new value
    */
   void SetTouchpadButton(bool value);
-
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS5ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS5ControllerSim.hpp
index 04eb31b0787..22da12d1b74 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS5ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsPS5ControllerSim.hpp
@@ -172,7 +172,6 @@ class NiDsPS5ControllerSim : public GenericHIDSim {
    * @param value the new value
    */
   void SetTouchpadButton(bool value);
-
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsStadiaControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsStadiaControllerSim.hpp
index 7c9d2db1480..6d9224f0416 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsStadiaControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsStadiaControllerSim.hpp
@@ -165,7 +165,6 @@ class NiDsStadiaControllerSim : public GenericHIDSim {
    * @param value the new value
    */
   void SetFrameButton(bool value);
-
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsXboxControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsXboxControllerSim.hpp
index dda8d0b144c..415a78ee1de 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsXboxControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/NiDsXboxControllerSim.hpp
@@ -144,7 +144,6 @@ class NiDsXboxControllerSim : public GenericHIDSim {
    * @param value the new value
    */
   void SetRightStickButton(bool value);
-
 };
 
 }  // namespace sim
diff --git a/wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml b/wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml
index ca3e4c70792..bd7a45773bb 100644
--- a/wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml
@@ -66,9 +66,6 @@ classes:
       GetPSButtonPressed:
       GetPSButtonReleased:
       PS:
-      GetTouchpad:
-      GetTouchpadPressed:
-      GetTouchpadReleased:
       Touchpad:
       GetTouchpadButton:
       GetTouchpadButtonPressed:
diff --git a/wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml b/wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml
index 07c8dbfd12e..4a65baea4f2 100644
--- a/wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml
@@ -65,9 +65,6 @@ classes:
       GetPSButtonPressed:
       GetPSButtonReleased:
       PS:
-      GetTouchpad:
-      GetTouchpadPressed:
-      GetTouchpadReleased:
       Touchpad:
       GetTouchpadButton:
       GetTouchpadButtonPressed:
diff --git a/wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml b/wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml
index b18859ae8c9..8e435a1d897 100644
--- a/wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml
@@ -11,12 +11,6 @@ classes:
       GetRightX:
       GetLeftY:
       GetRightY:
-      GetLeftBumper:
-      GetRightBumper:
-      GetLeftBumperPressed:
-      GetRightBumperPressed:
-      GetLeftBumperReleased:
-      GetRightBumperReleased:
       LeftBumper:
       RightBumper:
       GetLeftStickButton:
diff --git a/wpilibc/src/main/python/semiwrap/NiDsXboxController.yml b/wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
index 5a7b0d36b16..d1768505e7b 100644
--- a/wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
+++ b/wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
@@ -15,12 +15,6 @@ classes:
       GetRightY:
       GetLeftTriggerAxis:
       GetRightTriggerAxis:
-      GetLeftBumper:
-      GetRightBumper:
-      GetLeftBumperPressed:
-      GetRightBumperPressed:
-      GetLeftBumperReleased:
-      GetRightBumperReleased:
       LeftBumper:
       RightBumper:
       GetLeftStickButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/NiDsPS4ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS4ControllerSim.yml
index 04955a58629..0b8c198ec59 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/NiDsPS4ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS4ControllerSim.yml
@@ -28,6 +28,4 @@ classes:
       SetL3Button:
       SetR3Button:
       SetPSButton:
-      SetTouchpad:
-        ignore: true
       SetTouchpadButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/NiDsPS5ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS5ControllerSim.yml
index 7f37b5a1a27..b23a0aea9e4 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/NiDsPS5ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/NiDsPS5ControllerSim.yml
@@ -28,6 +28,4 @@ classes:
       SetL3Button:
       SetR3Button:
       SetPSButton:
-      SetTouchpad:
-        ignore: true
       SetTouchpadButton:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/NiDsXboxControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/NiDsXboxControllerSim.yml
index ef41b50a15f..b7caf292037 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/NiDsXboxControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/NiDsXboxControllerSim.yml
@@ -17,10 +17,6 @@ classes:
       SetRightY:
       SetLeftTriggerAxis:
       SetRightTriggerAxis:
-      SetLeftBumper:
-        ignore: true
-      SetRightBumper:
-        ignore: true
       SetLeftStickButton:
       SetRightStickButton:
       SetAButton:

From 6726020e9551ee4aee155a723cfc08b247d4f8b7 Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sat, 31 Jan 2026 15:28:37 -0800
Subject: [PATCH 4/7] Fix a few more build things

---
 commandsv2/src/main/python/commands2/button/__init__.py   | 8 ++++----
 wpilibcExamples/src/main/cpp/examples/examples.json       | 2 +-
 .../src/main/java/org/wpilib/examples/examples.json       | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/commandsv2/src/main/python/commands2/button/__init__.py b/commandsv2/src/main/python/commands2/button/__init__.py
index f6947397cbd..d7a270bc1ce 100644
--- a/commandsv2/src/main/python/commands2/button/__init__.py
+++ b/commandsv2/src/main/python/commands2/button/__init__.py
@@ -1,7 +1,7 @@
 from .commandgenerichid import CommandGenericHID
 from .commandjoystick import CommandJoystick
-from .commandps4controller import CommandPS4Controller
-from .commandxboxcontroller import CommandXboxController
+from .commandnidsps4controller import CommandNiDsPS4Controller
+from .commandnidsxboxcontroller import CommandNiDsXboxController
 from .joystickbutton import JoystickButton
 from .networkbutton import NetworkButton
 from .povbutton import POVButton
@@ -11,8 +11,8 @@
     "Trigger",
     "CommandGenericHID",
     "CommandJoystick",
-    "CommandPS4Controller",
-    "CommandXboxController",
+    "CommandNiDsPS4Controller",
+    "CommandNiDsXboxController",
     "JoystickButton",
     "NetworkButton",
     "POVButton",
diff --git a/wpilibcExamples/src/main/cpp/examples/examples.json b/wpilibcExamples/src/main/cpp/examples/examples.json
index c9180f0b7af..fd498847656 100644
--- a/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -322,7 +322,7 @@
       "Sendable",
       "DataLog",
       "Pneumatics",
-      "PS4Controller"
+      "Gamepad"
     ],
     "foldername": "HatchbotInlined",
     "gradlebase": "cpp",
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json b/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
index 2345e73340c..765abb24248 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
@@ -309,7 +309,7 @@
       "Pneumatics",
       "Sendable",
       "DataLog",
-      "PS4Controller"
+      "Gamepad"
     ],
     "foldername": "hatchbotinlined",
     "gradlebase": "java",

From 942c08c090acf72c2d818e7335451614208fdebc Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sat, 31 Jan 2026 15:41:03 -0800
Subject: [PATCH 5/7] Lint

---
 .../examples/drivedistanceoffboard/RobotContainer.java   | 9 ++++++---
 .../examples/hatchbottraditional/RobotContainer.java     | 3 ++-
 .../main/java/org/wpilib/examples/hidrumble/Robot.java   | 2 +-
 .../wpilib/examples/romireference/RobotContainer.java    | 2 +-
 .../wpilib/examples/selectcommand/RobotContainer.java    | 2 +-
 .../org/wpilib/examples/xrpreference/RobotContainer.java | 2 +-
 6 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
index aa3d76f8a34..edcf0ddadc1 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
@@ -56,11 +56,14 @@ private void configureButtonBindings() {
     // Drive at half speed when the bumper is held
     m_driverController.rightShoulder().onTrue(m_driveHalfSpeed).onFalse(m_driveFullSpeed);
 
-    // Drive forward by 3 meters when the 'South Face' button is pressed, with a timeout of 10 seconds
+    // Drive forward by 3 meters when the 'South Face' button is pressed, with a timeout of 10
+    // seconds
     m_driverController.southFace().onTrue(m_robotDrive.profiledDriveDistance(3).withTimeout(10));
 
-    // Do the same thing as above when the 'East Face' button is pressed, but without resetting the encoders
-    m_driverController.eastFace().onTrue(m_robotDrive.dynamicProfiledDriveDistance(3).withTimeout(10));
+    // Do the same thing as above when the 'East Face' button is pressed, but without resetting the
+    // encoders
+    m_driverController.eastFace().onTrue(m_robotDrive.dynamicProfiledDriveDistance(3)
+        .withTimeout(10));
   }
 
   /**
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
index 4313fd6af5c..6bacd95485b 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
@@ -83,7 +83,8 @@ public RobotContainer() {
    */
   private void configureButtonBindings() {
     // Grab the hatch when the 'South Face' button is pressed.
-    new JoystickButton(m_driverController, Button.kSouthFace.value).onTrue(new GrabHatch(m_hatchSubsystem));
+    new JoystickButton(m_driverController, Button.kSouthFace.value)
+        .onTrue(new GrabHatch(m_hatchSubsystem));
     // Release the hatch when the 'East Face' button is pressed.
     new JoystickButton(m_driverController, Button.kEastFace.value)
         .onTrue(new ReleaseHatch(m_hatchSubsystem));
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java
index e0658e32d61..5ff03d719f5 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java
@@ -4,8 +4,8 @@
 
 package org.wpilib.examples.hidrumble;
 
-import org.wpilib.driverstation.GenericHID.RumbleType;
 import org.wpilib.driverstation.Gamepad;
+import org.wpilib.driverstation.GenericHID.RumbleType;
 import org.wpilib.framework.TimedRobot;
 
 /** This is a demo program showing the use of GenericHID's rumble feature. */
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java
index 5bfd7d8dcad..2a0897feea1 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java
@@ -7,9 +7,9 @@
 import org.wpilib.command2.Command;
 import org.wpilib.command2.PrintCommand;
 import org.wpilib.command2.button.Trigger;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.driverstation.GenericHID;
 import org.wpilib.driverstation.Joystick;
-import org.wpilib.driverstation.Gamepad;
 import org.wpilib.examples.romireference.commands.ArcadeDrive;
 import org.wpilib.examples.romireference.commands.AutonomousDistance;
 import org.wpilib.examples.romireference.commands.AutonomousTime;
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
index f30d634b362..97110e3b5cd 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
@@ -8,8 +8,8 @@
 import org.wpilib.command2.Command;
 import org.wpilib.command2.PrintCommand;
 import org.wpilib.command2.SelectCommand;
-import org.wpilib.driverstation.GenericHID;
 import org.wpilib.driverstation.Gamepad;
+import org.wpilib.driverstation.GenericHID;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java
index 42d488bb782..ab3ef480df1 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java
@@ -9,9 +9,9 @@
 import org.wpilib.command2.PrintCommand;
 import org.wpilib.command2.button.JoystickButton;
 import org.wpilib.command2.button.Trigger;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.driverstation.GenericHID;
 import org.wpilib.driverstation.Joystick;
-import org.wpilib.driverstation.Gamepad;
 import org.wpilib.examples.xrpreference.commands.ArcadeDrive;
 import org.wpilib.examples.xrpreference.commands.AutonomousDistance;
 import org.wpilib.examples.xrpreference.commands.AutonomousTime;

From 7411b94e98907b3d08ab5b502f5839cb6fd2add2 Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Sat, 31 Jan 2026 16:04:08 -0800
Subject: [PATCH 6/7] Format

---
 .../examples/drivedistanceoffboard/RobotContainer.java    | 8 ++++----
 .../wpilib/examples/hatchbotinlined/RobotContainer.java   | 3 +--
 .../rapidreactcommandbot/RapidReactCommandBot.java        | 3 +--
 .../org/wpilib/examples/selectcommand/RobotContainer.java | 4 ++--
 .../org/wpilib/examples/sysidroutine/SysIdRoutineBot.java | 3 +--
 5 files changed, 9 insertions(+), 12 deletions(-)

diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
index edcf0ddadc1..bdd665f6ee9 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
@@ -26,8 +26,7 @@ public class RobotContainer {
   private final Command m_driveHalfSpeed = Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5));
 
   // The driver's controller
-  CommandGamepad m_driverController =
-      new CommandGamepad(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController = new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -62,8 +61,9 @@ private void configureButtonBindings() {
 
     // Do the same thing as above when the 'East Face' button is pressed, but without resetting the
     // encoders
-    m_driverController.eastFace().onTrue(m_robotDrive.dynamicProfiledDriveDistance(3)
-        .withTimeout(10));
+    m_driverController
+        .eastFace()
+        .onTrue(m_robotDrive.dynamicProfiledDriveDistance(3).withTimeout(10));
   }
 
   /**
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
index 9fb833ab52d..8d8e05d6c27 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
@@ -38,8 +38,7 @@ public class RobotContainer {
   SendableChooser<Command> m_chooser = new SendableChooser<>();
 
   // The driver's controller
-  CommandGamepad m_driverController =
-      new CommandGamepad(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController = new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
index 7ec0a5547d8..e23cd288e8d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
@@ -35,8 +35,7 @@ public class RapidReactCommandBot {
   private final Pneumatics m_pneumatics = new Pneumatics();
 
   // The driver's controller
-  CommandGamepad m_driverController =
-      new CommandGamepad(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController = new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /**
    * Use this method to define bindings between conditions and commands. These are useful for
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
index 97110e3b5cd..34d45c36de1 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java
@@ -52,8 +52,8 @@ public RobotContainer() {
   /**
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then calling passing it to a
-   * {@link org.wpilib.command2.button.JoystickButton}.
+   * org.wpilib.driverstation.Joystick} or {@link Gamepad}), and then calling passing it to a {@link
+   * org.wpilib.command2.button.JoystickButton}.
    */
   private void configureButtonBindings() {}
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
index af8bca53e52..072a427f567 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
@@ -24,8 +24,7 @@ public class SysIdRoutineBot {
   private final Shooter m_shooter = new Shooter();
 
   // The driver's controller
-  CommandGamepad m_driverController =
-      new CommandGamepad(OIConstants.kDriverControllerPort);
+  CommandGamepad m_driverController = new CommandGamepad(OIConstants.kDriverControllerPort);
 
   /**
    * Use this method to define bindings between conditions and commands. These are useful for

From d2a3b93ed69ba6f02dc5bc7d3fb8adfc039659d3 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Thu, 5 Feb 2026 18:11:05 -0800
Subject: [PATCH 7/7] Update
 wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
---
 .../examples/rapidreactcommandbot/RapidReactCommandBot.java   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
index e23cd288e8d..0df430c38bd 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java
@@ -59,8 +59,8 @@ public void configureBindings() {
         m_drive.arcadeDriveCommand(
             () -> -m_driverController.getLeftY(), () -> -m_driverController.getRightX()));
 
-    // Deploy the intake with the east face button
-    m_driverController.eastFace().onTrue(m_intake.intakeCommand());
+    // Deploy the intake with the west face button
+    m_driverController.westFace().onTrue(m_intake.intakeCommand());
     // Retract the intake with the north face button
     m_driverController.northFace().onTrue(m_intake.retractCommand());