diff --git a/wpilibj/src/generate/hid.java.jinja b/wpilibj/src/generate/hid.java.jinja
index 84dbd8c3e83..aaf8ba2b160 100644
--- a/wpilibj/src/generate/hid.java.jinja
+++ b/wpilibj/src/generate/hid.java.jinja
@@ -131,7 +131,7 @@ public class {{ ConsoleName }}Controller extends GenericHID {
    *     threshold, attached to the given event loop
    */
   public BooleanEvent {{ trigger.name }}(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> get{{ capitalize_first(trigger.name) }}Axis() > threshold);
+    return axisGreaterThan(Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
   }
 
   /**
@@ -183,7 +183,7 @@ public class {{ ConsoleName }}Controller extends GenericHID {
    *     attached to the given loop.
    */
   public BooleanEvent {{ button.name }}(EventLoop loop) {
-    return new BooleanEvent(loop, this::get{{ capitalize_first(button.name) }}Button);
+    return button(Button.k{{ capitalize_first(button.name) }}.value, loop);
   }
 {% endfor -%}
 {% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
index 3195c5122b0..9d11cc68dc5 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java
@@ -217,7 +217,7 @@ public boolean getSquareButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent square(EventLoop loop) {
-    return new BooleanEvent(loop, this::getSquareButton);
+    return button(Button.kSquare.value, loop);
   }
 
   /**
@@ -255,7 +255,7 @@ public boolean getCrossButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent cross(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCrossButton);
+    return button(Button.kCross.value, loop);
   }
 
   /**
@@ -293,7 +293,7 @@ public boolean getCircleButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent circle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCircleButton);
+    return button(Button.kCircle.value, loop);
   }
 
   /**
@@ -331,7 +331,7 @@ public boolean getTriangleButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent triangle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTriangleButton);
+    return button(Button.kTriangle.value, loop);
   }
 
   /**
@@ -369,7 +369,7 @@ public boolean getL1ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent L1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL1Button);
+    return button(Button.kL1.value, loop);
   }
 
   /**
@@ -407,7 +407,7 @@ public boolean getR1ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent R1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR1Button);
+    return button(Button.kR1.value, loop);
   }
 
   /**
@@ -445,7 +445,7 @@ public boolean getL2ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent L2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL2Button);
+    return button(Button.kL2.value, loop);
   }
 
   /**
@@ -483,7 +483,7 @@ public boolean getR2ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent R2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR2Button);
+    return button(Button.kR2.value, loop);
   }
 
   /**
@@ -521,7 +521,7 @@ public boolean getShareButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent share(EventLoop loop) {
-    return new BooleanEvent(loop, this::getShareButton);
+    return button(Button.kShare.value, loop);
   }
 
   /**
@@ -559,7 +559,7 @@ public boolean getOptionsButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent options(EventLoop loop) {
-    return new BooleanEvent(loop, this::getOptionsButton);
+    return button(Button.kOptions.value, loop);
   }
 
   /**
@@ -597,7 +597,7 @@ public boolean getL3ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent L3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL3Button);
+    return button(Button.kL3.value, loop);
   }
 
   /**
@@ -635,7 +635,7 @@ public boolean getR3ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent R3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR3Button);
+    return button(Button.kR3.value, loop);
   }
 
   /**
@@ -673,7 +673,7 @@ public boolean getPSButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent PS(EventLoop loop) {
-    return new BooleanEvent(loop, this::getPSButton);
+    return button(Button.kPS.value, loop);
   }
 
   /**
@@ -711,7 +711,7 @@ public boolean getTouchpadButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent touchpad(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTouchpadButton);
+    return button(Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
index 7b0e3083aba..d1c44576d02 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java
@@ -217,7 +217,7 @@ public boolean getSquareButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent square(EventLoop loop) {
-    return new BooleanEvent(loop, this::getSquareButton);
+    return button(Button.kSquare.value, loop);
   }
 
   /**
@@ -255,7 +255,7 @@ public boolean getCrossButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent cross(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCrossButton);
+    return button(Button.kCross.value, loop);
   }
 
   /**
@@ -293,7 +293,7 @@ public boolean getCircleButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent circle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCircleButton);
+    return button(Button.kCircle.value, loop);
   }
 
   /**
@@ -331,7 +331,7 @@ public boolean getTriangleButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent triangle(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTriangleButton);
+    return button(Button.kTriangle.value, loop);
   }
 
   /**
@@ -369,7 +369,7 @@ public boolean getL1ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent L1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL1Button);
+    return button(Button.kL1.value, loop);
   }
 
   /**
@@ -407,7 +407,7 @@ public boolean getR1ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent R1(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR1Button);
+    return button(Button.kR1.value, loop);
   }
 
   /**
@@ -445,7 +445,7 @@ public boolean getL2ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent L2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL2Button);
+    return button(Button.kL2.value, loop);
   }
 
   /**
@@ -483,7 +483,7 @@ public boolean getR2ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent R2(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR2Button);
+    return button(Button.kR2.value, loop);
   }
 
   /**
@@ -521,7 +521,7 @@ public boolean getCreateButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent create(EventLoop loop) {
-    return new BooleanEvent(loop, this::getCreateButton);
+    return button(Button.kCreate.value, loop);
   }
 
   /**
@@ -559,7 +559,7 @@ public boolean getOptionsButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent options(EventLoop loop) {
-    return new BooleanEvent(loop, this::getOptionsButton);
+    return button(Button.kOptions.value, loop);
   }
 
   /**
@@ -597,7 +597,7 @@ public boolean getL3ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent L3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getL3Button);
+    return button(Button.kL3.value, loop);
   }
 
   /**
@@ -635,7 +635,7 @@ public boolean getR3ButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent R3(EventLoop loop) {
-    return new BooleanEvent(loop, this::getR3Button);
+    return button(Button.kR3.value, loop);
   }
 
   /**
@@ -673,7 +673,7 @@ public boolean getPSButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent PS(EventLoop loop) {
-    return new BooleanEvent(loop, this::getPSButton);
+    return button(Button.kPS.value, loop);
   }
 
   /**
@@ -711,7 +711,7 @@ public boolean getTouchpadButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent touchpad(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTouchpadButton);
+    return button(Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
index 916ab3979dc..ca8cbffa1f1 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java
@@ -195,7 +195,7 @@ public boolean getAButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent a(EventLoop loop) {
-    return new BooleanEvent(loop, this::getAButton);
+    return button(Button.kA.value, loop);
   }
 
   /**
@@ -233,7 +233,7 @@ public boolean getBButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent b(EventLoop loop) {
-    return new BooleanEvent(loop, this::getBButton);
+    return button(Button.kB.value, loop);
   }
 
   /**
@@ -271,7 +271,7 @@ public boolean getXButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent x(EventLoop loop) {
-    return new BooleanEvent(loop, this::getXButton);
+    return button(Button.kX.value, loop);
   }
 
   /**
@@ -309,7 +309,7 @@ public boolean getYButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent y(EventLoop loop) {
-    return new BooleanEvent(loop, this::getYButton);
+    return button(Button.kY.value, loop);
   }
 
   /**
@@ -347,7 +347,7 @@ public boolean getLeftBumperButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent leftBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftBumperButton);
+    return button(Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -385,7 +385,7 @@ public boolean getRightBumperButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent rightBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightBumperButton);
+    return button(Button.kRightBumper.value, loop);
   }
 
   /**
@@ -423,7 +423,7 @@ public boolean getLeftStickButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent leftStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftStickButton);
+    return button(Button.kLeftStick.value, loop);
   }
 
   /**
@@ -461,7 +461,7 @@ public boolean getRightStickButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent rightStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightStickButton);
+    return button(Button.kRightStick.value, loop);
   }
 
   /**
@@ -499,7 +499,7 @@ public boolean getEllipsesButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent ellipses(EventLoop loop) {
-    return new BooleanEvent(loop, this::getEllipsesButton);
+    return button(Button.kEllipses.value, loop);
   }
 
   /**
@@ -537,7 +537,7 @@ public boolean getHamburgerButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent hamburger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getHamburgerButton);
+    return button(Button.kHamburger.value, loop);
   }
 
   /**
@@ -575,7 +575,7 @@ public boolean getStadiaButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent stadia(EventLoop loop) {
-    return new BooleanEvent(loop, this::getStadiaButton);
+    return button(Button.kStadia.value, loop);
   }
 
   /**
@@ -613,7 +613,7 @@ public boolean getRightTriggerButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent rightTrigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightTriggerButton);
+    return button(Button.kRightTrigger.value, loop);
   }
 
   /**
@@ -651,7 +651,7 @@ public boolean getLeftTriggerButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent leftTrigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftTriggerButton);
+    return button(Button.kLeftTrigger.value, loop);
   }
 
   /**
@@ -689,7 +689,7 @@ public boolean getGoogleButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent google(EventLoop loop) {
-    return new BooleanEvent(loop, this::getGoogleButton);
+    return button(Button.kGoogle.value, loop);
   }
 
   /**
@@ -727,7 +727,7 @@ public boolean getFrameButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent frame(EventLoop loop) {
-    return new BooleanEvent(loop, this::getFrameButton);
+    return button(Button.kFrame.value, loop);
   }
 
   /**
diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
index 3bf77e11f61..93e9a92b9a9 100644
--- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -175,7 +175,7 @@ public double getLeftTriggerAxis() {
    *     threshold, attached to the given event loop
    */
   public BooleanEvent leftTrigger(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getLeftTriggerAxis() > threshold);
+    return axisGreaterThan(Axis.kLeftTrigger.value, threshold, loop);
   }
 
   /**
@@ -211,7 +211,7 @@ public double getRightTriggerAxis() {
    *     threshold, attached to the given event loop
    */
   public BooleanEvent rightTrigger(double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRightTriggerAxis() > threshold);
+    return axisGreaterThan(Axis.kRightTrigger.value, threshold, loop);
   }
 
   /**
@@ -261,7 +261,7 @@ public boolean getAButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent a(EventLoop loop) {
-    return new BooleanEvent(loop, this::getAButton);
+    return button(Button.kA.value, loop);
   }
 
   /**
@@ -299,7 +299,7 @@ public boolean getBButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent b(EventLoop loop) {
-    return new BooleanEvent(loop, this::getBButton);
+    return button(Button.kB.value, loop);
   }
 
   /**
@@ -337,7 +337,7 @@ public boolean getXButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent x(EventLoop loop) {
-    return new BooleanEvent(loop, this::getXButton);
+    return button(Button.kX.value, loop);
   }
 
   /**
@@ -375,7 +375,7 @@ public boolean getYButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent y(EventLoop loop) {
-    return new BooleanEvent(loop, this::getYButton);
+    return button(Button.kY.value, loop);
   }
 
   /**
@@ -413,7 +413,7 @@ public boolean getLeftBumperButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent leftBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftBumperButton);
+    return button(Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -451,7 +451,7 @@ public boolean getRightBumperButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent rightBumper(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightBumperButton);
+    return button(Button.kRightBumper.value, loop);
   }
 
   /**
@@ -489,7 +489,7 @@ public boolean getBackButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent back(EventLoop loop) {
-    return new BooleanEvent(loop, this::getBackButton);
+    return button(Button.kBack.value, loop);
   }
 
   /**
@@ -527,7 +527,7 @@ public boolean getStartButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent start(EventLoop loop) {
-    return new BooleanEvent(loop, this::getStartButton);
+    return button(Button.kStart.value, loop);
   }
 
   /**
@@ -565,7 +565,7 @@ public boolean getLeftStickButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent leftStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getLeftStickButton);
+    return button(Button.kLeftStick.value, loop);
   }
 
   /**
@@ -603,7 +603,7 @@ public boolean getRightStickButtonReleased() {
    *     attached to the given loop.
    */
   public BooleanEvent rightStick(EventLoop loop) {
-    return new BooleanEvent(loop, this::getRightStickButton);
+    return button(Button.kRightStick.value, loop);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
index ceb00a780b2..dccbc14a5f9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -97,6 +97,9 @@ public static HIDType of(int value) {
   private int m_outputs;
   private int m_leftRumble;
   private int m_rightRumble;
+  private final Map<EventLoop, Map<Integer, BooleanEvent>> m_buttonCache = new HashMap<>();
+  private final Map<EventLoop, Map<Double, BooleanEvent>> m_axisCache = new HashMap<>();
+  private final Map<EventLoop, Map<Integer, BooleanEvent>> m_povCache = new HashMap<>();
 
   /**
    * Construct an instance of a device.
@@ -159,7 +162,8 @@ public boolean getRawButtonReleased(int button) {
    * @return an event instance representing the button's digital signal attached to the given loop.
    */
   public BooleanEvent button(int button, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRawButton(button));
+    var cache = m_buttonCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(button, k -> new BooleanEvent(loop, () -> getRawButton(k)));
   }
 
   /**
@@ -223,7 +227,10 @@ public BooleanEvent pov(int angle, EventLoop loop) {
    * @return a BooleanEvent instance based around this angle of a POV on the HID.
    */
   public BooleanEvent pov(int pov, int angle, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getPOV(pov) == angle);
+    var cache = m_povCache.computeIfAbsent(loop, k -> new HashMap<>());
+    // angle can be -1, so use 3600 instead of 360
+    return cache.computeIfAbsent(
+        pov * 3600 + angle, k -> new BooleanEvent(loop, () -> getPOV(pov) == angle));
   }
 
   /**
@@ -335,7 +342,9 @@ public BooleanEvent povCenter(EventLoop loop) {
    * @return an event instance that is true when the axis value is less than the provided threshold.
    */
   public BooleanEvent axisLessThan(int axis, double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRawAxis(axis) < threshold);
+    var cache = m_axisCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(
+        axis * 100 - threshold, k -> new BooleanEvent(loop, () -> getRawAxis(axis) < threshold));
   }
 
   /**
@@ -349,7 +358,9 @@ public BooleanEvent axisLessThan(int axis, double threshold, EventLoop loop) {
    *     threshold.
    */
   public BooleanEvent axisGreaterThan(int axis, double threshold, EventLoop loop) {
-    return new BooleanEvent(loop, () -> getRawAxis(axis) > threshold);
+    var cache = m_axisCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(
+        axis * 100 + threshold, k -> new BooleanEvent(loop, () -> getRawAxis(axis) > threshold));
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
index 5536009e320..08eebeef7df 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
@@ -261,7 +261,7 @@ public boolean getTriggerReleased() {
    *     given loop.
    */
   public BooleanEvent trigger(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTrigger);
+    return button(ButtonType.kTrigger.value, loop);
   }
 
   /**
@@ -299,7 +299,7 @@ public boolean getTopReleased() {
    *     loop.
    */
   public BooleanEvent top(EventLoop loop) {
-    return new BooleanEvent(loop, this::getTop);
+    return button(ButtonType.kTop.value, loop);
   }
 
   /**