diff --git a/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja b/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja
index a13d673afd9..331c7723a2c 100644
--- a/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja
+++ b/wpilibNewCommands/src/generate/main/java/edu/wpi/first/wpilibj2/command/button/commandhid.java.jinja
@@ -60,7 +60,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    *     to the given loop.
    */
   public Trigger {{ button.name }}(EventLoop loop) {
-    return m_hid.{{ button.name }}(loop).castTo(Trigger::new);
+    return button({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, loop);
   }
 {% endfor -%}
 {% for trigger in triggers -%}
@@ -76,7 +76,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    *     threshold, attached to the given event loop
    */
   public Trigger {{ trigger.name }}(double threshold, EventLoop loop) {
-    return m_hid.{{ trigger.name }}(threshold, loop).castTo(Trigger::new);
+    return axisGreaterThan({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja b/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
index b6e5058598e..38878f9b338 100644
--- a/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
+++ b/wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
@@ -18,14 +18,16 @@ frc::{{ ConsoleName }}Controller& Command{{ ConsoleName }}Controller::GetHID() {
 }
 {% for button in buttons %}
 Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(frc::EventLoop* loop) const {
-  return m_hid.{{ capitalize_first(button.name) }}(loop).CastTo<Trigger>();
+  return Button(frc::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
 }
 {% endfor -%}
 {% for trigger in triggers -%}
 {% if trigger.UseThresholdMethods %}
 Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold,
                                            frc::EventLoop* loop) const {
-  return m_hid.{{ capitalize_first(trigger.name) }}(threshold, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, threshold] {
+    return m_hid.Get{{ capitalize_first(trigger.name) }}Axis() > threshold;
+  });
 }
 {% endif -%}
 {% endfor -%}
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
index 150d1242286..9c72f60cbd1 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
@@ -58,7 +58,7 @@ public Trigger square() {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return m_hid.square(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger cross() {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return m_hid.cross(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger circle() {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return m_hid.circle(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger triangle() {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return m_hid.triangle(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger L1() {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return m_hid.L1(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger R1() {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return m_hid.R1(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger L2() {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return m_hid.L2(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger R2() {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return m_hid.R2(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger share() {
    *     to the given loop.
    */
   public Trigger share(EventLoop loop) {
-    return m_hid.share(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kShare.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger options() {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return m_hid.options(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public Trigger L3() {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return m_hid.L3(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public Trigger R3() {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return m_hid.R3(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public Trigger PS() {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return m_hid.PS(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public Trigger touchpad() {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return m_hid.touchpad(loop).castTo(Trigger::new);
+    return button(PS4Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
index 2f3d2718375..908d24e8428 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
@@ -58,7 +58,7 @@ public Trigger square() {
    *     to the given loop.
    */
   public Trigger square(EventLoop loop) {
-    return m_hid.square(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kSquare.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger cross() {
    *     to the given loop.
    */
   public Trigger cross(EventLoop loop) {
-    return m_hid.cross(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kCross.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger circle() {
    *     to the given loop.
    */
   public Trigger circle(EventLoop loop) {
-    return m_hid.circle(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kCircle.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger triangle() {
    *     to the given loop.
    */
   public Trigger triangle(EventLoop loop) {
-    return m_hid.triangle(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kTriangle.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger L1() {
    *     to the given loop.
    */
   public Trigger L1(EventLoop loop) {
-    return m_hid.L1(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kL1.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger R1() {
    *     to the given loop.
    */
   public Trigger R1(EventLoop loop) {
-    return m_hid.R1(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kR1.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger L2() {
    *     to the given loop.
    */
   public Trigger L2(EventLoop loop) {
-    return m_hid.L2(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kL2.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger R2() {
    *     to the given loop.
    */
   public Trigger R2(EventLoop loop) {
-    return m_hid.R2(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kR2.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger create() {
    *     to the given loop.
    */
   public Trigger create(EventLoop loop) {
-    return m_hid.create(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kCreate.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger options() {
    *     to the given loop.
    */
   public Trigger options(EventLoop loop) {
-    return m_hid.options(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kOptions.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public Trigger L3() {
    *     to the given loop.
    */
   public Trigger L3(EventLoop loop) {
-    return m_hid.L3(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kL3.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public Trigger R3() {
    *     to the given loop.
    */
   public Trigger R3(EventLoop loop) {
-    return m_hid.R3(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kR3.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public Trigger PS() {
    *     to the given loop.
    */
   public Trigger PS(EventLoop loop) {
-    return m_hid.PS(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kPS.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public Trigger touchpad() {
    *     to the given loop.
    */
   public Trigger touchpad(EventLoop loop) {
-    return m_hid.touchpad(loop).castTo(Trigger::new);
+    return button(PS5Controller.Button.kTouchpad.value, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
index 90bc5d01785..0890bbde486 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
@@ -58,7 +58,7 @@ public Trigger a() {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return m_hid.a(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger b() {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return m_hid.b(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger x() {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return m_hid.x(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger y() {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return m_hid.y(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger leftBumper() {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return m_hid.leftBumper(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger rightBumper() {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return m_hid.rightBumper(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger leftStick() {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return m_hid.leftStick(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger rightStick() {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return m_hid.rightStick(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kRightStick.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger ellipses() {
    *     to the given loop.
    */
   public Trigger ellipses(EventLoop loop) {
-    return m_hid.ellipses(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kEllipses.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger hamburger() {
    *     to the given loop.
    */
   public Trigger hamburger(EventLoop loop) {
-    return m_hid.hamburger(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kHamburger.value, loop);
   }
 
   /**
@@ -278,7 +278,7 @@ public Trigger stadia() {
    *     to the given loop.
    */
   public Trigger stadia(EventLoop loop) {
-    return m_hid.stadia(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kStadia.value, loop);
   }
 
   /**
@@ -300,7 +300,7 @@ public Trigger rightTrigger() {
    *     to the given loop.
    */
   public Trigger rightTrigger(EventLoop loop) {
-    return m_hid.rightTrigger(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kRightTrigger.value, loop);
   }
 
   /**
@@ -322,7 +322,7 @@ public Trigger leftTrigger() {
    *     to the given loop.
    */
   public Trigger leftTrigger(EventLoop loop) {
-    return m_hid.leftTrigger(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kLeftTrigger.value, loop);
   }
 
   /**
@@ -344,7 +344,7 @@ public Trigger google() {
    *     to the given loop.
    */
   public Trigger google(EventLoop loop) {
-    return m_hid.google(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kGoogle.value, loop);
   }
 
   /**
@@ -366,7 +366,7 @@ public Trigger frame() {
    *     to the given loop.
    */
   public Trigger frame(EventLoop loop) {
-    return m_hid.frame(loop).castTo(Trigger::new);
+    return button(StadiaController.Button.kFrame.value, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
index 0f6417674e9..a5ea65da282 100644
--- a/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
+++ b/wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
@@ -58,7 +58,7 @@ public Trigger a() {
    *     to the given loop.
    */
   public Trigger a(EventLoop loop) {
-    return m_hid.a(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kA.value, loop);
   }
 
   /**
@@ -80,7 +80,7 @@ public Trigger b() {
    *     to the given loop.
    */
   public Trigger b(EventLoop loop) {
-    return m_hid.b(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kB.value, loop);
   }
 
   /**
@@ -102,7 +102,7 @@ public Trigger x() {
    *     to the given loop.
    */
   public Trigger x(EventLoop loop) {
-    return m_hid.x(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kX.value, loop);
   }
 
   /**
@@ -124,7 +124,7 @@ public Trigger y() {
    *     to the given loop.
    */
   public Trigger y(EventLoop loop) {
-    return m_hid.y(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kY.value, loop);
   }
 
   /**
@@ -146,7 +146,7 @@ public Trigger leftBumper() {
    *     to the given loop.
    */
   public Trigger leftBumper(EventLoop loop) {
-    return m_hid.leftBumper(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kLeftBumper.value, loop);
   }
 
   /**
@@ -168,7 +168,7 @@ public Trigger rightBumper() {
    *     to the given loop.
    */
   public Trigger rightBumper(EventLoop loop) {
-    return m_hid.rightBumper(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kRightBumper.value, loop);
   }
 
   /**
@@ -190,7 +190,7 @@ public Trigger back() {
    *     to the given loop.
    */
   public Trigger back(EventLoop loop) {
-    return m_hid.back(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kBack.value, loop);
   }
 
   /**
@@ -212,7 +212,7 @@ public Trigger start() {
    *     to the given loop.
    */
   public Trigger start(EventLoop loop) {
-    return m_hid.start(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kStart.value, loop);
   }
 
   /**
@@ -234,7 +234,7 @@ public Trigger leftStick() {
    *     to the given loop.
    */
   public Trigger leftStick(EventLoop loop) {
-    return m_hid.leftStick(loop).castTo(Trigger::new);
+    return button(XboxController.Button.kLeftStick.value, loop);
   }
 
   /**
@@ -256,7 +256,7 @@ public Trigger rightStick() {
    *     to the given loop.
    */
   public Trigger rightStick(EventLoop loop) {
-    return m_hid.rightStick(loop).castTo(Trigger::new);
+    return button(XboxController.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 m_hid.leftTrigger(threshold, loop).castTo(Trigger::new);
+    return axisGreaterThan(XboxController.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 m_hid.rightTrigger(threshold, loop).castTo(Trigger::new);
+    return axisGreaterThan(XboxController.Axis.kRightTrigger.value, threshold, loop);
   }
 
   /**
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
index e5418f845a8..78d77b8fa43 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
@@ -16,59 +16,59 @@ frc::PS4Controller& CommandPS4Controller::GetHID() {
 }
 
 Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
-  return m_hid.Square(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kSquare, loop);
 }
 
 Trigger CommandPS4Controller::Cross(frc::EventLoop* loop) const {
-  return m_hid.Cross(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kCross, loop);
 }
 
 Trigger CommandPS4Controller::Circle(frc::EventLoop* loop) const {
-  return m_hid.Circle(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kCircle, loop);
 }
 
 Trigger CommandPS4Controller::Triangle(frc::EventLoop* loop) const {
-  return m_hid.Triangle(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kTriangle, loop);
 }
 
 Trigger CommandPS4Controller::L1(frc::EventLoop* loop) const {
-  return m_hid.L1(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kL1, loop);
 }
 
 Trigger CommandPS4Controller::R1(frc::EventLoop* loop) const {
-  return m_hid.R1(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kR1, loop);
 }
 
 Trigger CommandPS4Controller::L2(frc::EventLoop* loop) const {
-  return m_hid.L2(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kL2, loop);
 }
 
 Trigger CommandPS4Controller::R2(frc::EventLoop* loop) const {
-  return m_hid.R2(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kR2, loop);
 }
 
 Trigger CommandPS4Controller::Share(frc::EventLoop* loop) const {
-  return m_hid.Share(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kShare, loop);
 }
 
 Trigger CommandPS4Controller::Options(frc::EventLoop* loop) const {
-  return m_hid.Options(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kOptions, loop);
 }
 
 Trigger CommandPS4Controller::L3(frc::EventLoop* loop) const {
-  return m_hid.L3(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kL3, loop);
 }
 
 Trigger CommandPS4Controller::R3(frc::EventLoop* loop) const {
-  return m_hid.R3(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kR3, loop);
 }
 
 Trigger CommandPS4Controller::PS(frc::EventLoop* loop) const {
-  return m_hid.PS(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kPS, loop);
 }
 
 Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
-  return m_hid.Touchpad(loop).CastTo<Trigger>();
+  return Button(frc::PS4Controller::Button::kTouchpad, loop);
 }
 
 double CommandPS4Controller::GetLeftX() const {
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
index bb0c5b8e5b4..667c58b9afc 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
@@ -16,59 +16,59 @@ frc::PS5Controller& CommandPS5Controller::GetHID() {
 }
 
 Trigger CommandPS5Controller::Square(frc::EventLoop* loop) const {
-  return m_hid.Square(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kSquare, loop);
 }
 
 Trigger CommandPS5Controller::Cross(frc::EventLoop* loop) const {
-  return m_hid.Cross(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kCross, loop);
 }
 
 Trigger CommandPS5Controller::Circle(frc::EventLoop* loop) const {
-  return m_hid.Circle(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kCircle, loop);
 }
 
 Trigger CommandPS5Controller::Triangle(frc::EventLoop* loop) const {
-  return m_hid.Triangle(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kTriangle, loop);
 }
 
 Trigger CommandPS5Controller::L1(frc::EventLoop* loop) const {
-  return m_hid.L1(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kL1, loop);
 }
 
 Trigger CommandPS5Controller::R1(frc::EventLoop* loop) const {
-  return m_hid.R1(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kR1, loop);
 }
 
 Trigger CommandPS5Controller::L2(frc::EventLoop* loop) const {
-  return m_hid.L2(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kL2, loop);
 }
 
 Trigger CommandPS5Controller::R2(frc::EventLoop* loop) const {
-  return m_hid.R2(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kR2, loop);
 }
 
 Trigger CommandPS5Controller::Create(frc::EventLoop* loop) const {
-  return m_hid.Create(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kCreate, loop);
 }
 
 Trigger CommandPS5Controller::Options(frc::EventLoop* loop) const {
-  return m_hid.Options(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kOptions, loop);
 }
 
 Trigger CommandPS5Controller::L3(frc::EventLoop* loop) const {
-  return m_hid.L3(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kL3, loop);
 }
 
 Trigger CommandPS5Controller::R3(frc::EventLoop* loop) const {
-  return m_hid.R3(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kR3, loop);
 }
 
 Trigger CommandPS5Controller::PS(frc::EventLoop* loop) const {
-  return m_hid.PS(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kPS, loop);
 }
 
 Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
-  return m_hid.Touchpad(loop).CastTo<Trigger>();
+  return Button(frc::PS5Controller::Button::kTouchpad, loop);
 }
 
 double CommandPS5Controller::GetLeftX() const {
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
index ee032b1926c..72088defe87 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
@@ -16,63 +16,63 @@ frc::StadiaController& CommandStadiaController::GetHID() {
 }
 
 Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
-  return m_hid.A(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kA, loop);
 }
 
 Trigger CommandStadiaController::B(frc::EventLoop* loop) const {
-  return m_hid.B(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kB, loop);
 }
 
 Trigger CommandStadiaController::X(frc::EventLoop* loop) const {
-  return m_hid.X(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kX, loop);
 }
 
 Trigger CommandStadiaController::Y(frc::EventLoop* loop) const {
-  return m_hid.Y(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kY, loop);
 }
 
 Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
-  return m_hid.LeftBumper(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kLeftBumper, loop);
 }
 
 Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
-  return m_hid.RightBumper(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kRightBumper, loop);
 }
 
 Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
-  return m_hid.LeftStick(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kLeftStick, loop);
 }
 
 Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
-  return m_hid.RightStick(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kRightStick, loop);
 }
 
 Trigger CommandStadiaController::Ellipses(frc::EventLoop* loop) const {
-  return m_hid.Ellipses(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kEllipses, loop);
 }
 
 Trigger CommandStadiaController::Hamburger(frc::EventLoop* loop) const {
-  return m_hid.Hamburger(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kHamburger, loop);
 }
 
 Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
-  return m_hid.Stadia(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kStadia, loop);
 }
 
 Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
-  return m_hid.RightTrigger(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kRightTrigger, loop);
 }
 
 Trigger CommandStadiaController::LeftTrigger(frc::EventLoop* loop) const {
-  return m_hid.LeftTrigger(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kLeftTrigger, loop);
 }
 
 Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
-  return m_hid.Google(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kGoogle, loop);
 }
 
 Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
-  return m_hid.Frame(loop).CastTo<Trigger>();
+  return Button(frc::StadiaController::Button::kFrame, loop);
 }
 
 double CommandStadiaController::GetLeftX() const {
diff --git a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
index 39fa0154546..9f4ad960b86 100644
--- a/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
+++ b/wpilibNewCommands/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
@@ -16,53 +16,57 @@ frc::XboxController& CommandXboxController::GetHID() {
 }
 
 Trigger CommandXboxController::A(frc::EventLoop* loop) const {
-  return m_hid.A(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kA, loop);
 }
 
 Trigger CommandXboxController::B(frc::EventLoop* loop) const {
-  return m_hid.B(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kB, loop);
 }
 
 Trigger CommandXboxController::X(frc::EventLoop* loop) const {
-  return m_hid.X(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kX, loop);
 }
 
 Trigger CommandXboxController::Y(frc::EventLoop* loop) const {
-  return m_hid.Y(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kY, loop);
 }
 
 Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
-  return m_hid.LeftBumper(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kLeftBumper, loop);
 }
 
 Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
-  return m_hid.RightBumper(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kRightBumper, loop);
 }
 
 Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
-  return m_hid.Back(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kBack, loop);
 }
 
 Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
-  return m_hid.Start(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kStart, loop);
 }
 
 Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
-  return m_hid.LeftStick(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kLeftStick, loop);
 }
 
 Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
-  return m_hid.RightStick(loop).CastTo<Trigger>();
+  return Button(frc::XboxController::Button::kRightStick, loop);
 }
 
 Trigger CommandXboxController::LeftTrigger(double threshold,
                                            frc::EventLoop* loop) const {
-  return m_hid.LeftTrigger(threshold, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, threshold] {
+    return m_hid.GetLeftTriggerAxis() > threshold;
+  });
 }
 
 Trigger CommandXboxController::RightTrigger(double threshold,
                                            frc::EventLoop* loop) const {
-  return m_hid.RightTrigger(threshold, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, threshold] {
+    return m_hid.GetRightTriggerAxis() > threshold;
+  });
 }
 
 double CommandXboxController::GetLeftX() const {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
index 632694e96aa..b9ee710f978 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
@@ -18,6 +18,7 @@
 public class CommandGenericHID {
   private final GenericHID m_hid;
   private final Map<EventLoop, Map<Integer, Trigger>> m_buttonCache = new HashMap<>();
+  private final Map<EventLoop, Map<Double, Trigger>> m_axisCache = new HashMap<>();
   private final Map<EventLoop, Map<Integer, Trigger>> m_povCache = new HashMap<>();
 
   /**
@@ -47,7 +48,7 @@ public GenericHID getHID() {
    * @see #button(int, EventLoop)
    */
   public Trigger button(int button) {
-    return this.button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
@@ -220,7 +221,9 @@ public Trigger axisLessThan(int axis, double threshold) {
    *     threshold.
    */
   public Trigger axisLessThan(int axis, double threshold, EventLoop loop) {
-    return m_hid.axisLessThan(axis, threshold, loop).castTo(Trigger::new);
+    var cache = m_axisCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(
+        axis * 100 - threshold, k -> new Trigger(loop, () -> getRawAxis(axis) < threshold));
   }
 
   /**
@@ -248,7 +251,9 @@ public Trigger axisGreaterThan(int axis, double threshold) {
    *     threshold.
    */
   public Trigger axisGreaterThan(int axis, double threshold, EventLoop loop) {
-    return m_hid.axisGreaterThan(axis, threshold, loop).castTo(Trigger::new);
+    var cache = m_axisCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(
+        axis * 100 + threshold, k -> new Trigger(loop, () -> getRawAxis(axis) > threshold));
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
index b7f1d5a28a4..e445731b186 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
@@ -13,7 +13,7 @@ frc::GenericHID& CommandGenericHID::GetHID() {
 }
 
 Trigger CommandGenericHID::Button(int button, frc::EventLoop* loop) const {
-  return m_hid.Button(button, loop).CastTo<Trigger>();
+  return Trigger(loop, [this, button] { return m_hid.GetRawButton(button); });
 }
 
 Trigger CommandGenericHID::POV(int angle, frc::EventLoop* loop) const {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
index 03cb6d89d2b..ae25fb05ea1 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
@@ -14,11 +14,11 @@ frc::Joystick& CommandJoystick::GetHID() {
 }
 
 Trigger CommandJoystick::Trigger(frc::EventLoop* loop) const {
-  return m_hid.Trigger(loop).CastTo<class Trigger>();
+  return Button(frc::Joystick::ButtonType::kTriggerButton, loop);
 }
 
 Trigger CommandJoystick::Top(frc::EventLoop* loop) const {
-  return m_hid.Top(loop).CastTo<class Trigger>();
+  return Button(frc::Joystick::ButtonType::kTopButton, loop);
 }
 
 double CommandJoystick::GetMagnitude() const {