diff --git a/wpilibc/simulation/src/Joystick.cpp b/wpilibc/simulation/src/Joystick.cpp
index a7a299c..3c32e86 100644
--- a/wpilibc/simulation/src/Joystick.cpp
+++ b/wpilibc/simulation/src/Joystick.cpp
@@ -1,16 +1,15 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
 #include "Joystick.h"
 #include "DriverStation.h"
-//#include "NetworkCommunication/UsageReporting.h"
 #include "WPIErrors.h"
 #include <math.h>
-#include <string.h>
+#include <memory>
 
 const uint32_t Joystick::kDefaultXAxis;
 const uint32_t Joystick::kDefaultYAxis;
@@ -26,21 +25,19 @@
  * Construct an instance of a joystick.
  * The joystick index is the usb port on the drivers station.
  *
- * @param port The port on the driver station that the joystick is plugged into
- * (0-5).
+ * @param port The port on the driver station that the joystick is plugged into.
  */
 Joystick::Joystick(uint32_t port)
-    : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
-  m_axes[kXAxis] = kDefaultXAxis;
-  m_axes[kYAxis] = kDefaultYAxis;
-  m_axes[kZAxis] = kDefaultZAxis;
-  m_axes[kTwistAxis] = kDefaultTwistAxis;
-  m_axes[kThrottleAxis] = kDefaultThrottleAxis;
+	: Joystick(port, kNumAxisTypes, kNumButtonTypes)
+{
+	m_axes[kXAxis] = kDefaultXAxis;
+	m_axes[kYAxis] = kDefaultYAxis;
+	m_axes[kZAxis] = kDefaultZAxis;
+	m_axes[kTwistAxis] = kDefaultTwistAxis;
+	m_axes[kThrottleAxis] = kDefaultThrottleAxis;
 
-  m_buttons[kTriggerButton] = kDefaultTriggerButton;
-  m_buttons[kTopButton] = kDefaultTopButton;
-
-  HALReport(HALUsageReporting::kResourceType_Joystick, port);
+	m_buttons[kTriggerButton] = kDefaultTriggerButton;
+	m_buttons[kTopButton] = kDefaultTopButton;
 }
 
 /**
@@ -53,108 +50,111 @@
  * @param numAxisTypes The number of axis types in the enum.
  * @param numButtonTypes The number of button types in the enum.
  */
-Joystick::Joystick(uint32_t port, uint32_t numAxisTypes,
-                   uint32_t numButtonTypes)
-    : m_ds(DriverStation::GetInstance()),
-      m_port(port),
-      m_axes(numAxisTypes),
-      m_buttons(numButtonTypes) {
-  if (!joySticksInitialized) {
-    for (auto& joystick : joysticks) joystick = nullptr;
-    joySticksInitialized = true;
-  }
-  if (m_port >= DriverStation::kJoystickPorts) {
-    wpi_setWPIError(BadJoystickIndex);
-  } else {
-    joysticks[m_port] = this;
-  }
+Joystick::Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes)
+	: m_port (port),
+    m_ds(DriverStation::GetInstance())
+{
+	if ( !joySticksInitialized )
+	{
+		for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
+			joysticks[i] = nullptr;
+		joySticksInitialized = true;
+	}
+	joysticks[m_port] = this;
+
+	m_axes = std::make_unique<uint32_t[]>(numAxisTypes);
+	m_buttons = std::make_unique<uint32_t[]>(numButtonTypes);
 }
 
-Joystick *Joystick::GetStickForPort(uint32_t port) {
-  Joystick *stick = joysticks[port];
-  if (stick == nullptr) {
-    stick = new Joystick(port);
-    joysticks[port] = stick;
-  }
-  return stick;
+Joystick * Joystick::GetStickForPort(uint32_t port)
+{
+	Joystick *stick = joysticks[port];
+	if (stick == nullptr)
+	{
+		stick = new Joystick(port);
+		joysticks[port] = stick;
+	}
+	return stick;
 }
 
 /**
  * Get the X value of the joystick.
  * This depends on the mapping of the joystick connected to the current port.
- * @param hand This parameter is ignored for the Joystick class and is only here
- * to complete the GenericHID interface.
  */
-float Joystick::GetX(JoystickHand hand) const {
-  return GetRawAxis(m_axes[kXAxis]);
+float Joystick::GetX(JoystickHand hand) const
+{
+	return GetRawAxis(m_axes[kXAxis]);
 }
 
 /**
  * Get the Y value of the joystick.
  * This depends on the mapping of the joystick connected to the current port.
- * @param hand This parameter is ignored for the Joystick class and is only here
- * to complete the GenericHID interface.
  */
-float Joystick::GetY(JoystickHand hand) const {
-  return GetRawAxis(m_axes[kYAxis]);
+float Joystick::GetY(JoystickHand hand) const
+{
+	return GetRawAxis(m_axes[kYAxis]);
 }
 
 /**
  * Get the Z value of the current joystick.
  * This depends on the mapping of the joystick connected to the current port.
  */
-float Joystick::GetZ() const { return GetRawAxis(m_axes[kZAxis]); }
+float Joystick::GetZ() const
+{
+	return GetRawAxis(m_axes[kZAxis]);
+}
 
 /**
  * Get the twist value of the current joystick.
  * This depends on the mapping of the joystick connected to the current port.
  */
-float Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
+float Joystick::GetTwist() const
+{
+	return GetRawAxis(m_axes[kTwistAxis]);
+}
 
 /**
  * Get the throttle value of the current joystick.
  * This depends on the mapping of the joystick connected to the current port.
  */
-float Joystick::GetThrottle() const {
-  return GetRawAxis(m_axes[kThrottleAxis]);
+float Joystick::GetThrottle() const
+{
+	return GetRawAxis(m_axes[kThrottleAxis]);
 }
 
 /**
  * Get the value of the axis.
  *
- * @param axis The axis to read, starting at 0.
+ * @param axis The axis to read [1-6].
  * @return The value of the axis.
  */
-float Joystick::GetRawAxis(uint32_t axis) const {
-  return m_ds.GetStickAxis(m_port, axis);
+float Joystick::GetRawAxis(uint32_t axis) const
+{
+	return m_ds.GetStickAxis(m_port, axis);
 }
 
 /**
  * For the current joystick, return the axis determined by the argument.
  *
- * This is for cases where the joystick axis is returned programatically,
- * otherwise one of the
+ * This is for cases where the joystick axis is returned programatically, otherwise one of the
  * previous functions would be preferable (for example GetX()).
  *
  * @param axis The axis to read.
  * @return The value of the axis.
  */
-float Joystick::GetAxis(AxisType axis) const {
-  switch (axis) {
-    case kXAxis:
-      return this->GetX();
-    case kYAxis:
-      return this->GetY();
-    case kZAxis:
-      return this->GetZ();
-    case kTwistAxis:
-      return this->GetTwist();
-    case kThrottleAxis:
-      return this->GetThrottle();
-    default:
-      wpi_setWPIError(BadJoystickAxis);
-      return 0.0;
-  }
+float Joystick::GetAxis(AxisType axis) const
+{
+	switch(axis)
+	{
+		case kXAxis: return this->GetX();
+		case kYAxis: return this->GetY();
+		case kZAxis: return this->GetZ();
+		case kTwistAxis: return this->GetTwist();
+		case kThrottleAxis: return this->GetThrottle();
+		default:
+			wpi_setWPIError(BadJoystickAxis);
+			return 0.0;
+	}
 }
 
 /**
@@ -162,12 +162,12 @@
  *
  * Look up which button has been assigned to the trigger and read its state.
  *
- * @param hand This parameter is ignored for the Joystick class and is only here
- * to complete the GenericHID interface.
+ * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  * @return The state of the trigger.
  */
-bool Joystick::GetTrigger(JoystickHand hand) const {
-  return GetRawButton(m_buttons[kTriggerButton]);
+bool Joystick::GetTrigger(JoystickHand hand) const
+{
+	return GetRawButton(m_buttons[kTriggerButton]);
 }
 
 /**
@@ -175,45 +175,45 @@
  *
  * Look up which button has been assigned to the top and read its state.
  *
- * @param hand This parameter is ignored for the Joystick class and is only here
- * to complete the GenericHID interface.
+ * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  * @return The state of the top button.
  */
-bool Joystick::GetTop(JoystickHand hand) const {
-  return GetRawButton(m_buttons[kTopButton]);
+bool Joystick::GetTop(JoystickHand hand) const
+{
+	return GetRawButton(m_buttons[kTopButton]);
 }
 
 /**
  * This is not supported for the Joystick.
  * This method is only here to complete the GenericHID interface.
  */
-bool Joystick::GetBumper(JoystickHand hand) const {
-  // Joysticks don't have bumpers.
-  return false;
+bool Joystick::GetBumper(JoystickHand hand) const
+{
+	// Joysticks don't have bumpers.
+	return false;
 }
 
 /**
- * Get the button value (starting at button 1)
+ * Get the button value for buttons 1 through 12.
  *
- * The buttons are returned in a single 16 bit value with one bit representing
- * the state
+ * The buttons are returned in a single 16 bit value with one bit representing the state
  * of each button. The appropriate button is returned as a boolean value.
  *
- * @param button The button number to be read (starting at 1)
+ * @param button The button number to be read.
  * @return The state of the button.
  **/
-bool Joystick::GetRawButton(uint32_t button) const {
-  return m_ds.GetStickButton(m_port, button);
+bool Joystick::GetRawButton(uint32_t button) const
+{
+    return m_ds.GetStickButton(m_port, button);
 }
 
 /**
- * Get the state of a POV on the joystick.
- *
- * @param pov The index of the POV to read (starting at 0)
- * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
- */
+* Get the state of a POV on the joystick.
+*
+* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
+*/
 int Joystick::GetPOV(uint32_t pov) const {
-  return m_ds.GetStickPOV(m_port, pov);
+	return 0; // TODO
 }
 
 /**
@@ -224,75 +224,27 @@
  * @param button The type of button to read.
  * @return The state of the button.
  */
-bool Joystick::GetButton(ButtonType button) const {
-  switch (button) {
-    case kTriggerButton:
-      return GetTrigger();
-    case kTopButton:
-      return GetTop();
-    default:
-      return false;
-  }
+bool Joystick::GetButton(ButtonType button) const
+{
+	switch (button)
+	{
+	case kTriggerButton: return GetTrigger();
+	case kTopButton: return GetTop();
+	default:
+		return false;
+	}
 }
 
 /**
- * Get the number of axis for a joystick
- *
- * @return the number of axis for the current joystick
- */
-int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
-
-/**
- * Get the value of isXbox for the joystick.
- *
- * @return A boolean that is true if the joystick is an xbox controller.
- */
-bool Joystick::GetIsXbox() const { return m_ds.GetJoystickIsXbox(m_port); }
-
-/**
- * Get the HID type of the controller.
- *
- * @return the HID type of the controller.
- */
-Joystick::HIDType Joystick::GetType() const {
-  return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
-}
-
-/**
- * Get the name of the joystick.
- *
- * @return the name of the controller.
- */
-std::string Joystick::GetName() const { return m_ds.GetJoystickName(m_port); }
-
-// int Joystick::GetAxisType(uint8_t axis) const
-//{
-//	return m_ds.GetJoystickAxisType(m_port, axis);
-//}
-
-/**
-  * Get the number of axis for a joystick
-  *
-* @return the number of buttons on the current joystick
- */
-int Joystick::GetButtonCount() const {
-  return m_ds.GetStickButtonCount(m_port);
-}
-
-/**
- * Get the number of axis for a joystick
- *
- * @return then umber of POVs for the current joystick
- */
-int Joystick::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
-
-/**
  * Get the channel currently associated with the specified axis.
  *
  * @param axis The axis to look up the channel for.
  * @return The channel fr the axis.
  */
-uint32_t Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
+uint32_t Joystick::GetAxisChannel(AxisType axis)
+{
+	return m_axes[axis];
+}
 
 /**
  * Set the channel associated with a specified axis.
@@ -300,8 +252,9 @@
  * @param axis The axis to set the channel for.
  * @param channel The channel to set the axis to.
  */
-void Joystick::SetAxisChannel(AxisType axis, uint32_t channel) {
-  m_axes[axis] = channel;
+void Joystick::SetAxisChannel(AxisType axis, uint32_t channel)
+{
+	m_axes[axis] = channel;
 }
 
 /**
@@ -311,7 +264,7 @@
  * @return The magnitude of the direction vector
  */
 float Joystick::GetMagnitude() const {
-  return sqrt(pow(GetX(), 2) + pow(GetY(), 2));
+	return sqrt(pow(GetX(),2) + pow(GetY(),2) );
 }
 
 /**
@@ -320,58 +273,19 @@
  *
  * @return The direction of the vector in radians
  */
-float Joystick::GetDirectionRadians() const { return atan2(GetX(), -GetY()); }
+float Joystick::GetDirectionRadians() const {
+	return atan2(GetX(), -GetY());
+}
 
 /**
  * Get the direction of the vector formed by the joystick and its origin
  * in degrees
  *
- * uses acos(-1) to represent Pi due to absence of readily accessible Pi
+ * uses acos(-1) to represent Pi due to absence of readily accessable Pi
  * constant in C++
  *
  * @return The direction of the vector in degrees
  */
 float Joystick::GetDirectionDegrees() const {
-  return (180 / acos(-1)) * GetDirectionRadians();
-}
-
-/**
- * Set the rumble output for the joystick. The DS currently supports 2 rumble
- * values,
- * left rumble and right rumble
- * @param type Which rumble value to set
- * @param value The normalized value (0 to 1) to set the rumble to
- */
-void Joystick::SetRumble(RumbleType type, float value) {
-  if (value < 0)
-    value = 0;
-  else if (value > 1)
-    value = 1;
-  if (type == kLeftRumble)
-    m_leftRumble = value * 65535;
-  else
-    m_rightRumble = value * 65535;
-  HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
-}
-
-/**
- * Set a single HID output value for the joystick.
- * @param outputNumber The index of the output to set (1-32)
- * @param value The value to set the output to
- */
-
-void Joystick::SetOutput(uint8_t outputNumber, bool value) {
-  m_outputs =
-      (m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
-
-  HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
-}
-
-/**
- * Set all HID output values for the joystick.
- * @param value The 32 bit output value (1 bit for each output)
- */
-void Joystick::SetOutputs(uint32_t value) {
-  m_outputs = value;
-  HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
+	return (180/acos(-1))*GetDirectionRadians();
 }