diff --git a/wpilibc/simulation/src/Joystick.cpp b/wpilibc/simulation/src/Joystick.cpp
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+++ b/wpilibc/simulation/src/Joystick.cpp
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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.  */
+/*----------------------------------------------------------------------------*/
+
+#include "Joystick.h"
+#include "DriverStation.h"
+//#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include <math.h>
+#include <string.h>
+
+const uint32_t Joystick::kDefaultXAxis;
+const uint32_t Joystick::kDefaultYAxis;
+const uint32_t Joystick::kDefaultZAxis;
+const uint32_t Joystick::kDefaultTwistAxis;
+const uint32_t Joystick::kDefaultThrottleAxis;
+const uint32_t Joystick::kDefaultTriggerButton;
+const uint32_t Joystick::kDefaultTopButton;
+static Joystick *joysticks[DriverStation::kJoystickPorts];
+static bool joySticksInitialized = false;
+
+/**
+ * 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).
+ */
+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;
+
+  m_buttons[kTriggerButton] = kDefaultTriggerButton;
+  m_buttons[kTopButton] = kDefaultTopButton;
+
+  HALReport(HALUsageReporting::kResourceType_Joystick, port);
+}
+
+/**
+ * Version of the constructor to be called by sub-classes.
+ *
+ * This constructor allows the subclass to configure the number of constants
+ * for axes and buttons.
+ *
+ * @param port The port on the driver station that the joystick is plugged into.
+ * @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::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]);
+}
+
+/**
+ * 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]);
+}
+
+/**
+ * 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]); }
+
+/**
+ * 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]); }
+
+/**
+ * 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]);
+}
+
+/**
+ * Get the value of the axis.
+ *
+ * @param axis The axis to read, starting at 0.
+ * @return The value of the 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
+ * 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;
+  }
+}
+
+/**
+ * Read the state of the trigger on the joystick.
+ *
+ * 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.
+ * @return The state of the trigger.
+ */
+bool Joystick::GetTrigger(JoystickHand hand) const {
+  return GetRawButton(m_buttons[kTriggerButton]);
+}
+
+/**
+ * Read the state of the top button on the joystick.
+ *
+ * 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.
+ * @return The state of the top button.
+ */
+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;
+}
+
+/**
+ * Get the button value (starting at button 1)
+ *
+ * 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)
+ * @return The state of the 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.
+ */
+int Joystick::GetPOV(uint32_t pov) const {
+  return m_ds.GetStickPOV(m_port, pov);
+}
+
+/**
+ * Get buttons based on an enumerated type.
+ *
+ * The button type will be looked up in the list of buttons and then read.
+ *
+ * @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;
+  }
+}
+
+/**
+ * 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]; }
+
+/**
+ * Set the channel associated with a specified axis.
+ *
+ * @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;
+}
+
+/**
+ * Get the magnitude of the direction vector formed by the joystick's
+ * current position relative to its origin
+ *
+ * @return The magnitude of the direction vector
+ */
+float Joystick::GetMagnitude() const {
+  return sqrt(pow(GetX(), 2) + pow(GetY(), 2));
+}
+
+/**
+ * Get the direction of the vector formed by the joystick and its origin
+ * in radians
+ *
+ * @return The direction of the vector in radians
+ */
+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
+ * 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);
+}