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+---
+title: CommandGamepad
+description: Wrapping a standard FTC Gamepad to expose its buttons and sticks as Triggers and RangeTriggers.
+sidebar:
+  order: 4
+---
+
+import { Tabs, TabItem } from "@astrojs/starlight/components";
+
+`CommandGamepad` wraps a standard FTC `Gamepad` and exposes every button, bumper, d-pad direction,
+and stick as a [`Trigger`](/reference/triggers) or [`RangeTrigger`](/reference/triggers), so you can
+bind controller input directly to Ivy commands without manually polling the gamepad each loop.
+
+## Construction
+
+`CommandGamepad` takes the `Gamepad` instance to wrap, and an optional `EventLoop` to bind its
+triggers to.
+If no event loop is provided, it defaults to `Trigger.defaultEventLoop`.
+
+<Tabs syncKey="language">
+  <TabItem label="Kotlin">
+    ```kotlin val driver = CommandGamepad(gamepad = gamepad1) ```
+  </TabItem>
+  <TabItem label="Java">
+    ```java CommandGamepad driver = new CommandGamepad(gamepad1); ```
+  </TabItem>
+</Tabs>
+
+## Buttons
+
+Each button is exposed as a `Trigger` that is true while the button is held down.
+Button names
+follow Xbox-style naming (`a`, `b`, `x`, `y`), with PlayStation-style aliases (`cross`, `circle`,
+`square`, `triangle`) mapped to the same underlying inputs.
+
+| Property           | True while...             |
+| ------------------ | ------------------------- |
+| `a` / `cross`      | A (cross) is held         |
+| `b` / `circle`     | B (circle) is held        |
+| `x` / `square`     | X (square) is held        |
+| `y` / `triangle`   | Y (triangle) is held      |
+| `leftBumper`       | Left bumper is held       |
+| `rightBumper`      | Right bumper is held      |
+| `dpadUp`           | D-pad up is held          |
+| `dpadDown`         | D-pad down is held        |
+| `dpadLeft`         | D-pad left is held        |
+| `dpadRight`        | D-pad right is held       |
+| `back`             | Back button is held       |
+| `start`            | Start button is held      |
+| `leftStickButton`  | Left stick is clicked in  |
+| `rightStickButton` | Right stick is clicked in |
+
+<Tabs syncKey="language">
+  <TabItem label="Kotlin">
+    ```kotlin driver.a.onTrue(claw.close())
+    driver.leftBumper.whileTrue(intake.run()) ```
+  </TabItem>
+  <TabItem label="Java">
+    ```java driver.a().onTrue(claw.close());
+    driver.leftBumper().whileTrue(intake.run()); ```
+  </TabItem>
+</Tabs>
+
+## Sticks and analog triggers
+
+Stick axes and the analog triggers are exposed as `RangeTrigger`s, giving you both the raw analog
+value and threshold-based triggers derived from it.
+
+| Property       | Value represents                               |
+| -------------- | ---------------------------------------------- |
+| `leftStickX`   | How far the left stick is moved on the x-axis  |
+| `leftStickY`   | How far the left stick is moved on the y-axis  |
+| `rightStickX`  | How far the right stick is moved on the x-axis |
+| `rightStickY`  | How far the right stick is moved on the y-axis |
+| `leftTrigger`  | How far the left analog trigger is pressed     |
+| `rightTrigger` | How far the right analog trigger is pressed    |
+
+<Tabs syncKey="language">
+  <TabItem label="Kotlin">
+    ```kotlin driver.rightTrigger.isOver(0.5).onTrue(intake.run()) val forward =
+    driver.leftStickY.value ```
+  </TabItem>
+  <TabItem label="Java">
+    ```java driver.rightTrigger().isOver(0.5).onTrue(intake.run()); double
+    forward = driver.leftStickY().getValue(); ```
+  </TabItem>
+</Tabs>
+
+See [Triggers and RangeTriggers](/reference/triggers) for the full list of binding methods
+(`onTrue`, `whileTrue`, `isOver`, `isBetween`, `debounce`, `multiPress`, and more) available on
+each of these.