diff --git a/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java b/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java
index e3aa34ebabf..39cab6ef58f 100644
--- a/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java
+++ b/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java
@@ -236,47 +236,47 @@ public Trigger rightStick(EventLoop loop) {
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #leftShoulder(EventLoop)
+   * @see #leftBumper(EventLoop)
    */
-  public Trigger leftShoulder() {
-    return leftShoulder(CommandScheduler.getInstance().getDefaultButtonLoop());
+  public Trigger leftBumper() {
+    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the given loop.
    */
-  public Trigger leftShoulder(EventLoop loop) {
-    return button(Gamepad.Button.kLeftShoulder.value, loop);
+  public Trigger leftBumper(EventLoop loop) {
+    return button(Gamepad.Button.kLeftBumper.value, loop);
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
-   * @see #rightShoulder(EventLoop)
+   * @see #rightBumper(EventLoop)
    */
-  public Trigger rightShoulder() {
-    return rightShoulder(CommandScheduler.getInstance().getDefaultButtonLoop());
+  public Trigger rightBumper() {
+    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the given loop.
    */
-  public Trigger rightShoulder(EventLoop loop) {
-    return button(Gamepad.Button.kRightShoulder.value, loop);
+  public Trigger rightBumper(EventLoop loop) {
+    return button(Gamepad.Button.kRightBumper.value, loop);
   }
 
   /**
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
index c1de22fd999..d48deb41f25 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
@@ -49,12 +49,12 @@ Trigger CommandGamepad::RightStick(wpi::EventLoop* loop) const {
   return Button(wpi::Gamepad::Button::kRightStick, loop);
 }
 
-Trigger CommandGamepad::LeftShoulder(wpi::EventLoop* loop) const {
-  return Button(wpi::Gamepad::Button::kLeftShoulder, loop);
+Trigger CommandGamepad::LeftBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kLeftBumper, loop);
 }
 
-Trigger CommandGamepad::RightShoulder(wpi::EventLoop* loop) const {
-  return Button(wpi::Gamepad::Button::kRightShoulder, loop);
+Trigger CommandGamepad::RightBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kRightBumper, loop);
 }
 
 Trigger CommandGamepad::DpadUp(wpi::EventLoop* loop) const {
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
index 8b2326e3fa9..30db1f4cb02 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
@@ -141,30 +141,28 @@ class CommandGamepad : public CommandGenericHID {
                                                 .GetDefaultButtonLoop()) const;
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's
+   * Constructs a Trigger instance around the right bumper button's
    * digital signal.
    *
    * @param loop the event loop instance to attach the event to. Defaults to the
    * CommandScheduler's default loop.
-   * @return a Trigger instance representing the right shoulder button's
+   * @return a Trigger instance representing the right bumper button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftShoulder(
-      wpi::EventLoop* loop =
-          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+  Trigger LeftBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's
+   * Constructs a Trigger instance around the right bumper button's
    * digital signal.
    *
    * @param loop the event loop instance to attach the event to. Defaults to the
    * CommandScheduler's default loop.
-   * @return a Trigger instance representing the right shoulder button's
+   * @return a Trigger instance representing the right bumper button's
    * digital signal attached to the given loop.
    */
-  Trigger RightShoulder(
-      wpi::EventLoop* loop =
-          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+  Trigger RightBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
 
   /**
    * Constructs a Trigger instance around the D-pad up button's
diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java b/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java
index cbf1038805e..4e19867fb3f 100644
--- a/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java
+++ b/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java
@@ -266,51 +266,51 @@ public Trigger rightStick(EventLoop loop) {
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the scheduler
    *     passed to the controller's constructor, or the {@link Scheduler#getDefault default
    *     scheduler} if a scheduler was not explicitly provided.
-   * @see #leftShoulder(EventLoop)
+   * @see #leftBumper(EventLoop)
    */
-  public Trigger leftShoulder() {
-    return leftShoulder(getScheduler().getDefaultEventLoop());
+  public Trigger leftBumper() {
+    return leftBumper(getScheduler().getDefaultEventLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the given loop.
    */
-  public Trigger leftShoulder(EventLoop loop) {
-    return button(Gamepad.Button.kLeftShoulder.value, loop);
+  public Trigger leftBumper(EventLoop loop) {
+    return button(Gamepad.Button.kLeftBumper.value, loop);
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the {@link Scheduler#getDefaultEventLoop() default scheduler event loop} on the scheduler
    *     passed to the controller's constructor, or the {@link Scheduler#getDefault default
    *     scheduler} if a scheduler was not explicitly provided.
-   * @see #rightShoulder(EventLoop)
+   * @see #rightBumper(EventLoop)
    */
-  public Trigger rightShoulder() {
-    return rightShoulder(getScheduler().getDefaultEventLoop());
+  public Trigger rightBumper() {
+    return rightBumper(getScheduler().getDefaultEventLoop());
   }
 
   /**
-   * Constructs a Trigger instance around the right shoulder button's digital signal.
+   * Constructs a Trigger instance around the right bumper button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return a Trigger instance representing the right shoulder button's digital signal attached to
+   * @return a Trigger instance representing the right bumper button's digital signal attached to
    *     the given loop.
    */
-  public Trigger rightShoulder(EventLoop loop) {
-    return button(Gamepad.Button.kRightShoulder.value, loop);
+  public Trigger rightBumper(EventLoop loop) {
+    return button(Gamepad.Button.kRightBumper.value, loop);
   }
 
   /**
diff --git a/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp b/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
index cc808f9694a..d4c2b6626b8 100644
--- a/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
@@ -202,37 +202,36 @@ BooleanEvent Gamepad::RightStick(EventLoop* loop) const {
   return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
 }
 
-bool Gamepad::GetLeftShoulderButton() const {
-  return GetRawButton(Button::kLeftShoulder);
+bool Gamepad::GetLeftBumperButton() const {
+  return GetRawButton(Button::kLeftBumper);
 }
 
-bool Gamepad::GetLeftShoulderButtonPressed() {
-  return GetRawButtonPressed(Button::kLeftShoulder);
+bool Gamepad::GetLeftBumperButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftBumper);
 }
 
-bool Gamepad::GetLeftShoulderButtonReleased() {
-  return GetRawButtonReleased(Button::kLeftShoulder);
+bool Gamepad::GetLeftBumperButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftBumper);
 }
 
-BooleanEvent Gamepad::LeftShoulder(EventLoop* loop) const {
-  return BooleanEvent(loop, [this]() { return this->GetLeftShoulderButton(); });
+BooleanEvent Gamepad::LeftBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftBumperButton(); });
 }
 
-bool Gamepad::GetRightShoulderButton() const {
-  return GetRawButton(Button::kRightShoulder);
+bool Gamepad::GetRightBumperButton() const {
+  return GetRawButton(Button::kRightBumper);
 }
 
-bool Gamepad::GetRightShoulderButtonPressed() {
-  return GetRawButtonPressed(Button::kRightShoulder);
+bool Gamepad::GetRightBumperButtonPressed() {
+  return GetRawButtonPressed(Button::kRightBumper);
 }
 
-bool Gamepad::GetRightShoulderButtonReleased() {
-  return GetRawButtonReleased(Button::kRightShoulder);
+bool Gamepad::GetRightBumperButtonReleased() {
+  return GetRawButtonReleased(Button::kRightBumper);
 }
 
-BooleanEvent Gamepad::RightShoulder(EventLoop* loop) const {
-  return BooleanEvent(loop,
-                      [this]() { return this->GetRightShoulderButton(); });
+BooleanEvent Gamepad::RightBumper(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightBumperButton(); });
 }
 
 bool Gamepad::GetDpadUpButton() const {
@@ -528,11 +527,11 @@ void Gamepad::InitSendable(wpi::util::SendableBuilder& builder) {
       "RightStick",
       [this] { return GetButtonForSendable(Button::kRightStick); }, nullptr);
   builder.AddBooleanProperty(
-      "LeftShoulder",
-      [this] { return GetButtonForSendable(Button::kLeftShoulder); }, nullptr);
+      "LeftBumper",
+      [this] { return GetButtonForSendable(Button::kLeftBumper); }, nullptr);
   builder.AddBooleanProperty(
-      "RightShoulder",
-      [this] { return GetButtonForSendable(Button::kRightShoulder); }, nullptr);
+      "RightBumper",
+      [this] { return GetButtonForSendable(Button::kRightBumper); }, nullptr);
   builder.AddBooleanProperty(
       "DpadUp", [this] { return GetButtonForSendable(Button::kDpadUp); },
       nullptr);
diff --git a/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp b/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
index c643142449b..a9666eda78f 100644
--- a/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
@@ -81,12 +81,12 @@ void GamepadSim::SetRightStickButton(bool value) {
   SetRawButton(Gamepad::Button::kRightStick, value);
 }
 
-void GamepadSim::SetLeftShoulderButton(bool value) {
-  SetRawButton(Gamepad::Button::kLeftShoulder, value);
+void GamepadSim::SetLeftBumperButton(bool value) {
+  SetRawButton(Gamepad::Button::kLeftBumper, value);
 }
 
-void GamepadSim::SetRightShoulderButton(bool value) {
-  SetRawButton(Gamepad::Button::kRightShoulder, value);
+void GamepadSim::SetRightBumperButton(bool value) {
+  SetRawButton(Gamepad::Button::kRightBumper, value);
 }
 
 void GamepadSim::SetDpadUpButton(bool value) {
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp b/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
index 3ab751c2645..034d362df0f 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
@@ -409,66 +409,66 @@ class Gamepad : public GenericHID,
   BooleanEvent RightStick(EventLoop* loop) const;
 
   /**
-   * Read the value of the right shoulder button on the controller.
+   * Read the value of the right bumper button on the controller.
    *
    * @return The state of the button.
    */
-  bool GetLeftShoulderButton() const;
+  bool GetLeftBumperButton() const;
 
   /**
-   * Whether the right shoulder button was pressed since the last check.
+   * Whether the right bumper button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
-  bool GetLeftShoulderButtonPressed();
+  bool GetLeftBumperButtonPressed();
 
   /**
-   * Whether the right shoulder button was released since the last check.
+   * Whether the right bumper button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
-  bool GetLeftShoulderButtonReleased();
+  bool GetLeftBumperButtonReleased();
 
   /**
-   * Constructs an event instance around the right shoulder button's
+   * Constructs an event instance around the right bumper button's
    * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right shoulder button's
+   * @return an event instance representing the right bumper button's
    * digital signal attached to the given loop.
    */
-  BooleanEvent LeftShoulder(EventLoop* loop) const;
+  BooleanEvent LeftBumper(EventLoop* loop) const;
 
   /**
-   * Read the value of the right shoulder button on the controller.
+   * Read the value of the right bumper button on the controller.
    *
    * @return The state of the button.
    */
-  bool GetRightShoulderButton() const;
+  bool GetRightBumperButton() const;
 
   /**
-   * Whether the right shoulder button was pressed since the last check.
+   * Whether the right bumper button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
-  bool GetRightShoulderButtonPressed();
+  bool GetRightBumperButtonPressed();
 
   /**
-   * Whether the right shoulder button was released since the last check.
+   * Whether the right bumper button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
-  bool GetRightShoulderButtonReleased();
+  bool GetRightBumperButtonReleased();
 
   /**
-   * Constructs an event instance around the right shoulder button's
+   * Constructs an event instance around the right bumper button's
    * digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right shoulder button's
+   * @return an event instance representing the right bumper button's
    * digital signal attached to the given loop.
    */
-  BooleanEvent RightShoulder(EventLoop* loop) const;
+  BooleanEvent RightBumper(EventLoop* loop) const;
 
   /**
    * Read the value of the D-pad up button on the controller.
@@ -955,10 +955,10 @@ class Gamepad : public GenericHID,
     static constexpr int kLeftStick = 7;
     /// Right stick button.
     static constexpr int kRightStick = 8;
-    /// Right shoulder button.
-    static constexpr int kLeftShoulder = 9;
-    /// Right shoulder button.
-    static constexpr int kRightShoulder = 10;
+    /// right bumper button.
+    static constexpr int kLeftBumper = 9;
+    /// right bumper button.
+    static constexpr int kRightBumper = 10;
     /// D-pad up button.
     static constexpr int kDpadUp = 11;
     /// D-pad down button.
diff --git a/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
index af9fd5f1148..bd98c0de6be 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
@@ -137,18 +137,18 @@ class GamepadSim : public GenericHIDSim {
   void SetRightStickButton(bool value);
 
   /**
-   * Change the value of the right shoulder button on the controller.
+   * Change the value of the right bumper button on the controller.
    *
    * @param value the new value
    */
-  void SetLeftShoulderButton(bool value);
+  void SetLeftBumperButton(bool value);
 
   /**
-   * Change the value of the right shoulder button on the controller.
+   * Change the value of the right bumper button on the controller.
    *
    * @param value the new value
    */
-  void SetRightShoulderButton(bool value);
+  void SetRightBumperButton(bool value);
 
   /**
    * Change the value of the D-pad up button on the controller.
diff --git a/wpilibc/src/main/python/semiwrap/Gamepad.yml b/wpilibc/src/main/python/semiwrap/Gamepad.yml
index a70d6464cf4..ba7d0b2c449 100644
--- a/wpilibc/src/main/python/semiwrap/Gamepad.yml
+++ b/wpilibc/src/main/python/semiwrap/Gamepad.yml
@@ -54,14 +54,14 @@ classes:
       GetRightStickButtonPressed:
       GetRightStickButtonReleased:
       RightStick:
-      GetLeftShoulderButton:
-      GetLeftShoulderButtonPressed:
-      GetLeftShoulderButtonReleased:
-      LeftShoulder:
-      GetRightShoulderButton:
-      GetRightShoulderButtonPressed:
-      GetRightShoulderButtonReleased:
-      RightShoulder:
+      GetLeftBumperButton:
+      GetLeftBumperButtonPressed:
+      GetLeftBumperButtonReleased:
+      LeftBumper:
+      GetRightBumperButton:
+      GetRightBumperButtonPressed:
+      GetRightBumperButtonReleased:
+      RightBumper:
       GetDpadUpButton:
       GetDpadUpButtonPressed:
       GetDpadUpButtonReleased:
@@ -134,8 +134,8 @@ classes:
       kStart:
       kLeftStick:
       kRightStick:
-      kLeftShoulder:
-      kRightShoulder:
+      kLeftBumper:
+      kRightBumper:
       kDpadUp:
       kDpadDown:
       kDpadLeft:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml b/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml
index a9572823aae..da3ab5e412d 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml
@@ -24,8 +24,8 @@ classes:
       SetStartButton:
       SetLeftStickButton:
       SetRightStickButton:
-      SetLeftShoulderButton:
-      SetRightShoulderButton:
+      SetLeftBumperButton:
+      SetRightBumperButton:
       SetDpadUpButton:
       SetDpadDownButton:
       SetDpadLeftButton:
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index 295d5426e87..c85071a518c 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -24,8 +24,8 @@ RobotContainer::RobotContainer() {
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
-  // While holding the shoulder button, drive at half speed
-  m_driverController.RightShoulder()
+  // While holding the bumper button, drive at half speed
+  m_driverController.RightBumper()
       .OnTrue(m_driveHalfSpeed.get())
       .OnFalse(m_driveFullSpeed.get());
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
index 55772788188..e439256e776 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -40,7 +40,7 @@ void RobotContainer::ConfigureButtonBindings() {
   // Release the hatch when the 'West Face' button is pressed.
   m_driverController.WestFace().OnTrue(m_hatch.ReleaseHatchCommand());
   // While holding Right Bumper, drive at half speed
-  m_driverController.RightShoulder()
+  m_driverController.RightBumper()
       .OnTrue(wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
       .OnFalse(
           wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }, {}));
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index 70a58688c8c..255c3093a84 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -46,9 +46,9 @@ void RobotContainer::ConfigureButtonBindings() {
   // Release the hatch when the 'East Face' button is pressed.
   wpi::cmd::JoystickButton(&m_driverController, wpi::Gamepad::Button::kEastFace)
       .OnTrue(ReleaseHatch(&m_hatch).ToPtr());
-  // While holding the shoulder button, drive at half speed
+  // While holding the bumper button, drive at half speed
   wpi::cmd::JoystickButton(&m_driverController,
-                           wpi::Gamepad::Button::kRightShoulder)
+                           wpi::Gamepad::Button::kRightBumper)
       .WhileTrue(HalveDriveSpeed(&m_drive).ToPtr());
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
index e0ece933813..0fd1d0d8058 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -112,7 +112,7 @@ class Robot : public wpi::TimedRobot {
     // Sets the target position of our arm. This is similar to setting the
     // setpoint of a PID controller.
     wpi::math::TrapezoidProfile<wpi::units::radians>::State goal;
-    if (m_joystick.GetRightShoulderButton()) {
+    if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_rad_per_s};
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
index 591855c5869..080cb6cb5b7 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -112,7 +112,7 @@ class Robot : public wpi::TimedRobot {
     // Sets the target height of our elevator. This is similar to setting the
     // setpoint of a PID controller.
     wpi::math::TrapezoidProfile<wpi::units::meters>::State goal;
-    if (m_joystick.GetRightShoulderButton()) {
+    if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       goal = {kRaisedPosition, 0_fps};
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
index 7aafdf128d4..39345c260ee 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -91,7 +91,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override {
     // Sets the target speed of our flywheel. This is similar to setting the
     // setpoint of a PID controller.
-    if (m_joystick.GetRightShoulderButton()) {
+    if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
index e77fe6124c8..6b546c207c1 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -88,7 +88,7 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override {
     // Sets the target speed of our flywheel. This is similar to setting the
     // setpoint of a PID controller.
-    if (m_joystick.GetRightShoulderButton()) {
+    if (m_joystick.GetRightBumperButton()) {
       // We pressed the bumper, so let's set our next reference
       m_loop.SetNextR(wpi::math::Vectord<1>{kSpinup.value()});
     } else {
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
index 4b0e3cbc8c6..c9f1e144943 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
@@ -17,29 +17,29 @@ void SysIdRoutineBot::ConfigureBindings() {
 
   // Using bumpers as a modifier and combining it with the buttons so that we
   // can have both sets of bindings at once
-  (m_driverController.SouthFace() && m_driverController.RightShoulder())
+  (m_driverController.SouthFace() && m_driverController.RightBumper())
       .WhileTrue(
           m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.EastFace() && m_driverController.RightShoulder())
+  (m_driverController.EastFace() && m_driverController.RightBumper())
       .WhileTrue(
           m_drive.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
-  (m_driverController.WestFace() && m_driverController.RightShoulder())
+  (m_driverController.WestFace() && m_driverController.RightBumper())
       .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.NorthFace() && m_driverController.RightShoulder())
+  (m_driverController.NorthFace() && m_driverController.RightBumper())
       .WhileTrue(m_drive.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 
   m_shooter.SetDefaultCommand(m_shooter.RunShooterCommand(
       [this] { return m_driverController.GetLeftTriggerAxis(); }));
 
-  (m_driverController.SouthFace() && m_driverController.LeftShoulder())
+  (m_driverController.SouthFace() && m_driverController.LeftBumper())
       .WhileTrue(
           m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.EastFace() && m_driverController.LeftShoulder())
+  (m_driverController.EastFace() && m_driverController.LeftBumper())
       .WhileTrue(
           m_shooter.SysIdQuasistatic(wpi::cmd::sysid::Direction::kReverse));
-  (m_driverController.WestFace() && m_driverController.LeftShoulder())
+  (m_driverController.WestFace() && m_driverController.LeftBumper())
       .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kForward));
-  (m_driverController.NorthFace() && m_driverController.LeftShoulder())
+  (m_driverController.NorthFace() && m_driverController.LeftBumper())
       .WhileTrue(m_shooter.SysIdDynamic(wpi::cmd::sysid::Direction::kReverse));
 }
 
diff --git a/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java b/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java
index c8d3f4b682e..0a3dac06240 100644
--- a/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java
+++ b/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java
@@ -42,10 +42,10 @@ public enum Button {
     kLeftStick(7),
     /** Right stick button. */
     kRightStick(8),
-    /** Right shoulder button. */
-    kLeftShoulder(9),
-    /** Right shoulder button. */
-    kRightShoulder(10),
+    /** Left bumper button. */
+    kLeftBumper(9),
+    /** Right bumper button. */
+    kRightBumper(10),
     /** D-pad up button. */
     kDpadUp(11),
     /** D-pad down button. */
@@ -600,79 +600,79 @@ public BooleanEvent rightStick(EventLoop loop) {
   }
 
   /**
-   * Read the value of the right shoulder button on the controller.
+   * Read the value of the right bumper button on the controller.
    *
    * @return The state of the button.
    */
-  public boolean getLeftShoulderButton() {
-    return getRawButton(Button.kLeftShoulder.value);
+  public boolean getLeftBumperButton() {
+    return getRawButton(Button.kLeftBumper.value);
   }
 
   /**
-   * Whether the right shoulder button was pressed since the last check.
+   * Whether the right bumper button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
-  public boolean getLeftShoulderButtonPressed() {
-    return getRawButtonPressed(Button.kLeftShoulder.value);
+  public boolean getLeftBumperButtonPressed() {
+    return getRawButtonPressed(Button.kLeftBumper.value);
   }
 
   /**
-   * Whether the right shoulder button was released since the last check.
+   * Whether the right bumper button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
-  public boolean getLeftShoulderButtonReleased() {
-    return getRawButtonReleased(Button.kLeftShoulder.value);
+  public boolean getLeftBumperButtonReleased() {
+    return getRawButtonReleased(Button.kLeftBumper.value);
   }
 
   /**
-   * Constructs an event instance around the right shoulder button's digital signal.
+   * Constructs an event instance around the right bumper button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right shoulder button's digital signal attached to
-   *     the given loop.
+   * @return an event instance representing the right bumper button's digital signal attached to the
+   *     given loop.
    */
-  public BooleanEvent leftShoulder(EventLoop loop) {
-    return button(Button.kLeftShoulder.value, loop);
+  public BooleanEvent leftBumper(EventLoop loop) {
+    return button(Button.kLeftBumper.value, loop);
   }
 
   /**
-   * Read the value of the right shoulder button on the controller.
+   * Read the value of the right bumper button on the controller.
    *
    * @return The state of the button.
    */
-  public boolean getRightShoulderButton() {
-    return getRawButton(Button.kRightShoulder.value);
+  public boolean getRightBumperButton() {
+    return getRawButton(Button.kRightBumper.value);
   }
 
   /**
-   * Whether the right shoulder button was pressed since the last check.
+   * Whether the right bumper button was pressed since the last check.
    *
    * @return Whether the button was pressed since the last check.
    */
-  public boolean getRightShoulderButtonPressed() {
-    return getRawButtonPressed(Button.kRightShoulder.value);
+  public boolean getRightBumperButtonPressed() {
+    return getRawButtonPressed(Button.kRightBumper.value);
   }
 
   /**
-   * Whether the right shoulder button was released since the last check.
+   * Whether the right bumper button was released since the last check.
    *
    * @return Whether the button was released since the last check.
    */
-  public boolean getRightShoulderButtonReleased() {
-    return getRawButtonReleased(Button.kRightShoulder.value);
+  public boolean getRightBumperButtonReleased() {
+    return getRawButtonReleased(Button.kRightBumper.value);
   }
 
   /**
-   * Constructs an event instance around the right shoulder button's digital signal.
+   * Constructs an event instance around the right bumper button's digital signal.
    *
    * @param loop the event loop instance to attach the event to.
-   * @return an event instance representing the right shoulder button's digital signal attached to
-   *     the given loop.
+   * @return an event instance representing the right bumper button's digital signal attached to the
+   *     given loop.
    */
-  public BooleanEvent rightShoulder(EventLoop loop) {
-    return button(Button.kRightShoulder.value, loop);
+  public BooleanEvent rightBumper(EventLoop loop) {
+    return button(Button.kRightBumper.value, loop);
   }
 
   /**
@@ -1281,9 +1281,9 @@ public void initSendable(SendableBuilder builder) {
     builder.addBooleanProperty(
         "RightStick", () -> getButtonForSendable(Button.kRightStick.value), null);
     builder.addBooleanProperty(
-        "LeftShoulder", () -> getButtonForSendable(Button.kLeftShoulder.value), null);
+        "LeftBumper", () -> getButtonForSendable(Button.kLeftBumper.value), null);
     builder.addBooleanProperty(
-        "RightShoulder", () -> getButtonForSendable(Button.kRightShoulder.value), null);
+        "RightBumper", () -> getButtonForSendable(Button.kRightBumper.value), null);
     builder.addBooleanProperty("DpadUp", () -> getButtonForSendable(Button.kDpadUp.value), null);
     builder.addBooleanProperty(
         "DpadDown", () -> getButtonForSendable(Button.kDpadDown.value), null);
diff --git a/wpilibj/src/main/java/org/wpilib/simulation/GamepadSim.java b/wpilibj/src/main/java/org/wpilib/simulation/GamepadSim.java
index 896de2cf8e2..f6b7f773c5e 100644
--- a/wpilibj/src/main/java/org/wpilib/simulation/GamepadSim.java
+++ b/wpilibj/src/main/java/org/wpilib/simulation/GamepadSim.java
@@ -170,21 +170,21 @@ public void setRightStickButton(boolean value) {
   }
 
   /**
-   * Change the value of the right shoulder button on the controller.
+   * Change the value of the right bumper button on the controller.
    *
    * @param value the new value
    */
-  public void setLeftShoulderButton(boolean value) {
-    setRawButton(Gamepad.Button.kLeftShoulder.value, value);
+  public void setLeftBumperButton(boolean value) {
+    setRawButton(Gamepad.Button.kLeftBumper.value, value);
   }
 
   /**
-   * Change the value of the right shoulder button on the controller.
+   * Change the value of the right bumper button on the controller.
    *
    * @param value the new value
    */
-  public void setRightShoulderButton(boolean value) {
-    setRawButton(Gamepad.Button.kRightShoulder.value, value);
+  public void setRightBumperButton(boolean value) {
+    setRawButton(Gamepad.Button.kRightBumper.value, value);
   }
 
   /**
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
index bdd665f6ee9..ec33f13f6ea 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java
@@ -53,7 +53,7 @@ public RobotContainer() {
    */
   private void configureButtonBindings() {
     // Drive at half speed when the bumper is held
-    m_driverController.rightShoulder().onTrue(m_driveHalfSpeed).onFalse(m_driveFullSpeed);
+    m_driverController.rightBumper().onTrue(m_driveHalfSpeed).onFalse(m_driveFullSpeed);
 
     // Drive forward by 3 meters when the 'South Face' button is pressed, with a timeout of 10
     // seconds
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
index 8d8e05d6c27..4cbc5c7cd8e 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java
@@ -81,7 +81,7 @@ private void configureButtonBindings() {
     m_driverController.westFace().onTrue(m_hatchSubsystem.releaseHatchCommand());
     // While holding right bumper, drive at half speed
     m_driverController
-        .rightShoulder()
+        .rightBumper()
         .onTrue(Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5)))
         .onFalse(Commands.runOnce(() -> m_robotDrive.setMaxOutput(1)));
   }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
index 6bacd95485b..8aac9cd196d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java
@@ -88,8 +88,8 @@ private void configureButtonBindings() {
     // Release the hatch when the 'East Face' button is pressed.
     new JoystickButton(m_driverController, Button.kEastFace.value)
         .onTrue(new ReleaseHatch(m_hatchSubsystem));
-    // While holding the shoulder button, drive at half speed
-    new JoystickButton(m_driverController, Button.kRightShoulder.value)
+    // While holding the bumper button, drive at half speed
+    new JoystickButton(m_driverController, Button.kRightBumper.value)
         .whileTrue(new HalveDriveSpeed(m_robotDrive));
   }
 
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
index 072a427f567..04a623c6195 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java
@@ -46,19 +46,19 @@ public void configureBindings() {
     // of bindings at once
     m_driverController
         .southFace()
-        .and(m_driverController.rightShoulder())
+        .and(m_driverController.rightBumper())
         .whileTrue(m_drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
     m_driverController
         .eastFace()
-        .and(m_driverController.rightShoulder())
+        .and(m_driverController.rightBumper())
         .whileTrue(m_drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
     m_driverController
         .westFace()
-        .and(m_driverController.rightShoulder())
+        .and(m_driverController.rightBumper())
         .whileTrue(m_drive.sysIdDynamic(SysIdRoutine.Direction.kForward));
     m_driverController
         .northFace()
-        .and(m_driverController.rightShoulder())
+        .and(m_driverController.rightBumper())
         .whileTrue(m_drive.sysIdDynamic(SysIdRoutine.Direction.kReverse));
 
     // Control the shooter wheel with the left trigger
@@ -66,19 +66,19 @@ public void configureBindings() {
 
     m_driverController
         .southFace()
-        .and(m_driverController.leftShoulder())
+        .and(m_driverController.leftBumper())
         .whileTrue(m_shooter.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
     m_driverController
         .eastFace()
-        .and(m_driverController.leftShoulder())
+        .and(m_driverController.leftBumper())
         .whileTrue(m_shooter.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
     m_driverController
         .westFace()
-        .and(m_driverController.leftShoulder())
+        .and(m_driverController.leftBumper())
         .whileTrue(m_shooter.sysIdDynamic(SysIdRoutine.Direction.kForward));
     m_driverController
         .northFace()
-        .and(m_driverController.leftShoulder())
+        .and(m_driverController.leftBumper())
         .whileTrue(m_shooter.sysIdDynamic(SysIdRoutine.Direction.kReverse));
   }