diff --git a/wpilibc/shared/src/Buttons/Button.cpp b/wpilibc/shared/src/Buttons/Button.cpp
index b57fd89..c4bd5ec 100644
--- a/wpilibc/shared/src/Buttons/Button.cpp
+++ b/wpilibc/shared/src/Buttons/Button.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/Button.h"
diff --git a/wpilibc/shared/src/Buttons/ButtonScheduler.cpp b/wpilibc/shared/src/Buttons/ButtonScheduler.cpp
index ddc9025..318fd5f 100644
--- a/wpilibc/shared/src/Buttons/ButtonScheduler.cpp
+++ b/wpilibc/shared/src/Buttons/ButtonScheduler.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/ButtonScheduler.h"
diff --git a/wpilibc/shared/src/Buttons/CancelButtonScheduler.cpp b/wpilibc/shared/src/Buttons/CancelButtonScheduler.cpp
index 1d2b6cc..52544e5 100644
--- a/wpilibc/shared/src/Buttons/CancelButtonScheduler.cpp
+++ b/wpilibc/shared/src/Buttons/CancelButtonScheduler.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/CancelButtonScheduler.h"
diff --git a/wpilibc/shared/src/Buttons/HeldButtonScheduler.cpp b/wpilibc/shared/src/Buttons/HeldButtonScheduler.cpp
index 04c8e3b..37de385 100644
--- a/wpilibc/shared/src/Buttons/HeldButtonScheduler.cpp
+++ b/wpilibc/shared/src/Buttons/HeldButtonScheduler.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/HeldButtonScheduler.h"
diff --git a/wpilibc/shared/src/Buttons/InternalButton.cpp b/wpilibc/shared/src/Buttons/InternalButton.cpp
index 8c9b22a..9e0e121 100644
--- a/wpilibc/shared/src/Buttons/InternalButton.cpp
+++ b/wpilibc/shared/src/Buttons/InternalButton.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/InternalButton.h"
diff --git a/wpilibc/shared/src/Buttons/JoystickButton.cpp b/wpilibc/shared/src/Buttons/JoystickButton.cpp
index c2bdf62..a7a31e6 100644
--- a/wpilibc/shared/src/Buttons/JoystickButton.cpp
+++ b/wpilibc/shared/src/Buttons/JoystickButton.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/JoystickButton.h"
diff --git a/wpilibc/shared/src/Buttons/NetworkButton.cpp b/wpilibc/shared/src/Buttons/NetworkButton.cpp
index 858703c..54604ed 100644
--- a/wpilibc/shared/src/Buttons/NetworkButton.cpp
+++ b/wpilibc/shared/src/Buttons/NetworkButton.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/NetworkButton.h"
diff --git a/wpilibc/shared/src/Buttons/PressedButtonScheduler.cpp b/wpilibc/shared/src/Buttons/PressedButtonScheduler.cpp
index 5a0c506..60792dc 100644
--- a/wpilibc/shared/src/Buttons/PressedButtonScheduler.cpp
+++ b/wpilibc/shared/src/Buttons/PressedButtonScheduler.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/PressedButtonScheduler.h"
diff --git a/wpilibc/shared/src/Buttons/ReleasedButtonScheduler.cpp b/wpilibc/shared/src/Buttons/ReleasedButtonScheduler.cpp
index e7131e6..dde271e 100644
--- a/wpilibc/shared/src/Buttons/ReleasedButtonScheduler.cpp
+++ b/wpilibc/shared/src/Buttons/ReleasedButtonScheduler.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/ReleasedButtonScheduler.h"
diff --git a/wpilibc/shared/src/Buttons/ToggleButtonScheduler.cpp b/wpilibc/shared/src/Buttons/ToggleButtonScheduler.cpp
index c4048d2..dc2f058 100644
--- a/wpilibc/shared/src/Buttons/ToggleButtonScheduler.cpp
+++ b/wpilibc/shared/src/Buttons/ToggleButtonScheduler.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/ToggleButtonScheduler.h"
diff --git a/wpilibc/shared/src/Buttons/Trigger.cpp b/wpilibc/shared/src/Buttons/Trigger.cpp
index 54a1eba..3f15b7e 100644
--- a/wpilibc/shared/src/Buttons/Trigger.cpp
+++ b/wpilibc/shared/src/Buttons/Trigger.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Buttons/Button.h"
diff --git a/wpilibc/shared/src/Commands/Command.cpp b/wpilibc/shared/src/Commands/Command.cpp
index 37effbe..f965712 100644
--- a/wpilibc/shared/src/Commands/Command.cpp
+++ b/wpilibc/shared/src/Commands/Command.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/Command.h"
diff --git a/wpilibc/shared/src/Commands/CommandGroup.cpp b/wpilibc/shared/src/Commands/CommandGroup.cpp
index edb5ec9..91cf788 100644
--- a/wpilibc/shared/src/Commands/CommandGroup.cpp
+++ b/wpilibc/shared/src/Commands/CommandGroup.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/CommandGroup.h"
diff --git a/wpilibc/shared/src/Commands/CommandGroupEntry.cpp b/wpilibc/shared/src/Commands/CommandGroupEntry.cpp
index c9f3fa4..0534a71 100644
--- a/wpilibc/shared/src/Commands/CommandGroupEntry.cpp
+++ b/wpilibc/shared/src/Commands/CommandGroupEntry.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/CommandGroupEntry.h"
diff --git a/wpilibc/shared/src/Commands/PIDCommand.cpp b/wpilibc/shared/src/Commands/PIDCommand.cpp
index c6ac919..b6f426f 100644
--- a/wpilibc/shared/src/Commands/PIDCommand.cpp
+++ b/wpilibc/shared/src/Commands/PIDCommand.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/PIDCommand.h"
diff --git a/wpilibc/shared/src/Commands/PIDSubsystem.cpp b/wpilibc/shared/src/Commands/PIDSubsystem.cpp
index b3d327f..e478073 100644
--- a/wpilibc/shared/src/Commands/PIDSubsystem.cpp
+++ b/wpilibc/shared/src/Commands/PIDSubsystem.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/PIDSubsystem.h"
diff --git a/wpilibc/shared/src/Commands/PrintCommand.cpp b/wpilibc/shared/src/Commands/PrintCommand.cpp
index b5e8dc7..1d94694 100644
--- a/wpilibc/shared/src/Commands/PrintCommand.cpp
+++ b/wpilibc/shared/src/Commands/PrintCommand.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/PrintCommand.h"
diff --git a/wpilibc/shared/src/Commands/Scheduler.cpp b/wpilibc/shared/src/Commands/Scheduler.cpp
index 0b796e3..955b337 100644
--- a/wpilibc/shared/src/Commands/Scheduler.cpp
+++ b/wpilibc/shared/src/Commands/Scheduler.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/Scheduler.h"
diff --git a/wpilibc/shared/src/Commands/StartCommand.cpp b/wpilibc/shared/src/Commands/StartCommand.cpp
index 60db054..ca5f67b 100644
--- a/wpilibc/shared/src/Commands/StartCommand.cpp
+++ b/wpilibc/shared/src/Commands/StartCommand.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/StartCommand.h"
diff --git a/wpilibc/shared/src/Commands/Subsystem.cpp b/wpilibc/shared/src/Commands/Subsystem.cpp
index 0b4b92f..7e3ef61 100644
--- a/wpilibc/shared/src/Commands/Subsystem.cpp
+++ b/wpilibc/shared/src/Commands/Subsystem.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/Subsystem.h"
diff --git a/wpilibc/shared/src/Commands/WaitCommand.cpp b/wpilibc/shared/src/Commands/WaitCommand.cpp
index f4e4c00..8c5be65 100644
--- a/wpilibc/shared/src/Commands/WaitCommand.cpp
+++ b/wpilibc/shared/src/Commands/WaitCommand.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/WaitCommand.h"
diff --git a/wpilibc/shared/src/Commands/WaitForChildren.cpp b/wpilibc/shared/src/Commands/WaitForChildren.cpp
index a3a129d..e08dfe0 100644
--- a/wpilibc/shared/src/Commands/WaitForChildren.cpp
+++ b/wpilibc/shared/src/Commands/WaitForChildren.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/WaitForChildren.h"
diff --git a/wpilibc/shared/src/Commands/WaitUntilCommand.cpp b/wpilibc/shared/src/Commands/WaitUntilCommand.cpp
index ea0e664..17d6f3e 100644
--- a/wpilibc/shared/src/Commands/WaitUntilCommand.cpp
+++ b/wpilibc/shared/src/Commands/WaitUntilCommand.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "Commands/WaitUntilCommand.h"
diff --git a/wpilibc/shared/src/Error.cpp b/wpilibc/shared/src/Error.cpp
index 1206361..5237a92 100644
--- a/wpilibc/shared/src/Error.cpp
+++ b/wpilibc/shared/src/Error.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* 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 "Error.h"
@@ -66,24 +66,21 @@
 }
 
 void Error::Report() {
-  std::stringstream errorStream;
+  std::stringstream locStream;
+  locStream << m_function << " [";
 
-  errorStream << "Error on line " << m_lineNumber << " ";
-#if defined(_UNIX)
-	errorStream << "of " << basename(m_filename.c_str()) << ": ";
-#elif defined(_WIN32)
+#if defined(_WIN32)
 	const int MAX_DIR = 100;
 	char basename[MAX_DIR];
 	_splitpath_s(m_filename.c_str(), NULL, 0, basename, MAX_DIR, NULL, 0, NULL, 0);
-	errorStream << "of " << basename << ": ";
+	locStream << basename;
+#else
+	locStream << basename(m_filename.c_str());
 #endif
+  locStream << ":" << m_lineNumber << "]";
 
-	errorStream << m_message << std::endl;
-	errorStream << GetStackTrace(4);
-
-  std::string error = errorStream.str();
-
-  DriverStation::ReportError(error);
+  DriverStation::ReportError(true, m_code, m_message, locStream.str(),
+                             GetStackTrace(4));
 }
 
 void Error::Clear() {
diff --git a/wpilibc/shared/src/ErrorBase.cpp b/wpilibc/shared/src/ErrorBase.cpp
index 329c983..c1e41d8 100644
--- a/wpilibc/shared/src/ErrorBase.cpp
+++ b/wpilibc/shared/src/ErrorBase.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* 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 "ErrorBase.h"
diff --git a/wpilibc/shared/src/Filters/Filter.cpp b/wpilibc/shared/src/Filters/Filter.cpp
new file mode 100644
index 0000000..d6042d7
--- /dev/null
+++ b/wpilibc/shared/src/Filters/Filter.cpp
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2016. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Filters/Filter.h"
+
+Filter::Filter(std::shared_ptr<PIDSource> source) {
+  m_source = source;
+}
+
+void Filter::SetPIDSourceType(PIDSourceType pidSource) {
+  m_source->SetPIDSourceType(pidSource);
+}
+
+PIDSourceType Filter::GetPIDSourceType() const {
+  return m_source->GetPIDSourceType();
+}
+
+double Filter::PIDGetSource() {
+  return m_source->PIDGet();
+}
diff --git a/wpilibc/shared/src/Filters/LinearDigitalFilter.cpp b/wpilibc/shared/src/Filters/LinearDigitalFilter.cpp
new file mode 100644
index 0000000..e4a5cff
--- /dev/null
+++ b/wpilibc/shared/src/Filters/LinearDigitalFilter.cpp
@@ -0,0 +1,166 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2016. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Filters/LinearDigitalFilter.h"
+#include <cassert>
+#include <cmath>
+
+/**
+ * Create a linear FIR or IIR filter
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param ffGains The "feed forward" or FIR gains
+ * @param fbGains The "feed back" or IIR gains
+ */
+LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
+                                         std::initializer_list<double> ffGains,
+                                         std::initializer_list<double> fbGains) :
+    Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
+    m_inputGains(ffGains), m_outputGains(fbGains) {}
+
+/**
+ * Create a linear FIR or IIR filter
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param ffGains The "feed forward" or FIR gains
+ * @param fbGains The "feed back" or IIR gains
+ */
+LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
+                                         std::initializer_list<double> ffGains,
+                                         const std::vector<double>& fbGains) :
+    Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
+    m_inputGains(ffGains), m_outputGains(fbGains) {}
+
+/**
+ * Create a linear FIR or IIR filter
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param ffGains The "feed forward" or FIR gains
+ * @param fbGains The "feed back" or IIR gains
+ */
+LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
+                                         const std::vector<double>& ffGains,
+                                         std::initializer_list<double> fbGains) :
+    Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
+    m_inputGains(ffGains), m_outputGains(fbGains) {}
+
+/**
+ * Create a linear FIR or IIR filter
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param ffGains The "feed forward" or FIR gains
+ * @param fbGains The "feed back" or IIR gains
+ */
+LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
+                                         const std::vector<double>& ffGains,
+                                         const std::vector<double>& fbGains) :
+    Filter(source), m_inputs(ffGains.size()), m_outputs(fbGains.size()),
+    m_inputGains(ffGains), m_outputGains(fbGains) {}
+
+/**
+ * Creates a one-pole IIR low-pass filter of the form:
+ *   y[n] = (1-gain)*x[n] + gain*y[n-1]
+ * where gain = e^(-dt / T), T is the time constant in seconds
+ *
+ * This filter is stable for time constants greater than zero
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param timeConstant The discrete-time time constant in seconds
+ * @param period The period in seconds between samples taken by the user
+ */
+LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(std::shared_ptr<PIDSource> source,
+                                                       double timeConstant,
+                                                       double period) {
+  double gain = std::exp(-period / timeConstant);
+  return LinearDigitalFilter(std::move(source), {1.0 - gain}, {-gain});
+}
+
+/**
+ * Creates a first-order high-pass filter of the form:
+ *   y[n] = gain*x[n] + (-gain)*x[n-1] + gain*y[n-1]
+ * where gain = e^(-dt / T), T is the time constant in seconds
+ *
+ * This filter is stable for time constants greater than zero
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param timeConstant The discrete-time time constant in seconds
+ * @param period The period in seconds between samples taken by the user
+ */
+LinearDigitalFilter LinearDigitalFilter::HighPass(std::shared_ptr<PIDSource> source,
+                                                  double timeConstant,
+                                                  double period) {
+  double gain = std::exp(-period / timeConstant);
+  return LinearDigitalFilter(std::move(source), {gain, -gain}, {-gain});
+}
+
+/**
+ * Creates a K-tap FIR moving average filter of the form:
+ *   y[n] = 1/k * (x[k] + x[k-1] + ... + x[0])
+ *
+ * This filter is always stable.
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param taps The number of samples to average over. Higher = smoother but
+ *        slower
+ */
+LinearDigitalFilter LinearDigitalFilter::MovingAverage(std::shared_ptr<PIDSource> source,
+                                                       unsigned int taps) {
+  assert(taps > 0);
+
+  std::vector<double> gains(taps, 1.0 / taps);
+  return LinearDigitalFilter(std::move(source), gains, {});
+}
+
+/**
+ * {@inheritDoc}
+ */
+double LinearDigitalFilter::Get() const {
+  double retVal = 0.0;
+
+  // Calculate the new value
+  for (unsigned int i = 0; i < m_inputGains.size(); i++) {
+    retVal += m_inputs[i] * m_inputGains[i];
+  }
+  for (unsigned int i = 0; i < m_outputGains.size(); i++) {
+    retVal -= m_outputs[i] * m_outputGains[i];
+  }
+
+  return retVal;
+}
+
+/**
+ * {@inheritDoc}
+ */
+void LinearDigitalFilter::Reset() {
+  m_inputs.Reset();
+  m_outputs.Reset();
+}
+
+/**
+ * Calculates the next value of the filter
+ *
+ * @return The filtered value at this step
+ */
+double LinearDigitalFilter::PIDGet() {
+  double retVal = 0.0;
+
+  // Rotate the inputs
+  m_inputs.PushFront(PIDGetSource());
+
+  // Calculate the new value
+  for (unsigned int i = 0; i < m_inputGains.size(); i++) {
+    retVal += m_inputs[i] * m_inputGains[i];
+  }
+  for (unsigned int i = 0; i < m_outputGains.size(); i++) {
+    retVal -= m_outputs[i] * m_outputGains[i];
+  }
+
+  // Rotate the outputs
+  m_outputs.PushFront(retVal);
+
+  return retVal;
+}
diff --git a/wpilibc/shared/src/GyroBase.cpp b/wpilibc/shared/src/GyroBase.cpp
new file mode 100644
index 0000000..f1044b7
--- /dev/null
+++ b/wpilibc/shared/src/GyroBase.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "GyroBase.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Get the PIDOutput for the PIDSource base object. Can be set to return
+ * angle or rate using SetPIDSourceType(). Defaults to angle.
+ *
+ * @return The PIDOutput (angle or rate, defaults to angle)
+ */
+double GyroBase::PIDGet() {
+  switch (GetPIDSourceType()) {
+    case PIDSourceType::kRate:
+      return GetRate();
+    case PIDSourceType::kDisplacement:
+      return GetAngle();
+    default:
+      return 0;
+  }
+}
+
+void GyroBase::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", GetAngle());
+  }
+}
+
+void GyroBase::StartLiveWindowMode() {}
+
+void GyroBase::StopLiveWindowMode() {}
+
+std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
+
+void GyroBase::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> GyroBase::GetTable() const { return m_table; }
diff --git a/wpilibc/shared/src/HLUsageReporting.cpp b/wpilibc/shared/src/HLUsageReporting.cpp
index bcbc6b6..07cf446 100644
--- a/wpilibc/shared/src/HLUsageReporting.cpp
+++ b/wpilibc/shared/src/HLUsageReporting.cpp
@@ -1,3 +1,9 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
 
 #include "HLUsageReporting.h"
 
diff --git a/wpilibc/shared/src/LiveWindow/LiveWindow.cpp b/wpilibc/shared/src/LiveWindow/LiveWindow.cpp
index 793ddcc..1dfd507 100644
--- a/wpilibc/shared/src/LiveWindow/LiveWindow.cpp
+++ b/wpilibc/shared/src/LiveWindow/LiveWindow.cpp
@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2012-2016. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "LiveWindow/LiveWindow.h"
 #include "networktables/NetworkTable.h"
 #include <algorithm>
diff --git a/wpilibc/shared/src/LiveWindow/LiveWindowStatusListener.cpp b/wpilibc/shared/src/LiveWindow/LiveWindowStatusListener.cpp
index 021798d..31e5db6 100644
--- a/wpilibc/shared/src/LiveWindow/LiveWindowStatusListener.cpp
+++ b/wpilibc/shared/src/LiveWindow/LiveWindowStatusListener.cpp
@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2012-2016. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "LiveWindow/LiveWindowStatusListener.h"
 #include "Commands/Scheduler.h"
 
diff --git a/wpilibc/shared/src/PIDSource.cpp b/wpilibc/shared/src/PIDSource.cpp
index b6b5200..4e44b69 100644
--- a/wpilibc/shared/src/PIDSource.cpp
+++ b/wpilibc/shared/src/PIDSource.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* 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 "PIDSource.h"
diff --git a/wpilibc/shared/src/Resource.cpp b/wpilibc/shared/src/Resource.cpp
index 7f9e476..a68122e 100644
--- a/wpilibc/shared/src/Resource.cpp
+++ b/wpilibc/shared/src/Resource.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* 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 "Resource.h"
diff --git a/wpilibc/shared/src/RobotState.cpp b/wpilibc/shared/src/RobotState.cpp
index cb28208..f3db1da 100644
--- a/wpilibc/shared/src/RobotState.cpp
+++ b/wpilibc/shared/src/RobotState.cpp
@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "RobotState.h"
 
 #include "Base.h"
diff --git a/wpilibc/shared/src/SmartDashboard/SendableChooser.cpp b/wpilibc/shared/src/SmartDashboard/SendableChooser.cpp
index 255cc3a..cc6543f 100644
--- a/wpilibc/shared/src/SmartDashboard/SendableChooser.cpp
+++ b/wpilibc/shared/src/SmartDashboard/SendableChooser.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "SmartDashboard/SendableChooser.h"
diff --git a/wpilibc/shared/src/SmartDashboard/SmartDashboard.cpp b/wpilibc/shared/src/SmartDashboard/SmartDashboard.cpp
index bee0c03..9fbf605 100644
--- a/wpilibc/shared/src/SmartDashboard/SmartDashboard.cpp
+++ b/wpilibc/shared/src/SmartDashboard/SmartDashboard.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2011. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2011-2016. 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 "SmartDashboard/SmartDashboard.h"
diff --git a/wpilibc/shared/src/interfaces/Potentiometer.cpp b/wpilibc/shared/src/interfaces/Potentiometer.cpp
index 3856090..9ac097b 100644
--- a/wpilibc/shared/src/interfaces/Potentiometer.cpp
+++ b/wpilibc/shared/src/interfaces/Potentiometer.cpp
@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2015. All Rights Reserved.
- */
+/* Copyright (c) FIRST 2015-2016. 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 <interfaces/Potentiometer.h>