diff --git a/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java b/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
index ca6ce63..484d735 100644
--- a/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
+++ b/wpilibNewCommands/src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java
@@ -1,20 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.commands;
 
 import edu.wpi.first.hal.HALUtil;
 import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.wpiutil.RuntimeDetector;
+import edu.wpi.first.util.RuntimeDetector;
 
 public final class DevMain {
-  /**
-   * Main entry point.
-   */
+  /** Main entry point. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
@@ -22,6 +17,5 @@
     System.out.println(HALUtil.getHALRuntimeType());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }
diff --git a/wpilibNewCommands/src/dev/native/cpp/main.cpp b/wpilibNewCommands/src/dev/native/cpp/main.cpp
index 5312a1d..a3e363e 100644
--- a/wpilibNewCommands/src/dev/native/cpp/main.cpp
+++ b/wpilibNewCommands/src/dev/native/cpp/main.cpp
@@ -1,8 +1,5 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 int main() {}
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index ba950c7..8f9901b 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -11,42 +8,34 @@
 import java.util.function.BooleanSupplier;
 
 /**
- * A state machine representing a complete action to be performed by the robot.  Commands are
- * run by the {@link CommandScheduler}, and can be composed into CommandGroups to allow users to
- * build complicated multi-step actions without the need to roll the state machine logic themselves.
+ * A state machine representing a complete action to be performed by the robot. Commands are run by
+ * the {@link CommandScheduler}, and can be composed into CommandGroups to allow users to build
+ * complicated multi-step actions without the need to roll the state machine logic themselves.
  *
  * <p>Commands are run synchronously from the main robot loop; no multithreading is used, unless
  * specified explicitly from the command implementation.
  */
 public interface Command {
+  /** The initial subroutine of a command. Called once when the command is initially scheduled. */
+  default void initialize() {}
+
+  /** The main body of a command. Called repeatedly while the command is scheduled. */
+  default void execute() {}
 
   /**
-   * The initial subroutine of a command.  Called once when the command is initially scheduled.
-   */
-  default void initialize() {
-  }
-
-  /**
-   * The main body of a command.  Called repeatedly while the command is scheduled.
-   */
-  default void execute() {
-  }
-
-  /**
-   * The action to take when the command ends.  Called when either the command finishes normally,
-   * or when it interrupted/canceled.
+   * The action to take when the command ends. Called when either the command finishes normally, or
+   * when it interrupted/canceled.
    *
-   * <p>Do not schedule commands here that share requirements with this command.
-   * Use {@link #andThen(Command...)} instead.
+   * <p>Do not schedule commands here that share requirements with this command. Use {@link
+   * #andThen(Command...)} instead.
    *
    * @param interrupted whether the command was interrupted/canceled
    */
-  default void end(boolean interrupted) {
-  }
+  default void end(boolean interrupted) {}
 
   /**
-   * Whether the command has finished.  Once a command finishes, the scheduler will call its
-   * end() method and un-schedule it.
+   * Whether the command has finished. Once a command finishes, the scheduler will call its end()
+   * method and un-schedule it.
    *
    * @return whether the command has finished.
    */
@@ -55,99 +44,114 @@
   }
 
   /**
-   * Specifies the set of subsystems used by this command.  Two commands cannot use the same
-   * subsystem at the same time.  If the command is scheduled as interruptible and another
-   * command is scheduled that shares a requirement, the command will be interrupted.  Else,
-   * the command will not be scheduled.  If no subsystems are required, return an empty set.
+   * Specifies the set of subsystems used by this command. Two commands cannot use the same
+   * subsystem at the same time. If the command is scheduled as interruptible and another command is
+   * scheduled that shares a requirement, the command will be interrupted. Else, the command will
+   * not be scheduled. If no subsystems are required, return an empty set.
    *
-   * <p>Note: it is recommended that user implementations contain the requirements as a field,
-   * and return that field here, rather than allocating a new set every time this is called.
+   * <p>Note: it is recommended that user implementations contain the requirements as a field, and
+   * return that field here, rather than allocating a new set every time this is called.
    *
    * @return the set of subsystems that are required
    */
   Set<Subsystem> getRequirements();
 
   /**
-   * Decorates this command with a timeout.  If the specified timeout is exceeded before the command
-   * finishes normally, the command will be interrupted and un-scheduled.  Note that the
-   * timeout only applies to the command returned by this method; the calling command is
-   * not itself changed.
+   * Decorates this command with a timeout. If the specified timeout is exceeded before the command
+   * finishes normally, the command will be interrupted and un-scheduled. Note that the timeout only
+   * applies to the command returned by this method; the calling command is not itself changed.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param seconds the timeout duration
    * @return the command with the timeout added
    */
   default ParallelRaceGroup withTimeout(double seconds) {
-    return new ParallelRaceGroup(this, new WaitCommand(seconds));
+    return raceWith(new WaitCommand(seconds));
   }
 
   /**
-   * Decorates this command with an interrupt condition.  If the specified condition becomes true
-   * before the command finishes normally, the command will be interrupted and un-scheduled.
-   * Note that this only applies to the command returned by this method; the calling command
-   * is not itself changed.
+   * Decorates this command with an interrupt condition. If the specified condition becomes true
+   * before the command finishes normally, the command will be interrupted and un-scheduled. Note
+   * that this only applies to the command returned by this method; the calling command is not
+   * itself changed.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
   default ParallelRaceGroup withInterrupt(BooleanSupplier condition) {
-    return new ParallelRaceGroup(this, new WaitUntilCommand(condition));
+    return raceWith(new WaitUntilCommand(condition));
   }
 
   /**
    * Decorates this command with a runnable to run before this command starts.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the required subsystems
    * @return the decorated command
    */
   default SequentialCommandGroup beforeStarting(Runnable toRun, Subsystem... requirements) {
-    return new SequentialCommandGroup(new InstantCommand(toRun, requirements), this);
+    return beforeStarting(new InstantCommand(toRun, requirements));
+  }
+
+  /**
+   * Decorates this command with another command to run before this command starts.
+   *
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+   * cannot be used independently after being decorated, or be re-decorated with a different
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
+   *
+   * @param before the command to run before this one
+   * @return the decorated command
+   */
+  default SequentialCommandGroup beforeStarting(Command before) {
+    return new SequentialCommandGroup(before, this);
   }
 
   /**
    * Decorates this command with a runnable to run after the command finishes.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the required subsystems
    * @return the decorated command
    */
   default SequentialCommandGroup andThen(Runnable toRun, Subsystem... requirements) {
-    return new SequentialCommandGroup(this, new InstantCommand(toRun, requirements));
+    return andThen(new InstantCommand(toRun, requirements));
   }
 
   /**
-   * Decorates this command with a set of commands to run after it in sequence.  Often more
+   * Decorates this command with a set of commands to run after it in sequence. Often more
    * convenient/less-verbose than constructing a new {@link SequentialCommandGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param next the commands to run next
    * @return the decorated command
@@ -160,14 +164,14 @@
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the calling
-   * command ends and interrupting all the others.  Often more convenient/less-verbose than
+   * command ends and interrupting all the others. Often more convenient/less-verbose than
    * constructing a new {@link ParallelDeadlineGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param parallel the commands to run in parallel
    * @return the decorated command
@@ -178,14 +182,14 @@
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the last
-   * command ends.  Often more convenient/less-verbose than constructing a new
-   * {@link ParallelCommandGroup} explicitly.
+   * command ends. Often more convenient/less-verbose than constructing a new {@link
+   * ParallelCommandGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param parallel the commands to run in parallel
    * @return the decorated command
@@ -198,14 +202,14 @@
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the first
-   * command ends.  Often more convenient/less-verbose than constructing a new
-   * {@link ParallelRaceGroup} explicitly.
+   * command ends. Often more convenient/less-verbose than constructing a new {@link
+   * ParallelRaceGroup} explicitly.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @param parallel the commands to run in parallel
    * @return the decorated command
@@ -217,14 +221,14 @@
   }
 
   /**
-   * Decorates this command to run perpetually, ignoring its ordinary end conditions.  The decorated
+   * Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated
    * command can still be interrupted or canceled.
    *
-   * <p>Note: This decorator works by composing this command within a CommandGroup.  The command
+   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
    * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with
-   * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
-   * further decorated without issue.
+   * decorator, unless it is manually cleared from the list of grouped commands with {@link
+   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+   * decorated without issue.
    *
    * @return the decorated command
    */
@@ -233,9 +237,9 @@
   }
 
   /**
-   * Decorates this command to run "by proxy" by wrapping it in a {@link ProxyScheduleCommand}.
-   * This is useful for "forking off" from command groups when the user does not wish to extend
-   * the command's requirements to the entire command group.
+   * Decorates this command to run "by proxy" by wrapping it in a {@link ProxyScheduleCommand}. This
+   * is useful for "forking off" from command groups when the user does not wish to extend the
+   * command's requirements to the entire command group.
    *
    * @return the decorated command
    */
@@ -246,32 +250,29 @@
   /**
    * Schedules this command.
    *
-   * @param interruptible whether this command can be interrupted by another command that
-   *                      shares one of its requirements
+   * @param interruptible whether this command can be interrupted by another command that shares one
+   *     of its requirements
    */
   default void schedule(boolean interruptible) {
     CommandScheduler.getInstance().schedule(interruptible, this);
   }
 
-  /**
-   * Schedules this command, defaulting to interruptible.
-   */
+  /** Schedules this command, defaulting to interruptible. */
   default void schedule() {
     schedule(true);
   }
 
   /**
-   * Cancels this command.  Will call the command's interrupted() method.
-   * Commands will be canceled even if they are not marked as interruptible.
+   * Cancels this command. Will call the command's interrupted() method. Commands will be canceled
+   * even if they are not marked as interruptible.
    */
   default void cancel() {
     CommandScheduler.getInstance().cancel(this);
   }
 
   /**
-   * Whether or not the command is currently scheduled.  Note that this does not detect whether
-   * the command is being run by a CommandGroup, only whether it is directly being run by
-   * the scheduler.
+   * Whether or not the command is currently scheduled. Note that this does not detect whether the
+   * command is being run by a CommandGroup, only whether it is directly being run by the scheduler.
    *
    * @return Whether the command is scheduled.
    */
@@ -280,10 +281,7 @@
   }
 
   /**
-   * Whether the command requires a given subsystem.  Named "hasRequirement" rather than "requires"
-   * to avoid confusion with
-   * {@link edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)}
-   * - this may be able to be changed in a few years.
+   * Whether the command requires a given subsystem.
    *
    * @param requirement the subsystem to inquire about
    * @return whether the subsystem is required
@@ -293,8 +291,8 @@
   }
 
   /**
-   * Whether the given command should run when the robot is disabled.  Override to return true
-   * if the command should run when disabled.
+   * Whether the given command should run when the robot is disabled. Override to return true if the
+   * command should run when disabled.
    *
    * @return whether the command should run when the robot is disabled
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
index 49180a8..bb1df60 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
@@ -1,25 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.HashSet;
 import java.util.Set;
 
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-
-/**
- * A {@link Sendable} base class for {@link Command}s.
- */
-@SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
+/** A {@link Sendable} base class for {@link Command}s. */
 public abstract class CommandBase implements Sendable, Command {
-
   protected Set<Subsystem> m_requirements = new HashSet<>();
 
   protected CommandBase() {
@@ -51,19 +43,17 @@
    *
    * @param name name
    */
-  @Override
   public void setName(String name) {
     SendableRegistry.setName(this, name);
   }
 
   /**
-  * Decorates this Command with a name.
-  * Is an inline function for #setName(String);
-  *
-  * @param name name
-  * @return the decorated Command
-  */
-  public Command withName(String name) {
+   * Decorates this Command with a name. Is an inline function for #setName(String);
+   *
+   * @param name name
+   * @return the decorated Command
+   */
+  public CommandBase withName(String name) {
     this.setName(name);
     return this;
   }
@@ -73,7 +63,6 @@
    *
    * @return Subsystem name
    */
-  @Override
   public String getSubsystem() {
     return SendableRegistry.getSubsystem(this);
   }
@@ -83,13 +72,12 @@
    *
    * @param subsystem subsystem name
    */
-  @Override
   public void setSubsystem(String subsystem) {
     SendableRegistry.setSubsystem(this, subsystem);
   }
 
   /**
-   * Initializes this sendable.  Useful for allowing implementations to easily extend SendableBase.
+   * Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.
    *
    * @param builder the builder used to construct this sendable
    */
@@ -97,18 +85,21 @@
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Command");
     builder.addStringProperty(".name", this::getName, null);
-    builder.addBooleanProperty("running", this::isScheduled, value -> {
-      if (value) {
-        if (!isScheduled()) {
-          schedule();
-        }
-      } else {
-        if (isScheduled()) {
-          cancel();
-        }
-      }
-    });
-    builder.addBooleanProperty(".isParented",
-        () -> CommandGroupBase.getGroupedCommands().contains(this), null);
+    builder.addBooleanProperty(
+        "running",
+        this::isScheduled,
+        value -> {
+          if (value) {
+            if (!isScheduled()) {
+              schedule();
+            }
+          } else {
+            if (isScheduled()) {
+              cancel();
+            }
+          }
+        });
+    builder.addBooleanProperty(
+        ".isParented", () -> CommandGroupBase.getGroupedCommands().contains(this), null);
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
index 6ac0667..d3a35d4 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -13,11 +10,11 @@
 import java.util.WeakHashMap;
 
 /**
- * A base for CommandGroups.  Statically tracks commands that have been allocated to groups to
- * ensure those commands are not also used independently, which can result in inconsistent command
- * state and unpredictable execution.
+ * A base for CommandGroups. Statically tracks commands that have been allocated to groups to ensure
+ * those commands are not also used independently, which can result in inconsistent command state
+ * and unpredictable execution.
  */
-public abstract class CommandGroupBase extends CommandBase implements Command {
+public abstract class CommandGroupBase extends CommandBase {
   private static final Set<Command> m_groupedCommands =
       Collections.newSetFromMap(new WeakHashMap<>());
 
@@ -28,8 +25,8 @@
   /**
    * Clears the list of grouped commands, allowing all commands to be freely used again.
    *
-   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior.  Do not
-   * use this unless you fully understand what you are doing.
+   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use
+   * this unless you fully understand what you are doing.
    */
   public static void clearGroupedCommands() {
     m_groupedCommands.clear();
@@ -39,8 +36,8 @@
    * Removes a single command from the list of grouped commands, allowing it to be freely used
    * again.
    *
-   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior.  Do not
-   * use this unless you fully understand what you are doing.
+   * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use
+   * this unless you fully understand what you are doing.
    *
    * @param command the command to remove from the list of grouped commands
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
index 60488d2..79be1bf 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -1,12 +1,21 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.RobotState;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.Watchdog;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Collections;
@@ -18,31 +27,15 @@
 import java.util.Set;
 import java.util.function.Consumer;
 
-import edu.wpi.first.hal.FRCNetComm.tInstances;
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.RobotState;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.Watchdog;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-
 /**
- * The scheduler responsible for running {@link Command}s.  A Command-based robot should call {@link
+ * The scheduler responsible for running {@link Command}s. A Command-based robot should call {@link
  * CommandScheduler#run()} on the singleton instance in its periodic block in order to run commands
- * synchronously from the main loop.  Subsystems should be registered with the scheduler using
- * {@link CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link
- * Subsystem#periodic()} methods to be called and for their default commands to be scheduled.
+ * synchronously from the main loop. Subsystems should be registered with the scheduler using {@link
+ * CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link Subsystem#periodic()}
+ * methods to be called and for their default commands to be scheduled.
  */
-@SuppressWarnings({"PMD.GodClass", "PMD.TooManyFields"})
-public final class CommandScheduler implements Sendable, AutoCloseable {
-  /**
-   * The Singleton Instance.
-   */
+public final class CommandScheduler implements NTSendable, AutoCloseable {
+  /** The Singleton Instance. */
   private static CommandScheduler instance;
 
   /**
@@ -57,24 +50,24 @@
     return instance;
   }
 
-  //A map from commands to their scheduling state.  Also used as a set of the currently-running
-  //commands.
+  // A map from commands to their scheduling state.  Also used as a set of the currently-running
+  // commands.
   private final Map<Command, CommandState> m_scheduledCommands = new LinkedHashMap<>();
 
-  //A map from required subsystems to their requiring commands.  Also used as a set of the
-  //currently-required subsystems.
+  // A map from required subsystems to their requiring commands.  Also used as a set of the
+  // currently-required subsystems.
   private final Map<Subsystem, Command> m_requirements = new LinkedHashMap<>();
 
-  //A map from subsystems registered with the scheduler to their default commands.  Also used
-  //as a list of currently-registered subsystems.
+  // A map from subsystems registered with the scheduler to their default commands.  Also used
+  // as a list of currently-registered subsystems.
   private final Map<Subsystem, Command> m_subsystems = new LinkedHashMap<>();
 
-  //The set of currently-registered buttons that will be polled every iteration.
+  // The set of currently-registered buttons that will be polled every iteration.
   private final Collection<Runnable> m_buttons = new LinkedHashSet<>();
 
   private boolean m_disabled;
 
-  //Lists of user-supplied actions to be executed on scheduling events for every command.
+  // Lists of user-supplied actions to be executed on scheduling events for every command.
   private final List<Consumer<Command>> m_initActions = new ArrayList<>();
   private final List<Consumer<Command>> m_executeActions = new ArrayList<>();
   private final List<Consumer<Command>> m_interruptActions = new ArrayList<>();
@@ -86,22 +79,24 @@
   private final Map<Command, Boolean> m_toSchedule = new LinkedHashMap<>();
   private final List<Command> m_toCancel = new ArrayList<>();
 
-  private final Watchdog m_watchdog = new Watchdog(TimedRobot.kDefaultPeriod, () -> { });
+  private final Watchdog m_watchdog = new Watchdog(TimedRobot.kDefaultPeriod, () -> {});
 
   CommandScheduler() {
     HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand2_Scheduler);
     SendableRegistry.addLW(this, "Scheduler");
-    LiveWindow.setEnabledListener(() -> {
-      disable();
-      cancelAll();
-    });
-    LiveWindow.setDisabledListener(() -> {
-      enable();
-    });
+    LiveWindow.setEnabledListener(
+        () -> {
+          disable();
+          cancelAll();
+        });
+    LiveWindow.setDisabledListener(
+        () -> {
+          enable();
+        });
   }
 
   /**
-   * Changes the period of the loop overrun watchdog.  This should be be kept in sync with the
+   * Changes the period of the loop overrun watchdog. This should be be kept in sync with the
    * TimedRobot period.
    *
    * @param period Period in seconds.
@@ -126,9 +121,7 @@
     m_buttons.add(button);
   }
 
-  /**
-   * Removes all button bindings from the scheduler.
-   */
+  /** Removes all button bindings from the scheduler. */
   public void clearButtons() {
     m_buttons.clear();
   }
@@ -136,9 +129,9 @@
   /**
    * Initializes a given command, adds its requirements to the list, and performs the init actions.
    *
-   * @param command       The command to initialize
+   * @param command The command to initialize
    * @param interruptible Whether the command is interruptible
-   * @param requirements  The command requirements
+   * @param requirements The command requirements
    */
   private void initCommand(Command command, boolean interruptible, Set<Subsystem> requirements) {
     CommandState scheduledCommand = new CommandState(interruptible);
@@ -155,15 +148,14 @@
   }
 
   /**
-   * Schedules a command for execution.  Does nothing if the command is already scheduled. If a
+   * Schedules a command for execution. Does nothing if the command is already scheduled. If a
    * command's requirements are not available, it will only be started if all the commands currently
-   * using those requirements have been scheduled as interruptible.  If this is the case, they will
+   * using those requirements have been scheduled as interruptible. If this is the case, they will
    * be interrupted and the command will be scheduled.
    *
    * @param interruptible whether this command can be interrupted
-   * @param command       the command to schedule
+   * @param command the command to schedule
    */
-  @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   private void schedule(boolean interruptible, Command command) {
     if (m_inRunLoop) {
       m_toSchedule.put(command, interruptible);
@@ -175,21 +167,22 @@
           "A command that is part of a command group cannot be independently scheduled");
     }
 
-    //Do nothing if the scheduler is disabled, the robot is disabled and the command doesn't
-    //run when disabled, or the command is already scheduled.
-    if (m_disabled || (RobotState.isDisabled() && !command.runsWhenDisabled())
+    // Do nothing if the scheduler is disabled, the robot is disabled and the command doesn't
+    // run when disabled, or the command is already scheduled.
+    if (m_disabled
+        || (RobotState.isDisabled() && !command.runsWhenDisabled())
         || m_scheduledCommands.containsKey(command)) {
       return;
     }
 
     Set<Subsystem> requirements = command.getRequirements();
 
-    //Schedule the command if the requirements are not currently in-use.
+    // Schedule the command if the requirements are not currently in-use.
     if (Collections.disjoint(m_requirements.keySet(), requirements)) {
       initCommand(command, interruptible, requirements);
     } else {
-      //Else check if the requirements that are in use have all have interruptible commands,
-      //and if so, interrupt those commands and schedule the new command.
+      // Else check if the requirements that are in use have all have interruptible commands,
+      // and if so, interrupt those commands and schedule the new command.
       for (Subsystem requirement : requirements) {
         if (m_requirements.containsKey(requirement)
             && !m_scheduledCommands.get(m_requirements.get(requirement)).isInterruptible()) {
@@ -206,13 +199,13 @@
   }
 
   /**
-   * Schedules multiple commands for execution.  Does nothing if the command is already scheduled.
-   * If a command's requirements are not available, it will only be started if all the commands
-   * currently using those requirements have been scheduled as interruptible.  If this is the case,
+   * Schedules multiple commands for execution. Does nothing if the command is already scheduled. If
+   * a command's requirements are not available, it will only be started if all the commands
+   * currently using those requirements have been scheduled as interruptible. If this is the case,
    * they will be interrupted and the command will be scheduled.
    *
    * @param interruptible whether the commands should be interruptible
-   * @param commands      the commands to schedule
+   * @param commands the commands to schedule
    */
   public void schedule(boolean interruptible, Command... commands) {
     for (Command command : commands) {
@@ -221,7 +214,7 @@
   }
 
   /**
-   * Schedules multiple commands for execution, with interruptible defaulted to true.  Does nothing
+   * Schedules multiple commands for execution, with interruptible defaulted to true. Does nothing
    * if the command is already scheduled.
    *
    * @param commands the commands to schedule
@@ -231,7 +224,7 @@
   }
 
   /**
-   * Runs a single iteration of the scheduler.  The execution occurs in the following order:
+   * Runs a single iteration of the scheduler. The execution occurs in the following order:
    *
    * <p>Subsystem periodic methods are called.
    *
@@ -244,14 +237,13 @@
    *
    * <p>Any subsystems not being used as requirements have their default methods started.
    */
-  @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   public void run() {
     if (m_disabled) {
       return;
     }
     m_watchdog.reset();
 
-    //Run the periodic method of all registered subsystems.
+    // Run the periodic method of all registered subsystems.
     for (Subsystem subsystem : m_subsystems.keySet()) {
       subsystem.periodic();
       if (RobotBase.isSimulation()) {
@@ -260,16 +252,16 @@
       m_watchdog.addEpoch(subsystem.getClass().getSimpleName() + ".periodic()");
     }
 
-    //Poll buttons for new commands to add.
+    // Poll buttons for new commands to add.
     for (Runnable button : m_buttons) {
       button.run();
     }
     m_watchdog.addEpoch("buttons.run()");
 
     m_inRunLoop = true;
-    //Run scheduled commands, remove finished commands.
+    // Run scheduled commands, remove finished commands.
     for (Iterator<Command> iterator = m_scheduledCommands.keySet().iterator();
-         iterator.hasNext(); ) {
+        iterator.hasNext(); ) {
       Command command = iterator.next();
 
       if (!command.runsWhenDisabled() && RobotState.isDisabled()) {
@@ -301,7 +293,7 @@
     }
     m_inRunLoop = false;
 
-    //Schedule/cancel commands from queues populated during loop
+    // Schedule/cancel commands from queues populated during loop
     for (Map.Entry<Command, Boolean> commandInterruptible : m_toSchedule.entrySet()) {
       schedule(commandInterruptible.getValue(), commandInterruptible.getKey());
     }
@@ -313,7 +305,7 @@
     m_toSchedule.clear();
     m_toCancel.clear();
 
-    //Add default commands for un-required registered subsystems.
+    // Add default commands for un-required registered subsystems.
     for (Map.Entry<Subsystem, Command> subsystemCommand : m_subsystems.entrySet()) {
       if (!m_requirements.containsKey(subsystemCommand.getKey())
           && subsystemCommand.getValue() != null) {
@@ -329,10 +321,9 @@
   }
 
   /**
-   * Registers subsystems with the scheduler.  This must be called for the subsystem's periodic
-   * block to run when the scheduler is run, and for the subsystem's default command to be
-   * scheduled.  It is recommended to call this from the constructor of your subsystem
-   * implementations.
+   * Registers subsystems with the scheduler. This must be called for the subsystem's periodic block
+   * to run when the scheduler is run, and for the subsystem's default command to be scheduled. It
+   * is recommended to call this from the constructor of your subsystem implementations.
    *
    * @param subsystems the subsystem to register
    */
@@ -343,7 +334,7 @@
   }
 
   /**
-   * Un-registers subsystems with the scheduler.  The subsystem will no longer have its periodic
+   * Un-registers subsystems with the scheduler. The subsystem will no longer have its periodic
    * block called, and will not have its default command scheduled.
    *
    * @param subsystems the subsystem to un-register
@@ -353,13 +344,13 @@
   }
 
   /**
-   * Sets the default command for a subsystem.  Registers that subsystem if it is not already
-   * registered.  Default commands will run whenever there is no other command currently scheduled
-   * that requires the subsystem.  Default commands should be written to never end (i.e. their
-   * {@link Command#isFinished()} method should return false), as they would simply be re-scheduled
-   * if they do.  Default commands must also require their subsystem.
+   * Sets the default command for a subsystem. Registers that subsystem if it is not already
+   * registered. Default commands will run whenever there is no other command currently scheduled
+   * that requires the subsystem. Default commands should be written to never end (i.e. their {@link
+   * Command#isFinished()} method should return false), as they would simply be re-scheduled if they
+   * do. Default commands must also require their subsystem.
    *
-   * @param subsystem      the subsystem whose default command will be set
+   * @param subsystem the subsystem whose default command will be set
    * @param defaultCommand the default command to associate with the subsystem
    */
   public void setDefaultCommand(Subsystem subsystem, Command defaultCommand) {
@@ -375,7 +366,7 @@
   }
 
   /**
-   * Gets the default command associated with this subsystem.  Null if this subsystem has no default
+   * Gets the default command associated with this subsystem. Null if this subsystem has no default
    * command associated with it.
    *
    * @param subsystem the subsystem to inquire about
@@ -386,9 +377,9 @@
   }
 
   /**
-   * Cancels commands. The scheduler will only call {@link Command#end(boolean)} method
-   * of the canceled command with {@code true},
-   * indicating they were canceled (as opposed to finishing normally).
+   * Cancels commands. The scheduler will only call {@link Command#end(boolean)} method of the
+   * canceled command with {@code true}, indicating they were canceled (as opposed to finishing
+   * normally).
    *
    * <p>Commands will be canceled even if they are not scheduled as interruptible.
    *
@@ -415,9 +406,7 @@
     }
   }
 
-  /**
-   * Cancels all commands that are currently scheduled.
-   */
+  /** Cancels all commands that are currently scheduled. */
   public void cancelAll() {
     for (Command command : m_scheduledCommands.keySet().toArray(new Command[0])) {
       cancel(command);
@@ -425,7 +414,7 @@
   }
 
   /**
-   * Returns the time since a given command was scheduled.  Note that this only works on commands
+   * Returns the time since a given command was scheduled. Note that this only works on commands
    * that are directly scheduled by the scheduler; it will not work on commands inside of
    * commandgroups, as the scheduler does not see them.
    *
@@ -442,9 +431,9 @@
   }
 
   /**
-   * Whether the given commands are running.  Note that this only works on commands that are
-   * directly scheduled by the scheduler; it will not work on commands inside of CommandGroups, as
-   * the scheduler does not see them.
+   * Whether the given commands are running. Note that this only works on commands that are directly
+   * scheduled by the scheduler; it will not work on commands inside of CommandGroups, as the
+   * scheduler does not see them.
    *
    * @param commands the command to query
    * @return whether the command is currently scheduled
@@ -454,26 +443,23 @@
   }
 
   /**
-   * Returns the command currently requiring a given subsystem.  Null if no command is currently
+   * Returns the command currently requiring a given subsystem. Null if no command is currently
    * requiring the subsystem
    *
    * @param subsystem the subsystem to be inquired about
-   * @return the command currently requiring the subsystem
+   * @return the command currently requiring the subsystem, or null if no command is currently
+   *     scheduled
    */
   public Command requiring(Subsystem subsystem) {
     return m_requirements.get(subsystem);
   }
 
-  /**
-   * Disables the command scheduler.
-   */
+  /** Disables the command scheduler. */
   public void disable() {
     m_disabled = true;
   }
 
-  /**
-   * Enables the command scheduler.
-   */
+  /** Enables the command scheduler. */
   public void enable() {
     m_disabled = false;
   }
@@ -515,39 +501,38 @@
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
+  public void initSendable(NTSendableBuilder builder) {
     builder.setSmartDashboardType("Scheduler");
     final NetworkTableEntry namesEntry = builder.getEntry("Names");
     final NetworkTableEntry idsEntry = builder.getEntry("Ids");
     final NetworkTableEntry cancelEntry = builder.getEntry("Cancel");
-    builder.setUpdateTable(() -> {
+    builder.setUpdateTable(
+        () -> {
+          if (namesEntry == null || idsEntry == null || cancelEntry == null) {
+            return;
+          }
 
-      if (namesEntry == null || idsEntry == null || cancelEntry == null) {
-        return;
-      }
+          Map<Double, Command> ids = new LinkedHashMap<>();
 
-      Map<Double, Command> ids = new LinkedHashMap<>();
+          for (Command command : m_scheduledCommands.keySet()) {
+            ids.put((double) command.hashCode(), command);
+          }
 
+          double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
+          if (toCancel.length > 0) {
+            for (double hash : toCancel) {
+              cancel(ids.get(hash));
+              ids.remove(hash);
+            }
+            cancelEntry.setDoubleArray(new double[0]);
+          }
 
-      for (Command command : m_scheduledCommands.keySet()) {
-        ids.put((double) command.hashCode(), command);
-      }
+          List<String> names = new ArrayList<>();
 
-      double[] toCancel = cancelEntry.getDoubleArray(new double[0]);
-      if (toCancel.length > 0) {
-        for (double hash : toCancel) {
-          cancel(ids.get(hash));
-          ids.remove(hash);
-        }
-        cancelEntry.setDoubleArray(new double[0]);
-      }
+          ids.values().forEach(command -> names.add(command.getName()));
 
-      List<String> names = new ArrayList<>();
-
-      ids.values().forEach(command -> names.add(command.getName()));
-
-      namesEntry.setStringArray(names.toArray(new String[0]));
-      idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
-    });
+          namesEntry.setStringArray(names.toArray(new String[0]));
+          idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
+        });
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
index 2e2dc7e..2d60982 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
@@ -1,23 +1,19 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
 import edu.wpi.first.wpilibj.Timer;
 
 /**
- * Class that holds scheduling state for a command.  Used internally by the
- * {@link CommandScheduler}.
+ * Class that holds scheduling state for a command. Used internally by the {@link CommandScheduler}.
  */
 class CommandState {
-  //The time since this command was initialized.
+  // The time since this command was initialized.
   private double m_startTime = -1;
 
-  //Whether or not it is interruptible.
+  // Whether or not it is interruptible.
   private final boolean m_interruptible;
 
   CommandState(boolean interruptible) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
index 8e3239c..74bf1ce 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
@@ -1,23 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
 
+import java.util.function.BooleanSupplier;
+
 /**
  * Runs one of two commands, depending on the value of the given condition when this command is
- * initialized.  Does not actually schedule the selected command - rather, the command is run
- * through this command; this ensures that the command will behave as expected if used as part of a
- * CommandGroup.  Requires the requirements of both commands, again to ensure proper functioning
- * when used in a CommandGroup.  If this is undesired, consider using {@link ScheduleCommand}.
+ * initialized. Does not actually schedule the selected command - rather, the command is run through
+ * this command; this ensures that the command will behave as expected if used as part of a
+ * CommandGroup. Requires the requirements of both commands, again to ensure proper functioning when
+ * used in a CommandGroup. If this is undesired, consider using {@link ScheduleCommand}.
  *
  * <p>As this command contains multiple component commands within it, it is technically a command
  * group; the command instances that are passed to it cannot be added to any other groups, or
@@ -34,8 +31,8 @@
   /**
    * Creates a new ConditionalCommand.
    *
-   * @param onTrue    the command to run if the condition is true
-   * @param onFalse   the command to run if the condition is false
+   * @param onTrue the command to run if the condition is true
+   * @param onFalse the command to run if the condition is false
    * @param condition the condition to determine which command to run
    */
   public ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
index b9dd6db..d9469c3 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
@@ -1,20 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * A command that allows the user to pass in functions for each of the basic command methods through
- * the constructor.  Useful for inline definitions of complex commands - note, however, that if a
+ * the constructor. Useful for inline definitions of complex commands - note, however, that if a
  * command is beyond a certain complexity it is usually better practice to write a proper class for
  * it than to inline it.
  */
@@ -27,14 +24,18 @@
   /**
    * Creates a new FunctionalCommand.
    *
-   * @param onInit       the function to run on command initialization
-   * @param onExecute    the function to run on command execution
-   * @param onEnd        the function to run on command end
-   * @param isFinished   the function that determines whether the command has finished
+   * @param onInit the function to run on command initialization
+   * @param onExecute the function to run on command execution
+   * @param onEnd the function to run on command end
+   * @param isFinished the function that determines whether the command has finished
    * @param requirements the subsystems required by this command
    */
-  public FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd,
-                           BooleanSupplier isFinished, Subsystem... requirements) {
+  public FunctionalCommand(
+      Runnable onInit,
+      Runnable onExecute,
+      Consumer<Boolean> onEnd,
+      BooleanSupplier isFinished,
+      Subsystem... requirements) {
     m_onInit = requireNonNullParam(onInit, "onInit", "FunctionalCommand");
     m_onExecute = requireNonNullParam(onExecute, "onExecute", "FunctionalCommand");
     m_onEnd = requireNonNullParam(onEnd, "onEnd", "FunctionalCommand");
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
index 8518890..10816df 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 /**
- * A Command that runs instantly; it will initialize, execute once, and end on the same
- * iteration of the scheduler.  Users can either pass in a Runnable and a set of requirements,
- * or else subclass this command if desired.
+ * A Command that runs instantly; it will initialize, execute once, and end on the same iteration of
+ * the scheduler. Users can either pass in a Runnable and a set of requirements, or else subclass
+ * this command if desired.
  */
 public class InstantCommand extends CommandBase {
   private final Runnable m_toRun;
@@ -20,7 +17,7 @@
   /**
    * Creates a new InstantCommand that runs the given Runnable with the given requirements.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the subsystems required by this command
    */
   public InstantCommand(Runnable toRun, Subsystem... requirements) {
@@ -30,12 +27,11 @@
   }
 
   /**
-   * Creates a new InstantCommand with a Runnable that does nothing.  Useful only as a no-arg
+   * Creates a new InstantCommand with a Runnable that does nothing. Useful only as a no-arg
    * constructor to call implicitly from subclass constructors.
    */
   public InstantCommand() {
-    m_toRun = () -> {
-    };
+    m_toRun = () -> {};
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index 9105f7a..28c75a9 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -1,50 +1,42 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.math.controller.HolonomicDriveController;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
+import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
+import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.Timer;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
-import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
- * A command that uses two PID controllers ({@link PIDController}) and a
- * ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
- * {@link Trajectory} with a mecanum drive.
+ * A command that uses two PID controllers ({@link PIDController}) and a ProfiledPIDController
+ * ({@link ProfiledPIDController}) to follow a trajectory {@link Trajectory} with a mecanum drive.
  *
- * <p>The command handles trajectory-following,
- * Velocity PID calculations, and feedforwards internally. This
- * is intended to be a more-or-less "complete solution" that can be used by teams without a great
- * deal of controls expertise.
+ * <p>The command handles trajectory-following, Velocity PID calculations, and feedforwards
+ * internally. This is intended to be a more-or-less "complete solution" that can be used by teams
+ * without a great deal of controls expertise.
  *
- * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard
- * PID functionality of a "smart" motor controller) may use the secondary constructor that omits
- * the PID and feedforward functionality, returning only the raw wheel speeds from the PID
- * controllers.
+ * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID
+ * functionality of a "smart" motor controller) may use the secondary constructor that omits the PID
+ * and feedforward functionality, returning only the raw wheel speeds from the PID controllers.
  *
- * <p>The robot angle controller does not follow the angle given by
- * the trajectory but rather goes to the angle given in the final state of the trajectory.
+ * <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
+ * to the angle given in the final state of the trajectory.
  */
-
-@SuppressWarnings({"PMD.TooManyFields", "MemberName"})
+@SuppressWarnings("MemberName")
 public class MecanumControllerCommand extends CommandBase {
   private final Timer m_timer = new Timer();
   private final boolean m_usePID;
@@ -73,85 +65,79 @@
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param feedforward                     The feedforward to use for the drivetrain.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
-   * @param desiredRotation                 The angle that the robot should be facing. This
-   *                                        is sampled at each time step.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param feedforward The feedforward to use for the drivetrain.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
+   *     step.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param frontLeftController             The front left wheel velocity PID.
-   * @param rearLeftController              The rear left wheel velocity PID.
-   * @param frontRightController            The front right wheel velocity PID.
-   * @param rearRightController             The rear right wheel velocity PID.
-   * @param currentWheelSpeeds              A MecanumDriveWheelSpeeds object containing
-   *                                        the current wheel speeds.
-   * @param outputDriveVoltages             A MecanumDriveMotorVoltages object containing
-   *                                        the output motor voltages.
-   * @param requirements                    The subsystems to require.
+   * @param frontLeftController The front left wheel velocity PID.
+   * @param rearLeftController The rear left wheel velocity PID.
+   * @param frontRightController The front right wheel velocity PID.
+   * @param rearRightController The rear right wheel velocity PID.
+   * @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
+   * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
+   *     voltages.
+   * @param requirements The subsystems to require.
    */
-
-  @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  SimpleMotorFeedforward feedforward,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  Supplier<Rotation2d> desiredRotation,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  PIDController frontLeftController,
-                                  PIDController rearLeftController,
-                                  PIDController frontRightController,
-                                  PIDController rearRightController,
-                                  Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
-                                  Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
-                                  Subsystem... requirements) {
-    m_trajectory = requireNonNullParam(trajectory, "trajectory",
-        "MecanumControllerCommand");
+  @SuppressWarnings("ParameterName")
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SimpleMotorFeedforward feedforward,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Supplier<Rotation2d> desiredRotation,
+      double maxWheelVelocityMetersPerSecond,
+      PIDController frontLeftController,
+      PIDController rearLeftController,
+      PIDController frontRightController,
+      PIDController rearRightController,
+      Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
+      Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
+      Subsystem... requirements) {
+    m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
     m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
-    m_feedforward = requireNonNullParam(feedforward, "feedforward",
-        "MecanumControllerCommand");
-    m_kinematics = requireNonNullParam(kinematics, "kinematics",
-        "MecanumControllerCommand");
+    m_feedforward = requireNonNullParam(feedforward, "feedforward", "MecanumControllerCommand");
+    m_kinematics = requireNonNullParam(kinematics, "kinematics", "MecanumControllerCommand");
 
-    m_controller = new HolonomicDriveController(
-        requireNonNullParam(xController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(yController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(thetaController,
-            "thetaController", "SwerveControllerCommand")
-    );
+    m_controller =
+        new HolonomicDriveController(
+            requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
 
-    m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
-        "MecanumControllerCommand");
+    m_desiredRotation =
+        requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
-        "maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
+    m_maxWheelVelocityMetersPerSecond =
+        requireNonNullParam(
+            maxWheelVelocityMetersPerSecond,
+            "maxWheelVelocityMetersPerSecond",
+            "MecanumControllerCommand");
 
-    m_frontLeftController = requireNonNullParam(frontLeftController,
-        "frontLeftController", "MecanumControllerCommand");
-    m_rearLeftController = requireNonNullParam(rearLeftController,
-        "rearLeftController", "MecanumControllerCommand");
-    m_frontRightController = requireNonNullParam(frontRightController,
-        "frontRightController", "MecanumControllerCommand");
-    m_rearRightController = requireNonNullParam(rearRightController,
-        "rearRightController", "MecanumControllerCommand");
+    m_frontLeftController =
+        requireNonNullParam(frontLeftController, "frontLeftController", "MecanumControllerCommand");
+    m_rearLeftController =
+        requireNonNullParam(rearLeftController, "rearLeftController", "MecanumControllerCommand");
+    m_frontRightController =
+        requireNonNullParam(
+            frontRightController, "frontRightController", "MecanumControllerCommand");
+    m_rearRightController =
+        requireNonNullParam(rearRightController, "rearRightController", "MecanumControllerCommand");
 
-    m_currentWheelSpeeds = requireNonNullParam(currentWheelSpeeds,
-        "currentWheelSpeeds", "MecanumControllerCommand");
+    m_currentWheelSpeeds =
+        requireNonNullParam(currentWheelSpeeds, "currentWheelSpeeds", "MecanumControllerCommand");
 
-    m_outputDriveVoltages = requireNonNullParam(outputDriveVoltages,
-        "outputDriveVoltages", "MecanumControllerCommand");
+    m_outputDriveVoltages =
+        requireNonNullParam(outputDriveVoltages, "outputDriveVoltages", "MecanumControllerCommand");
 
     m_outputWheelSpeeds = null;
 
@@ -168,56 +154,63 @@
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * <p>Note 2: The final rotation of the robot will be set to the rotation of
-   * the final pose in the trajectory. The robot will not follow the rotations
-   * from the poses at each timestep. If alternate rotation behavior is desired,
-   * the other constructor with a supplier for rotation should be used.
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
+   * trajectory. The robot will not follow the rotations from the poses at each timestep. If
+   * alternate rotation behavior is desired, the other constructor with a supplier for rotation
+   * should be used.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param feedforward                     The feedforward to use for the drivetrain.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param feedforward The feedforward to use for the drivetrain.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param frontLeftController             The front left wheel velocity PID.
-   * @param rearLeftController              The rear left wheel velocity PID.
-   * @param frontRightController            The front right wheel velocity PID.
-   * @param rearRightController             The rear right wheel velocity PID.
-   * @param currentWheelSpeeds              A MecanumDriveWheelSpeeds object containing
-   *                                        the current wheel speeds.
-   * @param outputDriveVoltages             A MecanumDriveMotorVoltages object containing
-   *                                        the output motor voltages.
-   * @param requirements                    The subsystems to require.
+   * @param frontLeftController The front left wheel velocity PID.
+   * @param rearLeftController The rear left wheel velocity PID.
+   * @param frontRightController The front right wheel velocity PID.
+   * @param rearRightController The rear right wheel velocity PID.
+   * @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
+   * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
+   *     voltages.
+   * @param requirements The subsystems to require.
    */
-
-  @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  SimpleMotorFeedforward feedforward,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  PIDController frontLeftController,
-                                  PIDController rearLeftController,
-                                  PIDController frontRightController,
-                                  PIDController rearRightController,
-                                  Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
-                                  Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
-                                  Subsystem... requirements) {
-
-    this(trajectory, pose, feedforward, kinematics, xController, yController, thetaController,
-        () -> trajectory.getStates().get(trajectory.getStates().size() - 1)
-            .poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond, frontLeftController, rearLeftController,
-        frontRightController, rearRightController, currentWheelSpeeds, outputDriveVoltages,
+  @SuppressWarnings("ParameterName")
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SimpleMotorFeedforward feedforward,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      double maxWheelVelocityMetersPerSecond,
+      PIDController frontLeftController,
+      PIDController rearLeftController,
+      PIDController frontRightController,
+      PIDController rearRightController,
+      Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
+      Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
+      Subsystem... requirements) {
+    this(
+        trajectory,
+        pose,
+        feedforward,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        () ->
+            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        maxWheelVelocityMetersPerSecond,
+        frontLeftController,
+        rearLeftController,
+        frontRightController,
+        rearRightController,
+        currentWheelSpeeds,
+        outputDriveVoltages,
         requirements);
   }
 
@@ -228,56 +221,50 @@
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path -
    * this is left to the user, since it is not appropriate for paths with non-stationary end-states.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
-   * @param desiredRotation                 The angle that the robot should be facing. This
-   *                                        is sampled at each time step.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
+   *     step.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param outputWheelSpeeds               A MecanumDriveWheelSpeeds object containing
-   *                                        the output wheel speeds.
-   * @param requirements                    The subsystems to require.
+   * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
+   * @param requirements The subsystems to require.
    */
-
-  @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  Supplier<Rotation2d> desiredRotation,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
-                                  Subsystem... requirements) {
-    m_trajectory = requireNonNullParam(trajectory, "trajectory",
-        "MecanumControllerCommand");
+  @SuppressWarnings("ParameterName")
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Supplier<Rotation2d> desiredRotation,
+      double maxWheelVelocityMetersPerSecond,
+      Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
+      Subsystem... requirements) {
+    m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
     m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
     m_feedforward = new SimpleMotorFeedforward(0, 0, 0);
-    m_kinematics = requireNonNullParam(kinematics,
-        "kinematics", "MecanumControllerCommand");
+    m_kinematics = requireNonNullParam(kinematics, "kinematics", "MecanumControllerCommand");
 
-    m_controller = new HolonomicDriveController(
-        requireNonNullParam(xController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(yController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(thetaController,
-            "thetaController", "SwerveControllerCommand")
-    );
+    m_controller =
+        new HolonomicDriveController(
+            requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
 
-    m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
-        "MecanumControllerCommand");
+    m_desiredRotation =
+        requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
-        "maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
+    m_maxWheelVelocityMetersPerSecond =
+        requireNonNullParam(
+            maxWheelVelocityMetersPerSecond,
+            "maxWheelVelocityMetersPerSecond",
+            "MecanumControllerCommand");
 
     m_frontLeftController = null;
     m_rearLeftController = null;
@@ -286,8 +273,8 @@
 
     m_currentWheelSpeeds = null;
 
-    m_outputWheelSpeeds = requireNonNullParam(outputWheelSpeeds,
-        "outputWheelSpeeds", "MecanumControllerCommand");
+    m_outputWheelSpeeds =
+        requireNonNullParam(outputWheelSpeeds, "outputWheelSpeeds", "MecanumControllerCommand");
 
     m_outputDriveVoltages = null;
 
@@ -303,54 +290,58 @@
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path -
    * this is left to the user, since it is not appropriate for paths with non-stationary end-states.
    *
-   * <p>Note 2: The final rotation of the robot will be set to the rotation of
-   * the final pose in the trajectory. The robot will not follow the rotations
-   * from the poses at each timestep. If alternate rotation behavior is desired,
-   * the other constructor with a supplier for rotation should be used.
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
+   * trajectory. The robot will not follow the rotations from the poses at each timestep. If
+   * alternate rotation behavior is desired, the other constructor with a supplier for rotation
+   * should be used.
    *
-   * @param trajectory                      The trajectory to follow.
-   * @param pose                            A function that supplies the robot pose - use one of
-   *                                        the odometry classes to provide this.
-   * @param kinematics                      The kinematics for the robot drivetrain.
-   * @param xController                     The Trajectory Tracker PID controller
-   *                                        for the robot's x position.
-   * @param yController                     The Trajectory Tracker PID controller
-   *                                        for the robot's y position.
-   * @param thetaController                 The Trajectory Tracker PID controller
-   *                                        for angle for the robot.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
-   * @param outputWheelSpeeds               A MecanumDriveWheelSpeeds object containing
-   *                                        the output wheel speeds.
-   * @param requirements                    The subsystems to require.
+   * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
+   * @param requirements The subsystems to require.
    */
-
-  @SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
-  public MecanumControllerCommand(Trajectory trajectory,
-                                  Supplier<Pose2d> pose,
-                                  MecanumDriveKinematics kinematics,
-                                  PIDController xController,
-                                  PIDController yController,
-                                  ProfiledPIDController thetaController,
-                                  double maxWheelVelocityMetersPerSecond,
-                                  Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
-                                  Subsystem... requirements) {
-    this(trajectory, pose, kinematics, xController, yController, thetaController,
-        () -> trajectory.getStates().get(trajectory.getStates().size() - 1)
-            .poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond, outputWheelSpeeds, requirements);
+  @SuppressWarnings("ParameterName")
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      double maxWheelVelocityMetersPerSecond,
+      Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
+      Subsystem... requirements) {
+    this(
+        trajectory,
+        pose,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        () ->
+            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        maxWheelVelocityMetersPerSecond,
+        outputWheelSpeeds,
+        requirements);
   }
 
   @Override
   public void initialize() {
     var initialState = m_trajectory.sample(0);
 
-    var initialXVelocity = initialState.velocityMetersPerSecond
-        * initialState.poseMeters.getRotation().getCos();
-    var initialYVelocity = initialState.velocityMetersPerSecond
-        * initialState.poseMeters.getRotation().getSin();
+    var initialXVelocity =
+        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getCos();
+    var initialYVelocity =
+        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getSin();
 
-    m_prevSpeeds = m_kinematics.toWheelSpeeds(
-        new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
+    m_prevSpeeds =
+        m_kinematics.toWheelSpeeds(new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
 
     m_timer.reset();
     m_timer.start();
@@ -364,8 +355,8 @@
 
     var desiredState = m_trajectory.sample(curTime);
 
-    var targetChassisSpeeds = m_controller.calculate(m_pose.get(), desiredState,
-        m_desiredRotation.get());
+    var targetChassisSpeeds =
+        m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
     var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
 
     targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
@@ -381,46 +372,57 @@
     double rearRightOutput;
 
     if (m_usePID) {
-      final double frontLeftFeedforward = m_feedforward.calculate(frontLeftSpeedSetpoint,
-          (frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
+      final double frontLeftFeedforward =
+          m_feedforward.calculate(
+              frontLeftSpeedSetpoint,
+              (frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
 
-      final double rearLeftFeedforward = m_feedforward.calculate(rearLeftSpeedSetpoint,
-          (rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
+      final double rearLeftFeedforward =
+          m_feedforward.calculate(
+              rearLeftSpeedSetpoint,
+              (rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
 
-      final double frontRightFeedforward = m_feedforward.calculate(frontRightSpeedSetpoint,
-          (frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
+      final double frontRightFeedforward =
+          m_feedforward.calculate(
+              frontRightSpeedSetpoint,
+              (frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
 
-      final double rearRightFeedforward = m_feedforward.calculate(rearRightSpeedSetpoint,
-          (rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
+      final double rearRightFeedforward =
+          m_feedforward.calculate(
+              rearRightSpeedSetpoint,
+              (rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
 
-      frontLeftOutput = frontLeftFeedforward + m_frontLeftController.calculate(
-          m_currentWheelSpeeds.get().frontLeftMetersPerSecond,
-          frontLeftSpeedSetpoint);
+      frontLeftOutput =
+          frontLeftFeedforward
+              + m_frontLeftController.calculate(
+                  m_currentWheelSpeeds.get().frontLeftMetersPerSecond, frontLeftSpeedSetpoint);
 
-      rearLeftOutput = rearLeftFeedforward + m_rearLeftController.calculate(
-          m_currentWheelSpeeds.get().rearLeftMetersPerSecond,
-          rearLeftSpeedSetpoint);
+      rearLeftOutput =
+          rearLeftFeedforward
+              + m_rearLeftController.calculate(
+                  m_currentWheelSpeeds.get().rearLeftMetersPerSecond, rearLeftSpeedSetpoint);
 
-      frontRightOutput = frontRightFeedforward + m_frontRightController.calculate(
-          m_currentWheelSpeeds.get().frontRightMetersPerSecond,
-          frontRightSpeedSetpoint);
+      frontRightOutput =
+          frontRightFeedforward
+              + m_frontRightController.calculate(
+                  m_currentWheelSpeeds.get().frontRightMetersPerSecond, frontRightSpeedSetpoint);
 
-      rearRightOutput = rearRightFeedforward + m_rearRightController.calculate(
-          m_currentWheelSpeeds.get().rearRightMetersPerSecond,
-          rearRightSpeedSetpoint);
+      rearRightOutput =
+          rearRightFeedforward
+              + m_rearRightController.calculate(
+                  m_currentWheelSpeeds.get().rearRightMetersPerSecond, rearRightSpeedSetpoint);
 
-      m_outputDriveVoltages.accept(new MecanumDriveMotorVoltages(
-          frontLeftOutput,
-          frontRightOutput,
-          rearLeftOutput,
-          rearRightOutput));
+      m_outputDriveVoltages.accept(
+          new MecanumDriveMotorVoltages(
+              frontLeftOutput, frontRightOutput, rearLeftOutput, rearRightOutput));
 
     } else {
-      m_outputWheelSpeeds.accept(new MecanumDriveWheelSpeeds(
-          frontLeftSpeedSetpoint,
-          frontRightSpeedSetpoint,
-          rearLeftSpeedSetpoint,
-          rearRightSpeedSetpoint));
+      m_outputWheelSpeeds.accept(
+          new MecanumDriveWheelSpeeds(
+              frontLeftSpeedSetpoint,
+              frontRightSpeedSetpoint,
+              rearLeftSpeedSetpoint,
+              rearRightSpeedSetpoint));
     }
 
     m_prevTime = curTime;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
index e63fcc5..487aa12 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
@@ -1,24 +1,19 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import edu.wpi.first.wpilibj.Notifier;
 
 /**
- * A command that starts a notifier to run the given runnable periodically in a separate thread.
- * Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
- * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ * A command that starts a notifier to run the given runnable periodically in a separate thread. Has
+ * no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
+ * Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
  *
  * <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
- * code thread-safe.  If you do not know what "thread-safe" means, that is a good sign that
- * you should not use this class.
+ * code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you
+ * should not use this class.
  */
 public class NotifierCommand extends CommandBase {
   protected final Notifier m_notifier;
@@ -27,8 +22,8 @@
   /**
    * Creates a new NotifierCommand.
    *
-   * @param toRun        the runnable for the notifier to run
-   * @param period       the period at which the notifier should run, in seconds
+   * @param toRun the runnable for the notifier to run
+   * @param period the period at which the notifier should run, in seconds
    * @param requirements the subsystems required by this command
    */
   public NotifierCommand(Runnable toRun, double period, Subsystem... requirements) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
index 5f2b093..dcf8dec 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
@@ -1,24 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.math.controller.PIDController;
 import java.util.Set;
 import java.util.function.DoubleConsumer;
 import java.util.function.DoubleSupplier;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
- * A command that controls an output with a {@link PIDController}.  Runs forever by default - to add
- * exit conditions and/or other behavior, subclass this class.  The controller calculation and
- * output are performed synchronously in the command's execute() method.
+ * A command that controls an output with a {@link PIDController}. Runs forever by default - to add
+ * exit conditions and/or other behavior, subclass this class. The controller calculation and output
+ * are performed synchronously in the command's execute() method.
  */
 public class PIDCommand extends CommandBase {
   protected final PIDController m_controller;
@@ -29,15 +25,18 @@
   /**
    * Creates a new PIDCommand, which controls the given output with a PIDController.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param setpointSource    the controller's setpoint
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param setpointSource the controller's setpoint
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public PIDCommand(PIDController controller, DoubleSupplier measurementSource,
-                    DoubleSupplier setpointSource, DoubleConsumer useOutput,
-                    Subsystem... requirements) {
+  public PIDCommand(
+      PIDController controller,
+      DoubleSupplier measurementSource,
+      DoubleSupplier setpointSource,
+      DoubleConsumer useOutput,
+      Subsystem... requirements) {
     requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
     requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
     requireNonNullParam(setpointSource, "setpointSource", "SynchronousPIDCommand");
@@ -53,15 +52,18 @@
   /**
    * Creates a new PIDCommand, which controls the given output with a PIDController.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param setpoint          the controller's setpoint
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param setpoint the controller's setpoint
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public PIDCommand(PIDController controller, DoubleSupplier measurementSource,
-                    double setpoint, DoubleConsumer useOutput,
-                    Subsystem... requirements) {
+  public PIDCommand(
+      PIDController controller,
+      DoubleSupplier measurementSource,
+      double setpoint,
+      DoubleConsumer useOutput,
+      Subsystem... requirements) {
     this(controller, measurementSource, () -> setpoint, useOutput, requirements);
   }
 
@@ -72,8 +74,8 @@
 
   @Override
   public void execute() {
-    m_useOutput.accept(m_controller.calculate(m_measurement.getAsDouble(),
-                                              m_setpoint.getAsDouble()));
+    m_useOutput.accept(
+        m_controller.calculate(m_measurement.getAsDouble(), m_setpoint.getAsDouble()));
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index 4cc578d..ad9bb77 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.controller.PIDController;
+
 /**
- * A subsystem that uses a {@link PIDController} to control an output.  The controller is run
+ * A subsystem that uses a {@link PIDController} to control an output. The controller is run
  * synchronously from the subsystem's periodic() method.
  */
 public abstract class PIDSubsystem extends SubsystemBase {
@@ -34,7 +31,7 @@
   }
 
   /**
-   * Creates a new PIDSubsystem.  Initial setpoint is zero.
+   * Creates a new PIDSubsystem. Initial setpoint is zero.
    *
    * @param controller the PIDController to use
    */
@@ -86,17 +83,13 @@
    */
   protected abstract double getMeasurement();
 
-  /**
-   * Enables the PID control.  Resets the controller.
-   */
+  /** Enables the PID control. Resets the controller. */
   public void enable() {
     m_enabled = true;
     m_controller.reset();
   }
 
-  /**
-   * Disables the PID control.  Sets output to zero.
-   */
+  /** Disables the PID control. Sets output to zero. */
   public void disable() {
     m_enabled = false;
     useOutput(0, 0);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
index 38cc3c1..7195606 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -17,14 +14,14 @@
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
  */
 public class ParallelCommandGroup extends CommandGroupBase {
-  //maps commands in this group to whether they are still running
+  // maps commands in this group to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;
 
   /**
-   * Creates a new ParallelCommandGroup.  The given commands will be executed simultaneously.
-   * The command group will finish when the last command finishes.  If the CommandGroup is
-   * interrupted, only the commands that are still running will be interrupted.
+   * Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The
+   * command group will finish when the last command finishes. If the CommandGroup is interrupted,
+   * only the commands that are still running will be interrupted.
    *
    * @param commands the commands to include in this group.
    */
@@ -45,8 +42,8 @@
 
     for (Command command : commands) {
       if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
-        throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
-            + "require the same subsystems");
+        throw new IllegalArgumentException(
+            "Multiple commands in a parallel group cannot" + "require the same subsystems");
       }
       m_commands.put(command, false);
       m_requirements.addAll(command.getRequirements());
@@ -89,11 +86,17 @@
 
   @Override
   public boolean isFinished() {
-    return !m_commands.values().contains(true);
+    return !m_commands.containsValue(true);
   }
 
   @Override
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public ParallelCommandGroup alongWith(Command... parallel) {
+    addCommands(parallel);
+    return this;
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
index 37be702..d444991 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -12,23 +9,23 @@
 import java.util.Map;
 
 /**
- * A CommandGroup that runs a set of commands in parallel, ending only when a specific command
- * (the "deadline") ends, interrupting all other commands that are still running at that point.
+ * A CommandGroup that runs a set of commands in parallel, ending only when a specific command (the
+ * "deadline") ends, interrupting all other commands that are still running at that point.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
  */
 public class ParallelDeadlineGroup extends CommandGroupBase {
-  //maps commands in this group to whether they are still running
+  // maps commands in this group to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;
   private boolean m_finished = true;
   private Command m_deadline;
 
   /**
-   * Creates a new ParallelDeadlineGroup.  The given commands (including the deadline) will be
-   * executed simultaneously.  The CommandGroup will finish when the deadline finishes,
-   * interrupting all other still-running commands.  If the CommandGroup is interrupted, only
-   * the commands still running will be interrupted.
+   * Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be
+   * executed simultaneously. The CommandGroup will finish when the deadline finishes, interrupting
+   * all other still-running commands. If the CommandGroup is interrupted, only the commands still
+   * running will be interrupted.
    *
    * @param deadline the command that determines when the group ends
    * @param commands the commands to be executed
@@ -42,8 +39,8 @@
   }
 
   /**
-   * Sets the deadline to the given command.  The deadline is added to the group if it is not
-   * already contained.
+   * Sets the deadline to the given command. The deadline is added to the group if it is not already
+   * contained.
    *
    * @param deadline the command that determines when the group ends
    */
@@ -67,8 +64,8 @@
 
     for (Command command : commands) {
       if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
-        throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
-            + "require the same subsystems");
+        throw new IllegalArgumentException(
+            "Multiple commands in a parallel group cannot" + "require the same subsystems");
       }
       m_commands.put(command, false);
       m_requirements.addAll(command.getRequirements());
@@ -120,4 +117,10 @@
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public ParallelDeadlineGroup deadlineWith(Command... parallel) {
+    addCommands(parallel);
+    return this;
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
index dcaf5f5..2d79885 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -23,8 +20,8 @@
   private boolean m_finished = true;
 
   /**
-   * Creates a new ParallelCommandRace.  The given commands will be executed simultaneously, and
-   * will "race to the finish" - the first command to finish ends the entire command, with all other
+   * Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will
+   * "race to the finish" - the first command to finish ends the entire command, with all other
    * commands being interrupted.
    *
    * @param commands the commands to include in this group.
@@ -46,8 +43,8 @@
 
     for (Command command : commands) {
       if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
-        throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
-            + " require the same subsystems");
+        throw new IllegalArgumentException(
+            "Multiple commands in a parallel group cannot" + " require the same subsystems");
       }
       m_commands.add(command);
       m_requirements.addAll(command.getRequirements());
@@ -89,4 +86,10 @@
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public ParallelRaceGroup raceWith(Command... parallel) {
+    addCommands(parallel);
+    return this;
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
index 6ebb376..af219dc 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -11,7 +8,7 @@
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
 
 /**
- * A command that runs another command in perpetuity, ignoring that command's end conditions.  While
+ * A command that runs another command in perpetuity, ignoring that command's end conditions. While
  * this class does not extend {@link CommandGroupBase}, it is still considered a CommandGroup, as it
  * allows one to compose another command within it; the command instances that are passed to it
  * cannot be added to any other groups, or scheduled individually.
@@ -22,8 +19,8 @@
   protected final Command m_command;
 
   /**
-   * Creates a new PerpetualCommand.  Will run another command in perpetuity, ignoring that
-   * command's end conditions, unless this command itself is interrupted.
+   * Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that command's
+   * end conditions, unless this command itself is interrupted.
    *
    * @param command the command to run perpetually
    */
@@ -53,4 +50,9 @@
   public boolean runsWhenDisabled() {
     return m_command.runsWhenDisabled();
   }
+
+  @Override
+  public PerpetualCommand perpetually() {
+    return this;
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
index 4fb4126..33415d0 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-/**
- * A command that prints a string when initialized.
- */
+/** A command that prints a string when initialized. */
 public class PrintCommand extends InstantCommand {
   /**
    * Creates a new a PrintCommand.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
index 96e18a0..df56561 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
@@ -1,26 +1,21 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import java.util.Set;
 import java.util.function.BiConsumer;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-
-import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
- * A command that controls an output with a {@link ProfiledPIDController}.  Runs forever by
- * default - to add
- * exit conditions and/or other behavior, subclass this class.  The controller calculation and
+ * A command that controls an output with a {@link ProfiledPIDController}. Runs forever by default -
+ * to add exit conditions and/or other behavior, subclass this class. The controller calculation and
  * output are performed synchronously in the command's execute() method.
  */
 public class ProfiledPIDCommand extends CommandBase {
@@ -30,18 +25,21 @@
   protected BiConsumer<Double, State> m_useOutput;
 
   /**
-   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
-   * Goal velocity is specified.
+   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
+   * velocity is specified.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goalSource        the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goalSource the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            Supplier<State> goalSource, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      Supplier<State> goalSource,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
     requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
     requireNonNullParam(goalSource, "goalSource", "SynchronousPIDCommand");
@@ -55,18 +53,21 @@
   }
 
   /**
-   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
-   * Goal velocity is implicitly zero.
+   * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
+   * velocity is implicitly zero.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goalSource        the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goalSource the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            DoubleSupplier goalSource, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      DoubleSupplier goalSource,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
     requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
     requireNonNullParam(goalSource, "goalSource", "SynchronousPIDCommand");
@@ -83,15 +84,18 @@
    * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
    * velocity is specified.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goal              the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goal the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            State goal, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      State goal,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     this(controller, measurementSource, () -> goal, useOutput, requirements);
   }
 
@@ -99,15 +103,18 @@
    * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
    * velocity is implicitly zero.
    *
-   * @param controller        the controller that controls the output.
+   * @param controller the controller that controls the output.
    * @param measurementSource the measurement of the process variable
-   * @param goal              the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
+   * @param goal the controller's goal
+   * @param useOutput the controller's output
+   * @param requirements the subsystems required by this command
    */
-  public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
-                            double goal, BiConsumer<Double, State> useOutput,
-                            Subsystem... requirements) {
+  public ProfiledPIDCommand(
+      ProfiledPIDController controller,
+      DoubleSupplier measurementSource,
+      double goal,
+      BiConsumer<Double, State> useOutput,
+      Subsystem... requirements) {
     this(controller, measurementSource, () -> goal, useOutput, requirements);
   }
 
@@ -118,8 +125,9 @@
 
   @Override
   public void execute() {
-    m_useOutput.accept(m_controller.calculate(m_measurement.getAsDouble(), m_goal.get()),
-                       m_controller.getSetpoint());
+    m_useOutput.accept(
+        m_controller.calculate(m_measurement.getAsDouble(), m_goal.get()),
+        m_controller.getSetpoint());
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
index 2385ada..85ece1f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -1,21 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
+import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
 /**
- * A subsystem that uses a {@link ProfiledPIDController} to control an output.  The controller is
- * run synchronously from the subsystem's periodic() method.
+ * A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run
+ * synchronously from the subsystem's periodic() method.
  */
 public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   protected final ProfiledPIDController m_controller;
@@ -29,14 +26,13 @@
    * @param controller the ProfiledPIDController to use
    * @param initialPosition the initial goal position of the controller
    */
-  public ProfiledPIDSubsystem(ProfiledPIDController controller,
-                              double initialPosition) {
+  public ProfiledPIDSubsystem(ProfiledPIDController controller, double initialPosition) {
     m_controller = requireNonNullParam(controller, "controller", "ProfiledPIDSubsystem");
     setGoal(initialPosition);
   }
 
   /**
-   * Creates a new ProfiledPIDSubsystem.  Initial goal position is zero.
+   * Creates a new ProfiledPIDSubsystem. Initial goal position is zero.
    *
    * @param controller the ProfiledPIDController to use
    */
@@ -65,7 +61,7 @@
   }
 
   /**
-   * Sets the goal state for the subsystem.  Goal velocity assumed to be zero.
+   * Sets the goal state for the subsystem. Goal velocity assumed to be zero.
    *
    * @param goal The goal position for the subsystem's motion profile.
    */
@@ -76,7 +72,7 @@
   /**
    * Uses the output from the ProfiledPIDController.
    *
-   * @param output   the output of the ProfiledPIDController
+   * @param output the output of the ProfiledPIDController
    * @param setpoint the setpoint state of the ProfiledPIDController, for feedforward
    */
   protected abstract void useOutput(double output, State setpoint);
@@ -88,17 +84,13 @@
    */
   protected abstract double getMeasurement();
 
-  /**
-   * Enables the PID control.  Resets the controller.
-   */
+  /** Enables the PID control. Resets the controller. */
   public void enable() {
     m_enabled = true;
     m_controller.reset(getMeasurement());
   }
 
-  /**
-   * Disables the PID control.  Sets output to zero.
-   */
+  /** Disables the PID control. Sets output to zero. */
   public void disable() {
     m_enabled = false;
     useOutput(0, new State());
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
index 27d67bc..ae403a4 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -11,7 +8,7 @@
 
 /**
  * Schedules the given commands when this command is initialized, and ends when all the commands are
- * no longer scheduled.  Useful for forking off from CommandGroups.  If this command is interrupted,
+ * no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted,
  * it will cancel all of the commands.
  */
 public class ProxyScheduleCommand extends CommandBase {
@@ -19,8 +16,8 @@
   private boolean m_finished;
 
   /**
-   * Creates a new ProxyScheduleCommand that schedules the given commands when initialized,
-   * and ends when they are all no longer scheduled.
+   * Creates a new ProxyScheduleCommand that schedules the given commands when initialized, and ends
+   * when they are all no longer scheduled.
    *
    * @param toSchedule the commands to schedule
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index c6a2b4c..8d8d4d3 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -1,41 +1,35 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.RamseteController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.Timer;
 import java.util.function.BiConsumer;
 import java.util.function.Supplier;
 
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.RamseteController;
-import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
  * A command that uses a RAMSETE controller ({@link RamseteController}) to follow a trajectory
  * {@link Trajectory} with a differential drive.
  *
- * <p>The command handles trajectory-following, PID calculations, and feedforwards internally.  This
+ * <p>The command handles trajectory-following, PID calculations, and feedforwards internally. This
  * is intended to be a more-or-less "complete solution" that can be used by teams without a great
  * deal of controls expertise.
  *
- * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard
- * PID functionality of a "smart" motor controller) may use the secondary constructor that omits
- * the PID and feedforward functionality, returning only the raw wheel speeds from the RAMSETE
- * controller.
+ * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID
+ * functionality of a "smart" motor controller) may use the secondary constructor that omits the PID
+ * and feedforward functionality, returning only the raw wheel speeds from the RAMSETE controller.
  */
-@SuppressWarnings("PMD.TooManyFields")
 public class RamseteCommand extends CommandBase {
   private final Timer m_timer = new Timer();
   private final boolean m_usePID;
@@ -52,39 +46,38 @@
   private double m_prevTime;
 
   /**
-   * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.
-   * PID control and feedforward are handled internally, and outputs are scaled -12 to 12
-   * representing units of volts.
+   * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. PID
+   * control and feedforward are handled internally, and outputs are scaled -12 to 12 representing
+   * units of volts.
    *
    * <p>Note: The controller will *not* set the outputVolts to zero upon completion of the path -
-   * this
-   * is left to the user, since it is not appropriate for paths with nonstationary endstates.
+   * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * @param trajectory      The trajectory to follow.
-   * @param pose            A function that supplies the robot pose - use one of
-   *                        the odometry classes to provide this.
-   * @param controller      The RAMSETE controller used to follow the trajectory.
-   * @param feedforward     The feedforward to use for the drive.
-   * @param kinematics      The kinematics for the robot drivetrain.
-   * @param wheelSpeeds     A function that supplies the speeds of the left and
-   *                        right sides of the robot drive.
-   * @param leftController  The PIDController for the left side of the robot drive.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param controller The RAMSETE controller used to follow the trajectory.
+   * @param feedforward The feedforward to use for the drive.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param wheelSpeeds A function that supplies the speeds of the left and right sides of the robot
+   *     drive.
+   * @param leftController The PIDController for the left side of the robot drive.
    * @param rightController The PIDController for the right side of the robot drive.
-   * @param outputVolts     A function that consumes the computed left and right
-   *                        outputs (in volts) for the robot drive.
-   * @param requirements    The subsystems to require.
+   * @param outputVolts A function that consumes the computed left and right outputs (in volts) for
+   *     the robot drive.
+   * @param requirements The subsystems to require.
    */
-  @SuppressWarnings("PMD.ExcessiveParameterList")
-  public RamseteCommand(Trajectory trajectory,
-                        Supplier<Pose2d> pose,
-                        RamseteController controller,
-                        SimpleMotorFeedforward feedforward,
-                        DifferentialDriveKinematics kinematics,
-                        Supplier<DifferentialDriveWheelSpeeds> wheelSpeeds,
-                        PIDController leftController,
-                        PIDController rightController,
-                        BiConsumer<Double, Double> outputVolts,
-                        Subsystem... requirements) {
+  public RamseteCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      RamseteController controller,
+      SimpleMotorFeedforward feedforward,
+      DifferentialDriveKinematics kinematics,
+      Supplier<DifferentialDriveWheelSpeeds> wheelSpeeds,
+      PIDController leftController,
+      PIDController rightController,
+      BiConsumer<Double, Double> outputVolts,
+      Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "RamseteCommand");
     m_pose = requireNonNullParam(pose, "pose", "RamseteCommand");
     m_follower = requireNonNullParam(controller, "controller", "RamseteCommand");
@@ -102,24 +95,24 @@
 
   /**
    * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.
-   * Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds
-   * from the RAMSETE controller, and will need to be converted into a usable form by the user.
+   * Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds from
+   * the RAMSETE controller, and will need to be converted into a usable form by the user.
    *
-   * @param trajectory            The trajectory to follow.
-   * @param pose                  A function that supplies the robot pose - use one of
-   *                              the odometry classes to provide this.
-   * @param follower              The RAMSETE follower used to follow the trajectory.
-   * @param kinematics            The kinematics for the robot drivetrain.
-   * @param outputMetersPerSecond A function that consumes the computed left and right
-   *                              wheel speeds.
-   * @param requirements          The subsystems to require.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param follower The RAMSETE follower used to follow the trajectory.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param outputMetersPerSecond A function that consumes the computed left and right wheel speeds.
+   * @param requirements The subsystems to require.
    */
-  public RamseteCommand(Trajectory trajectory,
-                        Supplier<Pose2d> pose,
-                        RamseteController follower,
-                        DifferentialDriveKinematics kinematics,
-                        BiConsumer<Double, Double> outputMetersPerSecond,
-                        Subsystem... requirements) {
+  public RamseteCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      RamseteController follower,
+      DifferentialDriveKinematics kinematics,
+      BiConsumer<Double, Double> outputMetersPerSecond,
+      Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "RamseteCommand");
     m_pose = requireNonNullParam(pose, "pose", "RamseteCommand");
     m_follower = requireNonNullParam(follower, "follower", "RamseteCommand");
@@ -138,13 +131,14 @@
 
   @Override
   public void initialize() {
-    m_prevTime = 0;
+    m_prevTime = -1;
     var initialState = m_trajectory.sample(0);
-    m_prevSpeeds = m_kinematics.toWheelSpeeds(
-        new ChassisSpeeds(initialState.velocityMetersPerSecond,
-            0,
-            initialState.curvatureRadPerMeter
-                * initialState.velocityMetersPerSecond));
+    m_prevSpeeds =
+        m_kinematics.toWheelSpeeds(
+            new ChassisSpeeds(
+                initialState.velocityMetersPerSecond,
+                0,
+                initialState.curvatureRadPerMeter * initialState.velocityMetersPerSecond));
     m_timer.reset();
     m_timer.start();
     if (m_usePID) {
@@ -158,8 +152,15 @@
     double curTime = m_timer.get();
     double dt = curTime - m_prevTime;
 
-    var targetWheelSpeeds = m_kinematics.toWheelSpeeds(
-        m_follower.calculate(m_pose.get(), m_trajectory.sample(curTime)));
+    if (m_prevTime < 0) {
+      m_output.accept(0.0, 0.0);
+      m_prevTime = curTime;
+      return;
+    }
+
+    var targetWheelSpeeds =
+        m_kinematics.toWheelSpeeds(
+            m_follower.calculate(m_pose.get(), m_trajectory.sample(curTime)));
 
     var leftSpeedSetpoint = targetWheelSpeeds.leftMetersPerSecond;
     var rightSpeedSetpoint = targetWheelSpeeds.rightMetersPerSecond;
@@ -169,34 +170,38 @@
 
     if (m_usePID) {
       double leftFeedforward =
-          m_feedforward.calculate(leftSpeedSetpoint,
-              (leftSpeedSetpoint - m_prevSpeeds.leftMetersPerSecond) / dt);
+          m_feedforward.calculate(
+              leftSpeedSetpoint, (leftSpeedSetpoint - m_prevSpeeds.leftMetersPerSecond) / dt);
 
       double rightFeedforward =
-          m_feedforward.calculate(rightSpeedSetpoint,
-              (rightSpeedSetpoint - m_prevSpeeds.rightMetersPerSecond) / dt);
+          m_feedforward.calculate(
+              rightSpeedSetpoint, (rightSpeedSetpoint - m_prevSpeeds.rightMetersPerSecond) / dt);
 
-      leftOutput = leftFeedforward
-          + m_leftController.calculate(m_speeds.get().leftMetersPerSecond,
-          leftSpeedSetpoint);
+      leftOutput =
+          leftFeedforward
+              + m_leftController.calculate(m_speeds.get().leftMetersPerSecond, leftSpeedSetpoint);
 
-      rightOutput = rightFeedforward
-          + m_rightController.calculate(m_speeds.get().rightMetersPerSecond,
-          rightSpeedSetpoint);
+      rightOutput =
+          rightFeedforward
+              + m_rightController.calculate(
+                  m_speeds.get().rightMetersPerSecond, rightSpeedSetpoint);
     } else {
       leftOutput = leftSpeedSetpoint;
       rightOutput = rightSpeedSetpoint;
     }
 
     m_output.accept(leftOutput, rightOutput);
-
-    m_prevTime = curTime;
     m_prevSpeeds = targetWheelSpeeds;
+    m_prevTime = curTime;
   }
 
   @Override
   public void end(boolean interrupted) {
     m_timer.stop();
+
+    if (interrupted) {
+      m_output.accept(0.0, 0.0);
+    }
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
index 9099be0..e1a7296 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
@@ -1,30 +1,26 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import java.util.function.BooleanSupplier;
+
 /**
- * A command that runs a Runnable continuously.  Has no end condition as-is;
- * either subclass it or use {@link Command#withTimeout(double)} or
- * {@link Command#withInterrupt(BooleanSupplier)} to give it one.  If you only wish
- * to execute a Runnable once, use {@link InstantCommand}.
+ * A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or
+ * use {@link Command#withTimeout(double)} or {@link Command#withInterrupt(BooleanSupplier)} to give
+ * it one. If you only wish to execute a Runnable once, use {@link InstantCommand}.
  */
 public class RunCommand extends CommandBase {
   protected final Runnable m_toRun;
 
   /**
-   * Creates a new RunCommand.  The Runnable will be run continuously until the command
-   * ends.  Does not run when disabled.
+   * Creates a new RunCommand. The Runnable will be run continuously until the command ends. Does
+   * not run when disabled.
    *
-   * @param toRun        the Runnable to run
+   * @param toRun the Runnable to run
    * @param requirements the subsystems to require
    */
   public RunCommand(Runnable toRun, Subsystem... requirements) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
index 700925b..75b5774 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
 import java.util.Set;
 
 /**
- * Schedules the given commands when this command is initialized.  Useful for forking off from
- * CommandGroups.  Note that if run from a CommandGroup, the group will not know about the status
- * of the scheduled commands, and will treat this command as finishing instantly.
+ * Schedules the given commands when this command is initialized. Useful for forking off from
+ * CommandGroups. Note that if run from a CommandGroup, the group will not know about the status of
+ * the scheduled commands, and will treat this command as finishing instantly.
  */
 public class ScheduleCommand extends CommandBase {
   private final Set<Command> m_toSchedule;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
index 92fe07f..a5c8859 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
@@ -1,24 +1,21 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Map;
-import java.util.function.Supplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
 
+import java.util.Map;
+import java.util.function.Supplier;
+
 /**
  * Runs one of a selection of commands, either using a selector and a key to command mapping, or a
- * supplier that returns the command directly at runtime.  Does not actually schedule the selected
+ * supplier that returns the command directly at runtime. Does not actually schedule the selected
  * command - rather, the command is run through this command; this ensures that the command will
- * behave as expected if used as part of a CommandGroup.  Requires the requirements of all included
- * commands, again to ensure proper functioning when used in a CommandGroup.  If this is undesired,
+ * behave as expected if used as part of a CommandGroup. Requires the requirements of all included
+ * commands, again to ensure proper functioning when used in a CommandGroup. If this is undesired,
  * consider using {@link ScheduleCommand}.
  *
  * <p>As this command contains multiple component commands within it, it is technically a command
@@ -42,7 +39,7 @@
   public SelectCommand(Map<Object, Command> commands, Supplier<Object> selector) {
     requireUngrouped(commands.values());
 
-    CommandGroupBase.registerGroupedCommands(commands.values().toArray(new Command[]{}));
+    CommandGroupBase.registerGroupedCommands(commands.values().toArray(new Command[] {}));
 
     m_commands = requireNonNullParam(commands, "commands", "SelectCommand");
     m_selector = requireNonNullParam(selector, "selector", "SelectCommand");
@@ -69,8 +66,9 @@
   public void initialize() {
     if (m_selector != null) {
       if (!m_commands.keySet().contains(m_selector.get())) {
-        m_selectedCommand = new PrintCommand(
-            "SelectCommand selector value does not correspond to" + " any command!");
+        m_selectedCommand =
+            new PrintCommand(
+                "SelectCommand selector value does not correspond to" + " any command!");
         return;
       }
       m_selectedCommand = m_commands.get(m_selector.get());
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
index 0d01f11..38dff8d 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
@@ -21,8 +18,8 @@
   private boolean m_runWhenDisabled = true;
 
   /**
-   * Creates a new SequentialCommandGroup.  The given commands will be run sequentially, with
-   * the CommandGroup finishing when the last command finishes.
+   * Creates a new SequentialCommandGroup. The given commands will be run sequentially, with the
+   * CommandGroup finishing when the last command finishes.
    *
    * @param commands the commands to include in this group.
    */
@@ -77,9 +74,10 @@
 
   @Override
   public void end(boolean interrupted) {
-    if (interrupted && !m_commands.isEmpty() && m_currentCommandIndex > -1
-        && m_currentCommandIndex < m_commands.size()
-    ) {
+    if (interrupted
+        && !m_commands.isEmpty()
+        && m_currentCommandIndex > -1
+        && m_currentCommandIndex < m_commands.size()) {
       m_commands.get(m_currentCommandIndex).end(true);
     }
     m_currentCommandIndex = -1;
@@ -94,4 +92,28 @@
   public boolean runsWhenDisabled() {
     return m_runWhenDisabled;
   }
+
+  @Override
+  public SequentialCommandGroup beforeStarting(Command before) {
+    // store all the commands
+    var commands = new ArrayList<Command>();
+    commands.add(before);
+    commands.addAll(m_commands);
+
+    // reset current state
+    commands.forEach(CommandGroupBase::clearGroupedCommand);
+    m_commands.clear();
+    m_requirements.clear();
+    m_runWhenDisabled = true;
+
+    // add them back
+    addCommands(commands.toArray(Command[]::new));
+    return this;
+  }
+
+  @Override
+  public SequentialCommandGroup andThen(Command... next) {
+    addCommands(next);
+    return this;
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
index 9029135..05e46cb 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
@@ -1,32 +1,27 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.BooleanSupplier;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 /**
  * A command that runs a given runnable when it is initialized, and another runnable when it ends.
- * Useful for running and then stopping a motor, or extending and then retracting a solenoid.
- * Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
- * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ * Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no
+ * end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
+ * Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
  */
 public class StartEndCommand extends CommandBase {
   protected final Runnable m_onInit;
   protected final Runnable m_onEnd;
 
   /**
-   * Creates a new StartEndCommand.  Will run the given runnables when the command starts and when
-   * it ends.
+   * Creates a new StartEndCommand. Will run the given runnables when the command starts and when it
+   * ends.
    *
-   * @param onInit       the Runnable to run on command init
-   * @param onEnd        the Runnable to run on command end
+   * @param onInit the Runnable to run on command init
+   * @param onEnd the Runnable to run on command end
    * @param requirements the subsystems required by this command
    */
   public StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
index e693d87..4e28b16 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
@@ -1,52 +1,46 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
 /**
- * A robot subsystem.  Subsystems are the basic unit of robot organization in the Command-based
+ * A robot subsystem. Subsystems are the basic unit of robot organization in the Command-based
  * framework; they encapsulate low-level hardware objects (motor controllers, sensors, etc) and
- * provide methods through which they can be used by {@link Command}s.  Subsystems are used by the
+ * provide methods through which they can be used by {@link Command}s. Subsystems are used by the
  * {@link CommandScheduler}'s resource management system to ensure multiple robot actions are not
- * "fighting" over the same hardware; Commands that use a subsystem should include that subsystem
- * in their {@link Command#getRequirements()} method, and resources used within a subsystem should
+ * "fighting" over the same hardware; Commands that use a subsystem should include that subsystem in
+ * their {@link Command#getRequirements()} method, and resources used within a subsystem should
  * generally remain encapsulated and not be shared by other parts of the robot.
  *
- * <p>Subsystems must be registered with the scheduler with the
- * {@link CommandScheduler#registerSubsystem(Subsystem...)} method in order for the
- * {@link Subsystem#periodic()} method to be called.  It is recommended that this method be called
- * from the constructor of users' Subsystem implementations.  The {@link SubsystemBase}
- * class offers a simple base for user implementations that handles this.
+ * <p>Subsystems must be registered with the scheduler with the {@link
+ * CommandScheduler#registerSubsystem(Subsystem...)} method in order for the {@link
+ * Subsystem#periodic()} method to be called. It is recommended that this method be called from the
+ * constructor of users' Subsystem implementations. The {@link SubsystemBase} class offers a simple
+ * base for user implementations that handles this.
  */
 public interface Subsystem {
-
   /**
-   * This method is called periodically by the {@link CommandScheduler}.  Useful for updating
-   * subsystem-specific state that you don't want to offload to a {@link Command}.  Teams should
-   * try to be consistent within their own codebases about which responsibilities will be handled
-   * by Commands, and which will be handled here.
+   * This method is called periodically by the {@link CommandScheduler}. Useful for updating
+   * subsystem-specific state that you don't want to offload to a {@link Command}. Teams should try
+   * to be consistent within their own codebases about which responsibilities will be handled by
+   * Commands, and which will be handled here.
    */
-  default void periodic() {
-  }
+  default void periodic() {}
 
   /**
-   * This method is called periodically by the {@link CommandScheduler}.  Useful for updating
+   * This method is called periodically by the {@link CommandScheduler}. Useful for updating
    * subsystem-specific state that needs to be maintained for simulations, such as for updating
    * {@link edu.wpi.first.wpilibj.simulation} classes and setting simulated sensor readings.
    */
-  default void simulationPeriodic() {
-  }
+  default void simulationPeriodic() {}
 
   /**
-   * Sets the default {@link Command} of the subsystem.  The default command will be
-   * automatically scheduled when no other commands are scheduled that require the subsystem.
-   * Default commands should generally not end on their own, i.e. their {@link Command#isFinished()}
-   * method should always return false.  Will automatically register this subsystem with the
-   * {@link CommandScheduler}.
+   * Sets the default {@link Command} of the subsystem. The default command will be automatically
+   * scheduled when no other commands are scheduled that require the subsystem. Default commands
+   * should generally not end on their own, i.e. their {@link Command#isFinished()} method should
+   * always return false. Will automatically register this subsystem with the {@link
+   * CommandScheduler}.
    *
    * @param defaultCommand the default command to associate with this subsystem
    */
@@ -55,8 +49,8 @@
   }
 
   /**
-   * Gets the default command for this subsystem.  Returns null if no default command is
-   * currently associated with the subsystem.
+   * Gets the default command for this subsystem. Returns null if no default command is currently
+   * associated with the subsystem.
    *
    * @return the default command associated with this subsystem
    */
@@ -65,7 +59,7 @@
   }
 
   /**
-   * Returns the command currently running on this subsystem.  Returns null if no command is
+   * Returns the command currently running on this subsystem. Returns null if no command is
    * currently scheduled that requires this subsystem.
    *
    * @return the scheduled command currently requiring this subsystem
@@ -75,8 +69,8 @@
   }
 
   /**
-   * Registers this subsystem with the {@link CommandScheduler}, allowing its
-   * {@link Subsystem#periodic()} method to be called when the scheduler runs.
+   * Registers this subsystem with the {@link CommandScheduler}, allowing its {@link
+   * Subsystem#periodic()} method to be called when the scheduler runs.
    */
   default void register() {
     CommandScheduler.getInstance().registerSubsystem(this);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
index e22a5c4..c685803 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
@@ -1,25 +1,19 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * A base for subsystems that handles registration in the constructor, and provides a more intuitive
  * method for setting the default command.
  */
 public abstract class SubsystemBase implements Subsystem, Sendable {
-
-  /**
-   * Constructor.
-   */
+  /** Constructor. */
   public SubsystemBase() {
     String name = this.getClass().getSimpleName();
     name = name.substring(name.lastIndexOf('.') + 1);
@@ -32,7 +26,6 @@
    *
    * @return Name
    */
-  @Override
   public String getName() {
     return SendableRegistry.getName(this);
   }
@@ -42,7 +35,6 @@
    *
    * @param name name
    */
-  @Override
   public void setName(String name) {
     SendableRegistry.setName(this, name);
   }
@@ -52,7 +44,6 @@
    *
    * @return Subsystem name
    */
-  @Override
   public String getSubsystem() {
     return SendableRegistry.getSubsystem(this);
   }
@@ -62,14 +53,12 @@
    *
    * @param subsystem subsystem name
    */
-  @Override
   public void setSubsystem(String subsystem) {
     SendableRegistry.setSubsystem(this, subsystem);
   }
 
   /**
-   * Associates a {@link Sendable} with this Subsystem.
-   * Also update the child's name.
+   * Associates a {@link Sendable} with this Subsystem. Also update the child's name.
    *
    * @param name name to give child
    * @param child sendable
@@ -83,10 +72,14 @@
     builder.setSmartDashboardType("Subsystem");
 
     builder.addBooleanProperty(".hasDefault", () -> getDefaultCommand() != null, null);
-    builder.addStringProperty(".default",
-        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none", null);
+    builder.addStringProperty(
+        ".default",
+        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none",
+        null);
     builder.addBooleanProperty(".hasCommand", () -> getCurrentCommand() != null, null);
-    builder.addStringProperty(".command",
-        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none", null);
+    builder.addStringProperty(
+        ".command",
+        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none",
+        null);
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
index c0303b9..95b42ee 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
@@ -1,40 +1,34 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.math.controller.HolonomicDriveController;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.Timer;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-
 /**
- * A command that uses two PID controllers ({@link PIDController}) and a
- * ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
- * {@link Trajectory} with a swerve drive.
+ * A command that uses two PID controllers ({@link PIDController}) and a ProfiledPIDController
+ * ({@link ProfiledPIDController}) to follow a trajectory {@link Trajectory} with a swerve drive.
  *
- * <p>This command outputs the raw desired Swerve Module States ({@link SwerveModuleState})
- * in an array. The desired wheel and module rotation velocities should be taken
- * from those and used in velocity PIDs.
+ * <p>This command outputs the raw desired Swerve Module States ({@link SwerveModuleState}) in an
+ * array. The desired wheel and module rotation velocities should be taken from those and used in
+ * velocity PIDs.
  *
- * <p>The robot angle controller does not follow the angle given by
- * the trajectory but rather goes to the angle given in the final state of the trajectory.
+ * <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
+ * to the angle given in the final state of the trajectory.
  */
-
 @SuppressWarnings("MemberName")
 public class SwerveControllerCommand extends CommandBase {
   private final Timer m_timer = new Timer();
@@ -53,50 +47,44 @@
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path-
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * @param trajectory         The trajectory to follow.
-   * @param pose               A function that supplies the robot pose - use one of
-   *                           the odometry classes to provide this.
-   * @param kinematics         The kinematics for the robot drivetrain.
-   * @param xController        The Trajectory Tracker PID controller
-   *                           for the robot's x position.
-   * @param yController        The Trajectory Tracker PID controller
-   *                           for the robot's y position.
-   * @param thetaController    The Trajectory Tracker PID controller
-   *                           for angle for the robot.
-   * @param desiredRotation    The angle that the drivetrain should be facing. This
-   *                           is sampled at each time step.
-   * @param outputModuleStates The raw output module states from the
-   *                           position controllers.
-   * @param requirements       The subsystems to require.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param desiredRotation The angle that the drivetrain should be facing. This is sampled at each
+   *     time step.
+   * @param outputModuleStates The raw output module states from the position controllers.
+   * @param requirements The subsystems to require.
    */
   @SuppressWarnings("ParameterName")
-  public SwerveControllerCommand(Trajectory trajectory,
-                                 Supplier<Pose2d> pose,
-                                 SwerveDriveKinematics kinematics,
-                                 PIDController xController,
-                                 PIDController yController,
-                                 ProfiledPIDController thetaController,
-                                 Supplier<Rotation2d> desiredRotation,
-                                 Consumer<SwerveModuleState[]> outputModuleStates,
-                                 Subsystem... requirements) {
+  public SwerveControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SwerveDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Supplier<Rotation2d> desiredRotation,
+      Consumer<SwerveModuleState[]> outputModuleStates,
+      Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "SwerveControllerCommand");
     m_pose = requireNonNullParam(pose, "pose", "SwerveControllerCommand");
     m_kinematics = requireNonNullParam(kinematics, "kinematics", "SwerveControllerCommand");
 
-    m_controller = new HolonomicDriveController(
-        requireNonNullParam(xController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(yController,
-            "xController", "SwerveControllerCommand"),
-        requireNonNullParam(thetaController,
-            "thetaController", "SwerveControllerCommand")
-    );
+    m_controller =
+        new HolonomicDriveController(
+            requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
+            requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
 
-    m_outputModuleStates = requireNonNullParam(outputModuleStates,
-        "frontLeftOutput", "SwerveControllerCommand");
+    m_outputModuleStates =
+        requireNonNullParam(outputModuleStates, "frontLeftOutput", "SwerveControllerCommand");
 
-    m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
-        "SwerveControllerCommand");
+    m_desiredRotation =
+        requireNonNullParam(desiredRotation, "desiredRotation", "SwerveControllerCommand");
 
     addRequirements(requirements);
   }
@@ -109,38 +97,42 @@
    * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path-
    * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
    *
-   * <p>Note 2: The final rotation of the robot will be set to the rotation of
-   * the final pose in the trajectory. The robot will not follow the rotations
-   * from the poses at each timestep. If alternate rotation behavior is desired,
-   * the other constructor with a supplier for rotation should be used.
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
+   * trajectory. The robot will not follow the rotations from the poses at each timestep. If
+   * alternate rotation behavior is desired, the other constructor with a supplier for rotation
+   * should be used.
    *
-   * @param trajectory         The trajectory to follow.
-   * @param pose               A function that supplies the robot pose - use one of
-   *                           the odometry classes to provide this.
-   * @param kinematics         The kinematics for the robot drivetrain.
-   * @param xController        The Trajectory Tracker PID controller
-   *                           for the robot's x position.
-   * @param yController        The Trajectory Tracker PID controller
-   *                           for the robot's y position.
-   * @param thetaController    The Trajectory Tracker PID controller
-   *                           for angle for the robot.
-   * @param outputModuleStates The raw output module states from the
-   *                           position controllers.
-   * @param requirements       The subsystems to require.
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param outputModuleStates The raw output module states from the position controllers.
+   * @param requirements The subsystems to require.
    */
   @SuppressWarnings("ParameterName")
-  public SwerveControllerCommand(Trajectory trajectory,
-                                 Supplier<Pose2d> pose,
-                                 SwerveDriveKinematics kinematics,
-                                 PIDController xController,
-                                 PIDController yController,
-                                 ProfiledPIDController thetaController,
-                                 Consumer<SwerveModuleState[]> outputModuleStates,
-                                 Subsystem... requirements) {
-    this(trajectory, pose, kinematics, xController, yController, thetaController,
-        () -> trajectory.getStates().get(trajectory.getStates().size() - 1)
-            .poseMeters.getRotation(),
-        outputModuleStates, requirements);
+  public SwerveControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SwerveDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Consumer<SwerveModuleState[]> outputModuleStates,
+      Subsystem... requirements) {
+    this(
+        trajectory,
+        pose,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        () ->
+            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        outputModuleStates,
+        requirements);
   }
 
   @Override
@@ -155,8 +147,8 @@
     double curTime = m_timer.get();
     var desiredState = m_trajectory.sample(curTime);
 
-    var targetChassisSpeeds = m_controller.calculate(m_pose.get(), desiredState,
-        m_desiredRotation.get());
+    var targetChassisSpeeds =
+        m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
     var targetModuleStates = m_kinematics.toSwerveModuleStates(targetChassisSpeeds);
 
     m_outputModuleStates.accept(targetModuleStates);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
index 0e645c6..674328e 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
@@ -1,23 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.function.Consumer;
-
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
+import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Timer;
+import java.util.function.Consumer;
+
 /**
- * A command that runs a {@link TrapezoidProfile}.  Useful for smoothly controlling mechanism
- * motion.
+ * A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
  */
 public class TrapezoidProfileCommand extends CommandBase {
   private final TrapezoidProfile m_profile;
@@ -29,13 +24,12 @@
    * Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
    * Output will be piped to the provided consumer function.
    *
-   * @param profile      The motion profile to execute.
-   * @param output       The consumer for the profile output.
+   * @param profile The motion profile to execute.
+   * @param output The consumer for the profile output.
    * @param requirements The subsystems required by this command.
    */
-  public TrapezoidProfileCommand(TrapezoidProfile profile,
-                                 Consumer<State> output,
-                                 Subsystem... requirements) {
+  public TrapezoidProfileCommand(
+      TrapezoidProfile profile, Consumer<State> output, Subsystem... requirements) {
     m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");
     m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
     addRequirements(requirements);
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
index 05e6386..0a6c658 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
@@ -1,19 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
 /**
- * A subsystem that generates and runs trapezoidal motion profiles automatically.  The user
- * specifies how to use the current state of the motion profile by overriding the `useState` method.
+ * A subsystem that generates and runs trapezoidal motion profiles automatically. The user specifies
+ * how to use the current state of the motion profile by overriding the `useState` method.
  */
 public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
   private final double m_period;
@@ -27,14 +24,13 @@
   /**
    * Creates a new TrapezoidProfileSubsystem.
    *
-   * @param constraints     The constraints (maximum velocity and acceleration) for the profiles.
-   * @param initialPosition The initial position of the controlled mechanism when the subsystem
-   *                        is constructed.
-   * @param period          The period of the main robot loop, in seconds.
+   * @param constraints The constraints (maximum velocity and acceleration) for the profiles.
+   * @param initialPosition The initial position of the controlled mechanism when the subsystem is
+   *     constructed.
+   * @param period The period of the main robot loop, in seconds.
    */
-  public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints,
-                                   double initialPosition,
-                                   double period) {
+  public TrapezoidProfileSubsystem(
+      TrapezoidProfile.Constraints constraints, double initialPosition, double period) {
     m_constraints = requireNonNullParam(constraints, "constraints", "TrapezoidProfileSubsystem");
     m_state = new TrapezoidProfile.State(initialPosition, 0);
     setGoal(initialPosition);
@@ -44,19 +40,19 @@
   /**
    * Creates a new TrapezoidProfileSubsystem.
    *
-   * @param constraints     The constraints (maximum velocity and acceleration) for the profiles.
-   * @param initialPosition The initial position of the controlled mechanism when the subsystem
-   *                        is constructed.
+   * @param constraints The constraints (maximum velocity and acceleration) for the profiles.
+   * @param initialPosition The initial position of the controlled mechanism when the subsystem is
+   *     constructed.
    */
-  public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints,
-                                   double initialPosition) {
+  public TrapezoidProfileSubsystem(
+      TrapezoidProfile.Constraints constraints, double initialPosition) {
     this(constraints, initialPosition, 0.02);
   }
 
   /**
    * Creates a new TrapezoidProfileSubsystem.
    *
-   * @param constraints     The constraints (maximum velocity and acceleration) for the profiles.
+   * @param constraints The constraints (maximum velocity and acceleration) for the profiles.
    */
   public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints) {
     this(constraints, 0, 0.02);
@@ -81,7 +77,7 @@
   }
 
   /**
-   * Sets the goal state for the subsystem.  Goal velocity assumed to be zero.
+   * Sets the goal state for the subsystem. Goal velocity assumed to be zero.
    *
    * @param goal The goal position for the subsystem's motion profile.
    */
@@ -89,16 +85,12 @@
     setGoal(new TrapezoidProfile.State(goal, 0));
   }
 
-  /**
-   * Enable the TrapezoidProfileSubsystem's output.
-   */
+  /** Enable the TrapezoidProfileSubsystem's output. */
   public void enable() {
     m_enabled = true;
   }
 
-  /**
-   * Disable the TrapezoidProfileSubsystem's output.
-   */
+  /** Disable the TrapezoidProfileSubsystem's output. */
   public void disable() {
     m_enabled = false;
   }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
index c53fb42..b285669 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -1,25 +1,22 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
- * A command that does nothing but takes a specified amount of time to finish.  Useful for
- * CommandGroups.  Can also be subclassed to make a command with an internal timer.
+ * A command that does nothing but takes a specified amount of time to finish. Useful for
+ * CommandGroups. Can also be subclassed to make a command with an internal timer.
  */
 public class WaitCommand extends CommandBase {
   protected Timer m_timer = new Timer();
   private final double m_duration;
 
   /**
-   * Creates a new WaitCommand.  This command will do nothing, and end after the specified duration.
+   * Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
    *
    * @param seconds the time to wait, in seconds
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
index 5c55fff..9228362 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
@@ -1,21 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-
-import java.util.function.BooleanSupplier;
-
-import edu.wpi.first.wpilibj.Timer;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.Timer;
+import java.util.function.BooleanSupplier;
+
 /**
- * A command that does nothing but ends after a specified match time or condition.  Useful for
+ * A command that does nothing but ends after a specified match time or condition. Useful for
  * CommandGroups.
  */
 public class WaitUntilCommand extends CommandBase {
@@ -33,9 +28,9 @@
   /**
    * Creates a new WaitUntilCommand that ends after a given match time.
    *
-   * <p>NOTE: The match timer used for this command is UNOFFICIAL.  Using this command does NOT
+   * <p>NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT
    * guarantee that the time at which the action is performed will be judged to be legal by the
-   * referees.  When in doubt, add a safety factor or time the action manually.
+   * referees. When in doubt, add a safety factor or time the action manually.
    *
    * @param time the match time after which to end, in seconds
    */
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
index d672a38..0f8594d 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
@@ -1,22 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import java.util.function.BooleanSupplier;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
+import java.util.function.BooleanSupplier;
 
 /**
  * This class provides an easy way to link commands to OI inputs.
  *
- * <p>It is very easy to link a button to a command. For instance, you could link the trigger
- * button of a joystick to a "score" command.
+ * <p>It is very easy to link a button to a command. For instance, you could link the trigger button
+ * of a joystick to a "score" command.
  *
  * <p>This class represents a subclass of Trigger that is specifically aimed at buttons on an
  * operator interface as a common use case of the more generalized Trigger objects. This is a simple
@@ -27,8 +23,7 @@
    * Default constructor; creates a button that is never pressed (unless {@link Button#get()} is
    * overridden).
    */
-  public Button() {
-  }
+  public Button() {}
 
   /**
    * Creates a new button with the given condition determining whether it is pressed.
@@ -42,7 +37,7 @@
   /**
    * Starts the given command whenever the button is newly pressed.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -66,7 +61,7 @@
   /**
    * Runs the given runnable whenever the button is newly pressed.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
@@ -78,10 +73,10 @@
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the button is held, and will
-   * be canceled when the button is released.
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the button is held, and
+   * will be canceled when the button is released.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -93,8 +88,8 @@
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the button is held, and will
-   * be canceled when the button is released.  The command is set to be interruptible.
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the button is held, and
+   * will be canceled when the button is released. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this button, so calls can be chained
@@ -107,7 +102,7 @@
   /**
    * Constantly runs the given runnable while the button is held.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
@@ -120,7 +115,7 @@
    * Starts the given command when the button is first pressed, and cancels it when it is released,
    * but does not start it again if it ends or is otherwise interrupted.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -131,7 +126,7 @@
 
   /**
    * Starts the given command when the button is first pressed, and cancels it when it is released,
-   * but does not start it again if it ends or is otherwise interrupted.  The command is set to be
+   * but does not start it again if it ends or is otherwise interrupted. The command is set to be
    * interruptible.
    *
    * @param command the command to start
@@ -142,11 +137,10 @@
     return this;
   }
 
-
   /**
    * Starts the command when the button is released.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this button, so calls can be chained
    */
@@ -156,7 +150,7 @@
   }
 
   /**
-   * Starts the command when the button is released.  The command is set to be interruptible.
+   * Starts the command when the button is released. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this button, so calls can be chained
@@ -169,7 +163,7 @@
   /**
    * Runs the given runnable when the button is released.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
@@ -181,8 +175,9 @@
   /**
    * Toggles the command whenever the button is pressed (on then off then on).
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
+   * @return this button, so calls can be chained
    */
   public Button toggleWhenPressed(final Command command, boolean interruptible) {
     toggleWhenActive(command, interruptible);
@@ -190,8 +185,8 @@
   }
 
   /**
-   * Toggles the command whenever the button is pressed (on then off then on).  The command is set
-   * to be interruptible.
+   * Toggles the command whenever the button is pressed (on then off then on). The command is set to
+   * be interruptible.
    *
    * @param command the command to start
    * @return this button, so calls can be chained
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
index 3f74f48..e02f078 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
@@ -15,9 +12,7 @@
   private boolean m_pressed;
   private boolean m_inverted;
 
-  /**
-   * Creates an InternalButton that is not inverted.
-   */
+  /** Creates an InternalButton that is not inverted. */
   public InternalButton() {
     this(false);
   }
@@ -26,7 +21,7 @@
    * Creates an InternalButton which is inverted depending on the input.
    *
    * @param inverted if false, then this button is pressed when set to true, otherwise it is pressed
-   *                 when set to false.
+   *     when set to false.
    */
   public InternalButton(boolean inverted) {
     m_pressed = m_inverted = inverted;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
index 918bb6a..c42ab4f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
@@ -1,19 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import edu.wpi.first.wpilibj.GenericHID;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-/**
- * A {@link Button} that gets its state from a {@link GenericHID}.
- */
+import edu.wpi.first.wpilibj.GenericHID;
+
+/** A {@link Button} that gets its state from a {@link GenericHID}. */
 public class JoystickButton extends Button {
   private final GenericHID m_joystick;
   private final int m_buttonNumber;
@@ -21,8 +16,7 @@
   /**
    * Creates a joystick button for triggering commands.
    *
-   * @param joystick     The GenericHID object that has the button (e.g. Joystick, KinectStick,
-   *                     etc)
+   * @param joystick The GenericHID object that has the button (e.g. Joystick, KinectStick, etc)
    * @param buttonNumber The button number (see {@link GenericHID#getRawButton(int) }
    */
   public JoystickButton(GenericHID joystick, int buttonNumber) {
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
index 4cb1859..ec4f819 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
@@ -11,9 +8,7 @@
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
-/**
- * A {@link Button} that uses a {@link NetworkTable} boolean field.
- */
+/** A {@link Button} that uses a {@link NetworkTable} boolean field. */
 public class NetworkButton extends Button {
   private final NetworkTableEntry m_entry;
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
index 823b756..bd0c585 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
@@ -1,19 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import edu.wpi.first.wpilibj.GenericHID;
-
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-/**
- * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
- */
+import edu.wpi.first.wpilibj.GenericHID;
+
+/** A {@link Button} that gets its state from a POV on a {@link GenericHID}. */
 public class POVButton extends Button {
   private final GenericHID m_joystick;
   private final int m_angle;
@@ -35,8 +30,7 @@
   }
 
   /**
-   * Creates a POV button for triggering commands.
-   * By default, acts on POV 0
+   * Creates a POV button for triggering commands. By default, acts on POV 0
    *
    * @param joystick The GenericHID object that has the POV
    * @param angle The desired angle (e.g. 90, 270)
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
index e5e1763..029d2fd 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -1,31 +1,28 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import java.util.function.BooleanSupplier;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.Debouncer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.Subsystem;
-
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import java.util.function.BooleanSupplier;
 
 /**
  * This class provides an easy way to link commands to inputs.
  *
- * <p>It is very easy to link a button to a command. For instance, you could link the trigger
- * button of a joystick to a "score" command.
+ * <p>It is very easy to link a button to a command. For instance, you could link the trigger button
+ * of a joystick to a "score" command.
  *
- * <p>It is encouraged that teams write a subclass of Trigger if they want to have something
- * unusual (for instance, if they want to react to the user holding a button while the robot is
- * reading a certain sensor input). For this, they only have to write the {@link Trigger#get()}
- * method to get the full functionality of the Trigger class.
+ * <p>It is encouraged that teams write a subclass of Trigger if they want to have something unusual
+ * (for instance, if they want to react to the user holding a button while the robot is reading a
+ * certain sensor input). For this, they only have to write the {@link Trigger#get()} method to get
+ * the full functionality of the Trigger class.
  */
 public class Trigger {
   private final BooleanSupplier m_isActive;
@@ -40,7 +37,7 @@
   }
 
   /**
-   * Creates a new trigger that is always inactive.  Useful only as a no-arg constructor for
+   * Creates a new trigger that is always inactive. Useful only as a no-arg constructor for
    * subclasses that will be overriding {@link Trigger#get()} anyway.
    */
   public Trigger() {
@@ -61,33 +58,35 @@
   /**
    * Starts the given command whenever the trigger just becomes active.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whenActive(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whenActive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          command.schedule(interruptible);
-        }
+                if (!m_pressedLast && pressed) {
+                  command.schedule(interruptible);
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
 
     return this;
   }
 
   /**
-   * Starts the given command whenever the trigger just becomes active.  The command is set to be
+   * Starts the given command whenever the trigger just becomes active. The command is set to be
    * interruptible.
    *
    * @param command the command to start
@@ -100,7 +99,7 @@
   /**
    * Runs the given runnable whenever the trigger just becomes active.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
@@ -111,40 +110,42 @@
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
    * will be canceled when the trigger becomes inactive.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whileActiveContinuous(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whileActiveContinuous");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (pressed) {
-          command.schedule(interruptible);
-        } else if (m_pressedLast) {
-          command.cancel();
-        }
+                if (pressed) {
+                  command.schedule(interruptible);
+                } else if (m_pressedLast) {
+                  command.cancel();
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
    * Constantly starts the given command while the button is held.
    *
-   * {@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
-   * will be canceled when the trigger becomes inactive.  The command is set to be interruptible.
+   * <p>{@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
+   * will be canceled when the trigger becomes inactive. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this trigger, so calls can be chained
@@ -156,7 +157,7 @@
   /**
    * Constantly runs the given runnable while the button is held.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
@@ -168,35 +169,37 @@
    * Starts the given command when the trigger initially becomes active, and ends it when it becomes
    * inactive, but does not re-start it in-between.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whileActiveOnce(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whileActiveOnce");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          command.schedule(interruptible);
-        } else if (m_pressedLast && !pressed) {
-          command.cancel();
-        }
+                if (!m_pressedLast && pressed) {
+                  command.schedule(interruptible);
+                } else if (m_pressedLast && !pressed) {
+                  command.cancel();
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
    * Starts the given command when the trigger initially becomes active, and ends it when it becomes
-   * inactive, but does not re-start it in-between.  The command is set to be interruptible.
+   * inactive, but does not re-start it in-between. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this trigger, so calls can be chained
@@ -208,32 +211,34 @@
   /**
    * Starts the command when the trigger becomes inactive.
    *
-   * @param command       the command to start
+   * @param command the command to start
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger whenInactive(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "whenInactive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (m_pressedLast && !pressed) {
-          command.schedule(interruptible);
-        }
+                if (m_pressedLast && !pressed) {
+                  command.schedule(interruptible);
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
-   * Starts the command when the trigger becomes inactive.  The command is set to be interruptible.
+   * Starts the command when the trigger becomes inactive. The command is set to be interruptible.
    *
    * @param command the command to start
    * @return this trigger, so calls can be chained
@@ -245,7 +250,7 @@
   /**
    * Runs the given runnable when the trigger becomes inactive.
    *
-   * @param toRun        the runnable to run
+   * @param toRun the runnable to run
    * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
@@ -256,36 +261,38 @@
   /**
    * Toggles a command when the trigger becomes active.
    *
-   * @param command       the command to toggle
+   * @param command the command to toggle
    * @param interruptible whether the command is interruptible
    * @return this trigger, so calls can be chained
    */
   public Trigger toggleWhenActive(final Command command, boolean interruptible) {
     requireNonNullParam(command, "command", "toggleWhenActive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          if (command.isScheduled()) {
-            command.cancel();
-          } else {
-            command.schedule(interruptible);
-          }
-        }
+                if (!m_pressedLast && pressed) {
+                  if (command.isScheduled()) {
+                    command.cancel();
+                  } else {
+                    command.schedule(interruptible);
+                  }
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
   /**
-   * Toggles a command when the trigger becomes active.  The command is set to be interruptible.
+   * Toggles a command when the trigger becomes active. The command is set to be interruptible.
    *
    * @param command the command to toggle
    * @return this trigger, so calls can be chained
@@ -303,20 +310,22 @@
   public Trigger cancelWhenActive(final Command command) {
     requireNonNullParam(command, "command", "cancelWhenActive");
 
-    CommandScheduler.getInstance().addButton(new Runnable() {
-      private boolean m_pressedLast = get();
+    CommandScheduler.getInstance()
+        .addButton(
+            new Runnable() {
+              private boolean m_pressedLast = get();
 
-      @Override
-      public void run() {
-        boolean pressed = get();
+              @Override
+              public void run() {
+                boolean pressed = get();
 
-        if (!m_pressedLast && pressed) {
-          command.cancel();
-        }
+                if (!m_pressedLast && pressed) {
+                  command.cancel();
+                }
 
-        m_pressedLast = pressed;
-      }
-    });
+                m_pressedLast = pressed;
+              }
+            });
     return this;
   }
 
@@ -351,4 +360,23 @@
   public Trigger negate() {
     return new Trigger(() -> !get());
   }
+
+  /**
+   * Creates a new debounced trigger from this trigger - it will become active when this trigger has
+   * been active for longer than the specified period.
+   *
+   * @param seconds the debounce period
+   * @return the debounced trigger
+   */
+  public Trigger debounce(double seconds) {
+    return new Trigger(
+        new BooleanSupplier() {
+          Debouncer m_debouncer = new Debouncer(seconds);
+
+          @Override
+          public boolean getAsBoolean() {
+            return m_debouncer.calculate(get());
+          }
+        });
+  }
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index 248368d..b434c1b 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/Command.h"
 
@@ -20,12 +17,11 @@
 
 using namespace frc2;
 
-Command::~Command() { CommandScheduler::GetInstance().Cancel(this); }
-
-Command::Command(const Command& rhs) : ErrorBase(rhs) {}
+Command::~Command() {
+  CommandScheduler::GetInstance().Cancel(this);
+}
 
 Command& Command::operator=(const Command& rhs) {
-  ErrorBase::operator=(rhs);
   m_isGrouped = false;
   return *this;
 }
@@ -52,12 +48,11 @@
     std::function<void()> toRun,
     std::initializer_list<Subsystem*> requirements) && {
   return std::move(*this).BeforeStarting(
-      std::move(toRun),
-      wpi::makeArrayRef(requirements.begin(), requirements.end()));
+      std::move(toRun), {requirements.begin(), requirements.end()});
 }
 
 SequentialCommandGroup Command::BeforeStarting(
-    std::function<void()> toRun, wpi::ArrayRef<Subsystem*> requirements) && {
+    std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
   std::vector<std::unique_ptr<Command>> temp;
   temp.emplace_back(
       std::make_unique<InstantCommand>(std::move(toRun), requirements));
@@ -68,13 +63,12 @@
 SequentialCommandGroup Command::AndThen(
     std::function<void()> toRun,
     std::initializer_list<Subsystem*> requirements) && {
-  return std::move(*this).AndThen(
-      std::move(toRun),
-      wpi::makeArrayRef(requirements.begin(), requirements.end()));
+  return std::move(*this).AndThen(std::move(toRun),
+                                  {requirements.begin(), requirements.end()});
 }
 
 SequentialCommandGroup Command::AndThen(
-    std::function<void()> toRun, wpi::ArrayRef<Subsystem*> requirements) && {
+    std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
   std::vector<std::unique_ptr<Command>> temp;
   temp.emplace_back(std::move(*this).TransferOwnership());
   temp.emplace_back(
@@ -86,13 +80,17 @@
   return PerpetualCommand(std::move(*this).TransferOwnership());
 }
 
-ProxyScheduleCommand Command::AsProxy() { return ProxyScheduleCommand(this); }
+ProxyScheduleCommand Command::AsProxy() {
+  return ProxyScheduleCommand(this);
+}
 
 void Command::Schedule(bool interruptible) {
   CommandScheduler::GetInstance().Schedule(interruptible, this);
 }
 
-void Command::Cancel() { CommandScheduler::GetInstance().Cancel(this); }
+void Command::Cancel() {
+  CommandScheduler::GetInstance().Cancel(this);
+}
 
 bool Command::IsScheduled() const {
   return CommandScheduler::GetInstance().IsScheduled(this);
@@ -106,11 +104,17 @@
   return hasRequirement;
 }
 
-std::string Command::GetName() const { return GetTypeName(*this); }
+std::string Command::GetName() const {
+  return GetTypeName(*this);
+}
 
-bool Command::IsGrouped() const { return m_isGrouped; }
+bool Command::IsGrouped() const {
+  return m_isGrouped;
+}
 
-void Command::SetGrouped(bool grouped) { m_isGrouped = grouped; }
+void Command::SetGrouped(bool grouped) {
+  m_isGrouped = grouped;
+}
 
 namespace frc2 {
 bool RequirementsDisjoint(Command* first, Command* second) {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
index 30c3af6..b6f76f3 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
@@ -1,19 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/CommandBase.h"
 
-#include <frc/smartdashboard/SendableBuilder.h>
-#include <frc/smartdashboard/SendableRegistry.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc2;
 
 CommandBase::CommandBase() {
-  frc::SendableRegistry::GetInstance().Add(this, GetTypeName(*this));
+  wpi::SendableRegistry::Add(this, GetTypeName(*this));
 }
 
 void CommandBase::AddRequirements(
@@ -21,7 +18,7 @@
   m_requirements.insert(requirements.begin(), requirements.end());
 }
 
-void CommandBase::AddRequirements(wpi::ArrayRef<Subsystem*> requirements) {
+void CommandBase::AddRequirements(wpi::span<Subsystem* const> requirements) {
   m_requirements.insert(requirements.begin(), requirements.end());
 }
 
@@ -29,27 +26,31 @@
   m_requirements.insert(requirements.begin(), requirements.end());
 }
 
+void CommandBase::AddRequirements(Subsystem* requirement) {
+  m_requirements.insert(requirement);
+}
+
 wpi::SmallSet<Subsystem*, 4> CommandBase::GetRequirements() const {
   return m_requirements;
 }
 
-void CommandBase::SetName(const wpi::Twine& name) {
-  frc::SendableRegistry::GetInstance().SetName(this, name);
+void CommandBase::SetName(std::string_view name) {
+  wpi::SendableRegistry::SetName(this, name);
 }
 
 std::string CommandBase::GetName() const {
-  return frc::SendableRegistry::GetInstance().GetName(this);
+  return wpi::SendableRegistry::GetName(this);
 }
 
 std::string CommandBase::GetSubsystem() const {
-  return frc::SendableRegistry::GetInstance().GetSubsystem(this);
+  return wpi::SendableRegistry::GetSubsystem(this);
 }
 
-void CommandBase::SetSubsystem(const wpi::Twine& subsystem) {
-  frc::SendableRegistry::GetInstance().SetSubsystem(this, subsystem);
+void CommandBase::SetSubsystem(std::string_view subsystem) {
+  wpi::SendableRegistry::SetSubsystem(this, subsystem);
 }
 
-void CommandBase::InitSendable(frc::SendableBuilder& builder) {
+void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Command");
   builder.AddStringProperty(
       ".name", [this] { return GetName(); }, nullptr);
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandGroupBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandGroupBase.cpp
index 8869d4c..a3d275d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandGroupBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandGroupBase.cpp
@@ -1,50 +1,47 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/CommandGroupBase.h"
 
-#include <frc/WPIErrors.h>
-
 using namespace frc2;
 
-bool CommandGroupBase::RequireUngrouped(Command& command) {
+bool CommandGroupBase::RequireUngrouped(const Command& command) {
   if (command.IsGrouped()) {
-    wpi_setGlobalWPIErrorWithContext(
-        CommandIllegalUse,
+    throw FRC_MakeError(
+        frc::err::CommandIllegalUse, "{}",
         "Commands cannot be added to more than one CommandGroup");
-    return false;
-  } else {
-    return true;
   }
+  return true;
+}
+
+bool CommandGroupBase::RequireUngrouped(const Command* command) {
+  return RequireUngrouped(*command);
 }
 
 bool CommandGroupBase::RequireUngrouped(
-    wpi::ArrayRef<std::unique_ptr<Command>> commands) {
+    wpi::span<const std::unique_ptr<Command>> commands) {
   bool allUngrouped = true;
   for (auto&& command : commands) {
     allUngrouped &= !command.get()->IsGrouped();
   }
   if (!allUngrouped) {
-    wpi_setGlobalWPIErrorWithContext(
-        CommandIllegalUse,
+    throw FRC_MakeError(
+        frc::err::CommandIllegalUse, "{}",
         "Commands cannot be added to more than one CommandGroup");
   }
   return allUngrouped;
 }
 
 bool CommandGroupBase::RequireUngrouped(
-    std::initializer_list<Command*> commands) {
+    std::initializer_list<const Command*> commands) {
   bool allUngrouped = true;
   for (auto&& command : commands) {
     allUngrouped &= !command->IsGrouped();
   }
   if (!allUngrouped) {
-    wpi_setGlobalWPIErrorWithContext(
-        CommandIllegalUse,
+    throw FRC_MakeError(
+        frc::err::CommandIllegalUse, "{}",
         "Commands cannot be added to more than one CommandGroup");
   }
   return allUngrouped;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index a59c68b..f79fa59 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -1,25 +1,22 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/CommandScheduler.h"
 
+#include <cstdio>
+
 #include <frc/RobotBase.h>
 #include <frc/RobotState.h>
 #include <frc/TimedRobot.h>
-#include <frc/WPIErrors.h>
 #include <frc/livewindow/LiveWindow.h>
-#include <frc/smartdashboard/SendableBuilder.h>
-#include <frc/smartdashboard/SendableRegistry.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/HALBase.h>
+#include <networktables/NTSendableBuilder.h>
 #include <networktables/NetworkTableEntry.h>
 #include <wpi/DenseMap.h>
 #include <wpi/SmallVector.h>
-#include <wpi/raw_ostream.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandState.h"
@@ -69,24 +66,24 @@
 
 CommandScheduler::CommandScheduler()
     : m_impl(new Impl), m_watchdog(frc::TimedRobot::kDefaultPeriod, [] {
-        wpi::outs() << "CommandScheduler loop time overrun.\n";
+        std::puts("CommandScheduler loop time overrun.");
       }) {
   HAL_Report(HALUsageReporting::kResourceType_Command,
              HALUsageReporting::kCommand2_Scheduler);
-  frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
-  auto scheduler = frc::LiveWindow::GetInstance();
-  scheduler->enabled = [this] {
+  wpi::SendableRegistry::AddLW(this, "Scheduler");
+  frc::LiveWindow::SetEnabledCallback([this] {
     this->Disable();
     this->CancelAll();
-  };
-  scheduler->disabled = [this] { this->Enable(); };
+  });
+  frc::LiveWindow::SetDisabledCallback([this] { this->Enable(); });
 }
 
 CommandScheduler::~CommandScheduler() {
-  frc::SendableRegistry::GetInstance().Remove(this);
-  auto scheduler = frc::LiveWindow::GetInstance();
-  scheduler->enabled = nullptr;
-  scheduler->disabled = nullptr;
+  wpi::SendableRegistry::Remove(this);
+  frc::LiveWindow::SetEnabledCallback(nullptr);
+  frc::LiveWindow::SetDisabledCallback(nullptr);
+
+  std::unique_ptr<Impl>().swap(m_impl);
 }
 
 CommandScheduler& CommandScheduler::GetInstance() {
@@ -102,7 +99,9 @@
   m_impl->buttons.emplace_back(std::move(button));
 }
 
-void CommandScheduler::ClearButtons() { m_impl->buttons.clear(); }
+void CommandScheduler::ClearButtons() {
+  m_impl->buttons.clear();
+}
 
 void CommandScheduler::Schedule(bool interruptible, Command* command) {
   if (m_impl->inRunLoop) {
@@ -111,9 +110,9 @@
   }
 
   if (command->IsGrouped()) {
-    wpi_setWPIErrorWithContext(CommandIllegalUse,
-                               "A command that is part of a command group "
-                               "cannot be independently scheduled");
+    throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                        "A command that is part of a command group "
+                        "cannot be independently scheduled");
     return;
   }
   if (m_impl->disabled ||
@@ -155,10 +154,12 @@
   }
 }
 
-void CommandScheduler::Schedule(Command* command) { Schedule(true, command); }
+void CommandScheduler::Schedule(Command* command) {
+  Schedule(true, command);
+}
 
 void CommandScheduler::Schedule(bool interruptible,
-                                wpi::ArrayRef<Command*> commands) {
+                                wpi::span<Command* const> commands) {
   for (auto command : commands) {
     Schedule(interruptible, command);
   }
@@ -171,7 +172,7 @@
   }
 }
 
-void CommandScheduler::Schedule(wpi::ArrayRef<Command*> commands) {
+void CommandScheduler::Schedule(wpi::span<Command* const> commands) {
   for (auto command : commands) {
     Schedule(true, command);
   }
@@ -281,7 +282,8 @@
   }
 }
 
-void CommandScheduler::RegisterSubsystem(wpi::ArrayRef<Subsystem*> subsystems) {
+void CommandScheduler::RegisterSubsystem(
+    wpi::span<Subsystem* const> subsystems) {
   for (auto* subsystem : subsystems) {
     RegisterSubsystem(subsystem);
   }
@@ -295,7 +297,7 @@
 }
 
 void CommandScheduler::UnregisterSubsystem(
-    wpi::ArrayRef<Subsystem*> subsystems) {
+    wpi::span<Subsystem* const> subsystems) {
   for (auto* subsystem : subsystems) {
     UnregisterSubsystem(subsystem);
   }
@@ -311,13 +313,19 @@
 }
 
 void CommandScheduler::Cancel(Command* command) {
+  if (!m_impl) {
+    return;
+  }
+
   if (m_impl->inRunLoop) {
     m_impl->toCancel.emplace_back(command);
     return;
   }
 
   auto find = m_impl->scheduledCommands.find(command);
-  if (find == m_impl->scheduledCommands.end()) return;
+  if (find == m_impl->scheduledCommands.end()) {
+    return;
+  }
   command->End(true);
   for (auto&& action : m_impl->interruptActions) {
     action(*command);
@@ -331,7 +339,7 @@
   }
 }
 
-void CommandScheduler::Cancel(wpi::ArrayRef<Command*> commands) {
+void CommandScheduler::Cancel(wpi::span<Command* const> commands) {
   for (auto command : commands) {
     Cancel(command);
   }
@@ -351,16 +359,17 @@
   Cancel(commands);
 }
 
-double CommandScheduler::TimeSinceScheduled(const Command* command) const {
+units::second_t CommandScheduler::TimeSinceScheduled(
+    const Command* command) const {
   auto find = m_impl->scheduledCommands.find(command);
   if (find != m_impl->scheduledCommands.end()) {
     return find->second.TimeSinceInitialized();
   } else {
-    return -1;
+    return -1_s;
   }
 }
 bool CommandScheduler::IsScheduled(
-    wpi::ArrayRef<const Command*> commands) const {
+    wpi::span<const Command* const> commands) const {
   for (auto command : commands) {
     if (!IsScheduled(command)) {
       return false;
@@ -393,9 +402,13 @@
   }
 }
 
-void CommandScheduler::Disable() { m_impl->disabled = true; }
+void CommandScheduler::Disable() {
+  m_impl->disabled = true;
+}
 
-void CommandScheduler::Enable() { m_impl->disabled = false; }
+void CommandScheduler::Enable() {
+  m_impl->disabled = false;
+}
 
 void CommandScheduler::OnCommandInitialize(Action action) {
   m_impl->initActions.emplace_back(std::move(action));
@@ -413,7 +426,7 @@
   m_impl->finishActions.emplace_back(std::move(action));
 }
 
-void CommandScheduler::InitSendable(frc::SendableBuilder& builder) {
+void CommandScheduler::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Scheduler");
   auto namesEntry = builder.GetEntry("Names");
   auto idsEntry = builder.GetEntry("Ids");
@@ -430,8 +443,7 @@
           m_impl->scheduledCommands.end()) {
         Cancel(command);
       }
-      nt::NetworkTableEntry(cancelEntry)
-          .SetDoubleArray(wpi::ArrayRef<double>{});
+      nt::NetworkTableEntry(cancelEntry).SetDoubleArray({});
     }
 
     wpi::SmallVector<std::string, 8> names;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandState.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandState.cpp
index b41fa70..f53a694 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandState.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandState.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/CommandState.h"
 
@@ -19,7 +16,12 @@
 void CommandState::StartTiming() {
   m_startTime = frc::Timer::GetFPGATimestamp();
 }
-void CommandState::StartRunning() { m_startTime = -1; }
-double CommandState::TimeSinceInitialized() const {
-  return m_startTime != -1 ? frc::Timer::GetFPGATimestamp() - m_startTime : -1;
+
+void CommandState::StartRunning() {
+  m_startTime = -1_s;
+}
+
+units::second_t CommandState::TimeSinceInitialized() const {
+  return m_startTime != -1_s ? frc::Timer::GetFPGATimestamp() - m_startTime
+                             : -1_s;
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
index 2344513..30ef410 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/ConditionalCommand.h"
 
@@ -39,7 +36,9 @@
   m_selectedCommand->Initialize();
 }
 
-void ConditionalCommand::Execute() { m_selectedCommand->Execute(); }
+void ConditionalCommand::Execute() {
+  m_selectedCommand->Execute();
+}
 
 void ConditionalCommand::End(bool interrupted) {
   m_selectedCommand->End(interrupted);
@@ -49,4 +48,6 @@
   return m_selectedCommand->IsFinished();
 }
 
-bool ConditionalCommand::RunsWhenDisabled() const { return m_runsWhenDisabled; }
+bool ConditionalCommand::RunsWhenDisabled() const {
+  return m_runsWhenDisabled;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
index ee28ba7..0c45099 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/FunctionalCommand.h"
 
@@ -24,7 +21,7 @@
                                      std::function<void()> onExecute,
                                      std::function<void(bool)> onEnd,
                                      std::function<bool()> isFinished,
-                                     wpi::ArrayRef<Subsystem*> requirements)
+                                     wpi::span<Subsystem* const> requirements)
     : m_onInit{std::move(onInit)},
       m_onExecute{std::move(onExecute)},
       m_onEnd{std::move(onEnd)},
@@ -32,10 +29,18 @@
   AddRequirements(requirements);
 }
 
-void FunctionalCommand::Initialize() { m_onInit(); }
+void FunctionalCommand::Initialize() {
+  m_onInit();
+}
 
-void FunctionalCommand::Execute() { m_onExecute(); }
+void FunctionalCommand::Execute() {
+  m_onExecute();
+}
 
-void FunctionalCommand::End(bool interrupted) { m_onEnd(interrupted); }
+void FunctionalCommand::End(bool interrupted) {
+  m_onEnd(interrupted);
+}
 
-bool FunctionalCommand::IsFinished() { return m_isFinished(); }
+bool FunctionalCommand::IsFinished() {
+  return m_isFinished();
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp
index 6f66c5c..1e9d173 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/InstantCommand.h"
 
@@ -16,13 +13,17 @@
 }
 
 InstantCommand::InstantCommand(std::function<void()> toRun,
-                               wpi::ArrayRef<Subsystem*> requirements)
+                               wpi::span<Subsystem* const> requirements)
     : m_toRun{std::move(toRun)} {
   AddRequirements(requirements);
 }
 
 InstantCommand::InstantCommand() : m_toRun{[] {}} {}
 
-void InstantCommand::Initialize() { m_toRun(); }
+void InstantCommand::Initialize() {
+  m_toRun();
+}
 
-bool InstantCommand::IsFinished() { return true; }
+bool InstantCommand::IsFinished() {
+  return true;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
index eb32853..c521f8b 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
@@ -1,12 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/MecanumControllerCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 using namespace units;
 
@@ -27,12 +26,12 @@
                        units::volt_t)>
         output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_feedforward(feedforward),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
-      m_desiredRotation(desiredRotation),
+      m_desiredRotation(std::move(desiredRotation)),
       m_maxWheelVelocity(maxWheelVelocity),
       m_frontLeftController(
           std::make_unique<frc2::PIDController>(frontLeftController)),
@@ -42,8 +41,8 @@
           std::make_unique<frc2::PIDController>(frontRightController)),
       m_rearRightController(
           std::make_unique<frc2::PIDController>(rearRightController)),
-      m_currentWheelSpeeds(currentWheelSpeeds),
-      m_outputVolts(output),
+      m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
+      m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
 }
@@ -64,8 +63,8 @@
                        units::volt_t)>
         output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_feedforward(feedforward),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
@@ -78,8 +77,8 @@
           std::make_unique<frc2::PIDController>(frontRightController)),
       m_rearRightController(
           std::make_unique<frc2::PIDController>(rearRightController)),
-      m_currentWheelSpeeds(currentWheelSpeeds),
-      m_outputVolts(output),
+      m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
+      m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
   m_desiredRotation = [&] {
@@ -103,13 +102,13 @@
     std::function<void(units::volt_t, units::volt_t, units::volt_t,
                        units::volt_t)>
         output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_feedforward(feedforward),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
-      m_desiredRotation(desiredRotation),
+      m_desiredRotation(std::move(desiredRotation)),
       m_maxWheelVelocity(maxWheelVelocity),
       m_frontLeftController(
           std::make_unique<frc2::PIDController>(frontLeftController)),
@@ -119,8 +118,8 @@
           std::make_unique<frc2::PIDController>(frontRightController)),
       m_rearRightController(
           std::make_unique<frc2::PIDController>(rearRightController)),
-      m_currentWheelSpeeds(currentWheelSpeeds),
-      m_outputVolts(output),
+      m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
+      m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
 }
@@ -140,9 +139,9 @@
     std::function<void(units::volt_t, units::volt_t, units::volt_t,
                        units::volt_t)>
         output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_feedforward(feedforward),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
@@ -155,8 +154,8 @@
           std::make_unique<frc2::PIDController>(frontRightController)),
       m_rearRightController(
           std::make_unique<frc2::PIDController>(rearRightController)),
-      m_currentWheelSpeeds(currentWheelSpeeds),
-      m_outputVolts(output),
+      m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
+      m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
   m_desiredRotation = [&] {
@@ -175,13 +174,13 @@
                        units::meters_per_second_t, units::meters_per_second_t)>
         output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
-      m_desiredRotation(desiredRotation),
+      m_desiredRotation(std::move(desiredRotation)),
       m_maxWheelVelocity(maxWheelVelocity),
-      m_outputVel(output),
+      m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
 }
@@ -196,12 +195,12 @@
                        units::meters_per_second_t, units::meters_per_second_t)>
         output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
       m_maxWheelVelocity(maxWheelVelocity),
-      m_outputVel(output),
+      m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
   m_desiredRotation = [&] {
@@ -219,14 +218,14 @@
     std::function<void(units::meters_per_second_t, units::meters_per_second_t,
                        units::meters_per_second_t, units::meters_per_second_t)>
         output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
-      m_desiredRotation(desiredRotation),
+      m_desiredRotation(std::move(desiredRotation)),
       m_maxWheelVelocity(maxWheelVelocity),
-      m_outputVel(output),
+      m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
 }
@@ -240,13 +239,13 @@
     std::function<void(units::meters_per_second_t, units::meters_per_second_t,
                        units::meters_per_second_t, units::meters_per_second_t)>
         output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
       m_maxWheelVelocity(maxWheelVelocity),
-      m_outputVel(output),
+      m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
   m_desiredRotation = [&] {
@@ -311,20 +310,20 @@
         (rearRightSpeedSetpoint - m_prevSpeeds.rearRight) / dt);
 
     auto frontLeftOutput = volt_t(m_frontLeftController->Calculate(
-                               m_currentWheelSpeeds().frontLeft.to<double>(),
-                               frontLeftSpeedSetpoint.to<double>())) +
+                               m_currentWheelSpeeds().frontLeft.value(),
+                               frontLeftSpeedSetpoint.value())) +
                            frontLeftFeedforward;
     auto rearLeftOutput = volt_t(m_rearLeftController->Calculate(
-                              m_currentWheelSpeeds().rearLeft.to<double>(),
-                              rearLeftSpeedSetpoint.to<double>())) +
+                              m_currentWheelSpeeds().rearLeft.value(),
+                              rearLeftSpeedSetpoint.value())) +
                           rearLeftFeedforward;
     auto frontRightOutput = volt_t(m_frontRightController->Calculate(
-                                m_currentWheelSpeeds().frontRight.to<double>(),
-                                frontRightSpeedSetpoint.to<double>())) +
+                                m_currentWheelSpeeds().frontRight.value(),
+                                frontRightSpeedSetpoint.value())) +
                             frontRightFeedforward;
     auto rearRightOutput = volt_t(m_rearRightController->Calculate(
-                               m_currentWheelSpeeds().rearRight.to<double>(),
-                               rearRightSpeedSetpoint.to<double>())) +
+                               m_currentWheelSpeeds().rearRight.value(),
+                               rearRightSpeedSetpoint.value())) +
                            rearRightFeedforward;
 
     m_outputVolts(frontLeftOutput, rearLeftOutput, frontRightOutput,
@@ -338,7 +337,9 @@
   }
 }
 
-void MecanumControllerCommand::End(bool interrupted) { m_timer.Stop(); }
+void MecanumControllerCommand::End(bool interrupted) {
+  m_timer.Stop();
+}
 
 bool MecanumControllerCommand::IsFinished() {
   return m_timer.HasElapsed(m_trajectory.TotalTime());
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp
index 1b13d75..37e5bc6 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/NotifierCommand.h"
 
@@ -18,7 +15,7 @@
 
 NotifierCommand::NotifierCommand(std::function<void()> toRun,
                                  units::second_t period,
-                                 wpi::ArrayRef<Subsystem*> requirements)
+                                 wpi::span<Subsystem* const> requirements)
     : m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
   AddRequirements(requirements);
 }
@@ -35,6 +32,10 @@
       m_notifier(frc::Notifier(other.m_toRun)),
       m_period(other.m_period) {}
 
-void NotifierCommand::Initialize() { m_notifier.StartPeriodic(m_period); }
+void NotifierCommand::Initialize() {
+  m_notifier.StartPeriodic(m_period);
+}
 
-void NotifierCommand::End(bool interrupted) { m_notifier.Stop(); }
+void NotifierCommand::End(bool interrupted) {
+  m_notifier.Stop();
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
index ea6c105..d11735a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
@@ -1,12 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/PIDCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 
 PIDCommand::PIDCommand(PIDController controller,
@@ -14,7 +13,7 @@
                        std::function<double()> setpointSource,
                        std::function<void(double)> useOutput,
                        std::initializer_list<Subsystem*> requirements)
-    : m_controller{controller},
+    : m_controller{std::move(controller)},
       m_measurement{std::move(measurementSource)},
       m_setpoint{std::move(setpointSource)},
       m_useOutput{std::move(useOutput)} {
@@ -25,8 +24,8 @@
                        std::function<double()> measurementSource,
                        std::function<double()> setpointSource,
                        std::function<void(double)> useOutput,
-                       wpi::ArrayRef<Subsystem*> requirements)
-    : m_controller{controller},
+                       wpi::span<Subsystem* const> requirements)
+    : m_controller{std::move(controller)},
       m_measurement{std::move(measurementSource)},
       m_setpoint{std::move(setpointSource)},
       m_useOutput{std::move(useOutput)} {
@@ -44,17 +43,23 @@
 PIDCommand::PIDCommand(PIDController controller,
                        std::function<double()> measurementSource,
                        double setpoint, std::function<void(double)> useOutput,
-                       wpi::ArrayRef<Subsystem*> requirements)
+                       wpi::span<Subsystem* const> requirements)
     : PIDCommand(
           controller, measurementSource, [setpoint] { return setpoint; },
           useOutput, requirements) {}
 
-void PIDCommand::Initialize() { m_controller.Reset(); }
+void PIDCommand::Initialize() {
+  m_controller.Reset();
+}
 
 void PIDCommand::Execute() {
   m_useOutput(m_controller.Calculate(m_measurement(), m_setpoint()));
 }
 
-void PIDCommand::End(bool interrupted) { m_useOutput(0); }
+void PIDCommand::End(bool interrupted) {
+  m_useOutput(0);
+}
 
-PIDController& PIDCommand::GetController() { return m_controller; }
+PIDController& PIDCommand::GetController() {
+  return m_controller;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
index f7d988d..7c820ae 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
@@ -1,16 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/PIDSubsystem.h"
 
+#include <utility>
+
 using namespace frc2;
 
 PIDSubsystem::PIDSubsystem(PIDController controller, double initialPosition)
-    : m_controller{controller} {
+    : m_controller{std::move(controller)} {
   SetSetpoint(initialPosition);
   AddChild("PID Controller", &m_controller);
 }
@@ -21,9 +20,13 @@
   }
 }
 
-void PIDSubsystem::SetSetpoint(double setpoint) { m_setpoint = setpoint; }
+void PIDSubsystem::SetSetpoint(double setpoint) {
+  m_setpoint = setpoint;
+}
 
-double PIDSubsystem::GetSetpoint() const { return m_setpoint; }
+double PIDSubsystem::GetSetpoint() const {
+  return m_setpoint;
+}
 
 void PIDSubsystem::Enable() {
   m_controller.Reset();
@@ -35,6 +38,10 @@
   m_enabled = false;
 }
 
-bool PIDSubsystem::IsEnabled() { return m_enabled; }
+bool PIDSubsystem::IsEnabled() {
+  return m_enabled;
+}
 
-PIDController& PIDSubsystem::GetController() { return m_controller; }
+PIDController& PIDSubsystem::GetController() {
+  return m_controller;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
index 557984e..a12d2b4 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/ParallelCommandGroup.h"
 
@@ -24,7 +21,9 @@
 
 void ParallelCommandGroup::Execute() {
   for (auto& commandRunning : m_commands) {
-    if (!commandRunning.second) continue;
+    if (!commandRunning.second) {
+      continue;
+    }
     commandRunning.first->Execute();
     if (commandRunning.first->IsFinished()) {
       commandRunning.first->End(false);
@@ -46,7 +45,9 @@
 
 bool ParallelCommandGroup::IsFinished() {
   for (auto& command : m_commands) {
-    if (command.second) return false;
+    if (command.second) {
+      return false;
+    }
   }
   return true;
 }
@@ -58,13 +59,15 @@
 void ParallelCommandGroup::AddCommands(
     std::vector<std::unique_ptr<Command>>&& commands) {
   for (auto&& command : commands) {
-    if (!RequireUngrouped(*command)) return;
+    if (!RequireUngrouped(*command)) {
+      return;
+    }
   }
 
   if (isRunning) {
-    wpi_setWPIErrorWithContext(CommandIllegalUse,
-                               "Commands cannot be added to a CommandGroup "
-                               "while the group is running");
+    throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                        "Commands cannot be added to a CommandGroup "
+                        "while the group is running");
   }
 
   for (auto&& command : commands) {
@@ -74,10 +77,9 @@
       m_runWhenDisabled &= command->RunsWhenDisabled();
       m_commands.emplace_back(std::move(command), false);
     } else {
-      wpi_setWPIErrorWithContext(CommandIllegalUse,
-                                 "Multiple commands in a parallel group cannot "
-                                 "require the same subsystems");
-      return;
+      throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                          "Multiple commands in a parallel group cannot "
+                          "require the same subsystems");
     }
   }
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
index 935cf8b..93dd2fd 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/ParallelDeadlineGroup.h"
 
@@ -26,7 +23,9 @@
 
 void ParallelDeadlineGroup::Execute() {
   for (auto& commandRunning : m_commands) {
-    if (!commandRunning.second) continue;
+    if (!commandRunning.second) {
+      continue;
+    }
     commandRunning.first->Execute();
     if (commandRunning.first->IsFinished()) {
       commandRunning.first->End(false);
@@ -46,7 +45,9 @@
   }
 }
 
-bool ParallelDeadlineGroup::IsFinished() { return m_finished; }
+bool ParallelDeadlineGroup::IsFinished() {
+  return m_finished;
+}
 
 bool ParallelDeadlineGroup::RunsWhenDisabled() const {
   return m_runWhenDisabled;
@@ -59,9 +60,9 @@
   }
 
   if (!m_finished) {
-    wpi_setWPIErrorWithContext(CommandIllegalUse,
-                               "Commands cannot be added to a CommandGroup "
-                               "while the group is running");
+    throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                        "Commands cannot be added to a CommandGroup "
+                        "while the group is running");
   }
 
   for (auto&& command : commands) {
@@ -71,10 +72,9 @@
       m_runWhenDisabled &= command->RunsWhenDisabled();
       m_commands.emplace_back(std::move(command), false);
     } else {
-      wpi_setWPIErrorWithContext(CommandIllegalUse,
-                                 "Multiple commands in a parallel group cannot "
-                                 "require the same subsystems");
-      return;
+      throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                          "Multiple commands in a parallel group cannot "
+                          "require the same subsystems");
     }
   }
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
index 5fc5e31..63c7cbc 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/ParallelRaceGroup.h"
 
@@ -38,9 +35,13 @@
   isRunning = false;
 }
 
-bool ParallelRaceGroup::IsFinished() { return m_finished; }
+bool ParallelRaceGroup::IsFinished() {
+  return m_finished;
+}
 
-bool ParallelRaceGroup::RunsWhenDisabled() const { return m_runWhenDisabled; }
+bool ParallelRaceGroup::RunsWhenDisabled() const {
+  return m_runWhenDisabled;
+}
 
 void ParallelRaceGroup::AddCommands(
     std::vector<std::unique_ptr<Command>>&& commands) {
@@ -49,9 +50,9 @@
   }
 
   if (isRunning) {
-    wpi_setWPIErrorWithContext(CommandIllegalUse,
-                               "Commands cannot be added to a CommandGroup "
-                               "while the group is running");
+    throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                        "Commands cannot be added to a CommandGroup "
+                        "while the group is running");
   }
 
   for (auto&& command : commands) {
@@ -61,10 +62,9 @@
       m_runWhenDisabled &= command->RunsWhenDisabled();
       m_commands.emplace_back(std::move(command));
     } else {
-      wpi_setWPIErrorWithContext(CommandIllegalUse,
-                                 "Multiple commands in a parallel group cannot "
-                                 "require the same subsystems");
-      return;
+      throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                          "Multiple commands in a parallel group cannot "
+                          "require the same subsystems");
     }
   }
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PerpetualCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PerpetualCommand.cpp
index f29850b..bd8bb93 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PerpetualCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PerpetualCommand.cpp
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/PerpetualCommand.h"
 
 using namespace frc2;
 
 PerpetualCommand::PerpetualCommand(std::unique_ptr<Command>&& command) {
-  if (!CommandGroupBase::RequireUngrouped(command)) {
+  if (!CommandGroupBase::RequireUngrouped(*command)) {
     return;
   }
   m_command = std::move(command);
@@ -18,8 +15,18 @@
   AddRequirements(m_command->GetRequirements());
 }
 
-void PerpetualCommand::Initialize() { m_command->Initialize(); }
+void PerpetualCommand::Initialize() {
+  m_command->Initialize();
+}
 
-void PerpetualCommand::Execute() { m_command->Execute(); }
+void PerpetualCommand::Execute() {
+  m_command->Execute();
+}
 
-void PerpetualCommand::End(bool interrupted) { m_command->End(interrupted); }
+void PerpetualCommand::End(bool interrupted) {
+  m_command->End(interrupted);
+}
+
+PerpetualCommand PerpetualCommand::Perpetually() && {
+  return std::move(*this);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp
index e077760..8d7c855 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp
@@ -1,18 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/PrintCommand.h"
 
-#include <wpi/raw_ostream.h>
+#include <fmt/format.h>
 
 using namespace frc2;
 
-PrintCommand::PrintCommand(const wpi::Twine& message)
-    : CommandHelper{[str = message.str()] { wpi::outs() << str << "\n"; }, {}} {
-}
+PrintCommand::PrintCommand(std::string_view message)
+    : CommandHelper{[str = std::string(message)] { fmt::print("{}\n", str); },
+                    {}} {}
 
-bool PrintCommand::RunsWhenDisabled() const { return true; }
+bool PrintCommand::RunsWhenDisabled() const {
+  return true;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp
index 6f96315..116ce3c 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp
@@ -1,18 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/ProxyScheduleCommand.h"
 
 using namespace frc2;
 
-ProxyScheduleCommand::ProxyScheduleCommand(wpi::ArrayRef<Command*> toSchedule) {
+ProxyScheduleCommand::ProxyScheduleCommand(
+    wpi::span<Command* const> toSchedule) {
   SetInsert(m_toSchedule, toSchedule);
 }
 
+ProxyScheduleCommand::ProxyScheduleCommand(Command* toSchedule) {
+  SetInsert(m_toSchedule, {&toSchedule, 1});
+}
+
 void ProxyScheduleCommand::Initialize() {
   for (auto* command : m_toSchedule) {
     command->Schedule();
@@ -34,4 +36,6 @@
   }
 }
 
-bool ProxyScheduleCommand::IsFinished() { return m_finished; }
+bool ProxyScheduleCommand::IsFinished() {
+  return m_finished;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
index e2c56ab..4674031 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -1,12 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/RamseteCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 using namespace units;
 
@@ -19,15 +18,15 @@
     frc2::PIDController leftController, frc2::PIDController rightController,
     std::function<void(volt_t, volt_t)> output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_controller(controller),
       m_feedforward(feedforward),
       m_kinematics(kinematics),
-      m_speeds(wheelSpeeds),
+      m_speeds(std::move(wheelSpeeds)),
       m_leftController(std::make_unique<frc2::PIDController>(leftController)),
       m_rightController(std::make_unique<frc2::PIDController>(rightController)),
-      m_outputVolts(output),
+      m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
 }
@@ -40,16 +39,16 @@
     std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
     frc2::PIDController leftController, frc2::PIDController rightController,
     std::function<void(volt_t, volt_t)> output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_controller(controller),
       m_feedforward(feedforward),
       m_kinematics(kinematics),
-      m_speeds(wheelSpeeds),
+      m_speeds(std::move(wheelSpeeds)),
       m_leftController(std::make_unique<frc2::PIDController>(leftController)),
       m_rightController(std::make_unique<frc2::PIDController>(rightController)),
-      m_outputVolts(output),
+      m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
 }
@@ -61,11 +60,11 @@
     std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
         output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_controller(controller),
       m_kinematics(kinematics),
-      m_outputVel(output),
+      m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
 }
@@ -76,18 +75,18 @@
     frc::DifferentialDriveKinematics kinematics,
     std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
         output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_controller(controller),
       m_kinematics(kinematics),
-      m_outputVel(output),
+      m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
 }
 
 void RamseteCommand::Initialize() {
-  m_prevTime = 0_s;
+  m_prevTime = -1_s;
   auto initialState = m_trajectory.Sample(0_s);
   m_prevSpeeds = m_kinematics.ToWheelSpeeds(
       frc::ChassisSpeeds{initialState.velocity, 0_mps,
@@ -104,6 +103,17 @@
   auto curTime = m_timer.Get();
   auto dt = curTime - m_prevTime;
 
+  if (m_prevTime < 0_s) {
+    if (m_usePID) {
+      m_outputVolts(0_V, 0_V);
+    } else {
+      m_outputVel(0_mps, 0_mps);
+    }
+
+    m_prevTime = curTime;
+    return;
+  }
+
   auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(
       m_controller.Calculate(m_pose(), m_trajectory.Sample(curTime)));
 
@@ -116,26 +126,35 @@
         targetWheelSpeeds.right,
         (targetWheelSpeeds.right - m_prevSpeeds.right) / dt);
 
-    auto leftOutput = volt_t(m_leftController->Calculate(
-                          m_speeds().left.to<double>(),
-                          targetWheelSpeeds.left.to<double>())) +
-                      leftFeedforward;
+    auto leftOutput =
+        volt_t(m_leftController->Calculate(m_speeds().left.value(),
+                                           targetWheelSpeeds.left.value())) +
+        leftFeedforward;
 
-    auto rightOutput = volt_t(m_rightController->Calculate(
-                           m_speeds().right.to<double>(),
-                           targetWheelSpeeds.right.to<double>())) +
-                       rightFeedforward;
+    auto rightOutput =
+        volt_t(m_rightController->Calculate(m_speeds().right.value(),
+                                            targetWheelSpeeds.right.value())) +
+        rightFeedforward;
 
     m_outputVolts(leftOutput, rightOutput);
   } else {
     m_outputVel(targetWheelSpeeds.left, targetWheelSpeeds.right);
   }
-
-  m_prevTime = curTime;
   m_prevSpeeds = targetWheelSpeeds;
+  m_prevTime = curTime;
 }
 
-void RamseteCommand::End(bool interrupted) { m_timer.Stop(); }
+void RamseteCommand::End(bool interrupted) {
+  m_timer.Stop();
+
+  if (interrupted) {
+    if (m_usePID) {
+      m_outputVolts(0_V, 0_V);
+    } else {
+      m_outputVel(0_mps, 0_mps);
+    }
+  }
+}
 
 bool RamseteCommand::IsFinished() {
   return m_timer.HasElapsed(m_trajectory.TotalTime());
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp
index dff0ffe..c63e5d6 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/RunCommand.h"
 
@@ -16,9 +13,11 @@
 }
 
 RunCommand::RunCommand(std::function<void()> toRun,
-                       wpi::ArrayRef<Subsystem*> requirements)
+                       wpi::span<Subsystem* const> requirements)
     : m_toRun{std::move(toRun)} {
   AddRequirements(requirements);
 }
 
-void RunCommand::Execute() { m_toRun(); }
+void RunCommand::Execute() {
+  m_toRun();
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
index ea1ea8d..ff50bc5 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
@@ -1,24 +1,29 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/ScheduleCommand.h"
 
 using namespace frc2;
 
-ScheduleCommand::ScheduleCommand(wpi::ArrayRef<Command*> toSchedule) {
+ScheduleCommand::ScheduleCommand(wpi::span<Command* const> toSchedule) {
   SetInsert(m_toSchedule, toSchedule);
 }
 
+ScheduleCommand::ScheduleCommand(Command* toSchedule) {
+  SetInsert(m_toSchedule, {&toSchedule, 1});
+}
+
 void ScheduleCommand::Initialize() {
   for (auto command : m_toSchedule) {
     command->Schedule();
   }
 }
 
-bool ScheduleCommand::IsFinished() { return true; }
+bool ScheduleCommand::IsFinished() {
+  return true;
+}
 
-bool ScheduleCommand::RunsWhenDisabled() const { return true; }
+bool ScheduleCommand::RunsWhenDisabled() const {
+  return true;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
index 1aa19e4..345a415 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
@@ -1,12 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/SequentialCommandGroup.h"
 
+#include "frc2/command/InstantCommand.h"
+
 using namespace frc2;
 
 SequentialCommandGroup::SequentialCommandGroup(
@@ -23,7 +22,9 @@
 }
 
 void SequentialCommandGroup::Execute() {
-  if (m_commands.empty()) return;
+  if (m_commands.empty()) {
+    return;
+  }
 
   auto& currentCommand = m_commands[m_currentCommandIndex];
 
@@ -61,9 +62,9 @@
   }
 
   if (m_currentCommandIndex != invalid_index) {
-    wpi_setWPIErrorWithContext(CommandIllegalUse,
-                               "Commands cannot be added to a CommandGroup "
-                               "while the group is running");
+    throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                        "Commands cannot be added to a CommandGroup "
+                        "while the group is running");
   }
 
   for (auto&& command : commands) {
@@ -73,3 +74,33 @@
     m_commands.emplace_back(std::move(command));
   }
 }
+
+SequentialCommandGroup SequentialCommandGroup::BeforeStarting(
+    std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
+  // store all the commands
+  std::vector<std::unique_ptr<Command>> tmp;
+  tmp.emplace_back(
+      std::make_unique<InstantCommand>(std::move(toRun), requirements));
+  for (auto&& command : m_commands) {
+    command->SetGrouped(false);
+    tmp.emplace_back(std::move(command));
+  }
+
+  // reset current state
+  m_commands.clear();
+  m_requirements.clear();
+  m_runWhenDisabled = true;
+
+  // add the commands back
+  AddCommands(std::move(tmp));
+  return std::move(*this);
+}
+
+SequentialCommandGroup SequentialCommandGroup::AndThen(
+    std::function<void()> toRun, wpi::span<Subsystem* const> requirements) && {
+  std::vector<std::unique_ptr<Command>> tmp;
+  tmp.emplace_back(
+      std::make_unique<InstantCommand>(std::move(toRun), requirements));
+  AddCommands(std::move(tmp));
+  return std::move(*this);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp
index ad54ae0..dc40200 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/StartEndCommand.h"
 
@@ -18,7 +15,7 @@
 
 StartEndCommand::StartEndCommand(std::function<void()> onInit,
                                  std::function<void()> onEnd,
-                                 wpi::ArrayRef<Subsystem*> requirements)
+                                 wpi::span<Subsystem* const> requirements)
     : m_onInit{std::move(onInit)}, m_onEnd{std::move(onEnd)} {
   AddRequirements(requirements);
 }
@@ -29,6 +26,10 @@
   m_onEnd = other.m_onEnd;
 }
 
-void StartEndCommand::Initialize() { m_onInit(); }
+void StartEndCommand::Initialize() {
+  m_onInit();
+}
 
-void StartEndCommand::End(bool interrupted) { m_onEnd(); }
+void StartEndCommand::End(bool interrupted) {
+  m_onEnd();
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
index 010fcb1..51cbddf 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/Subsystem.h"
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
index a28de20..8216a07 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -1,14 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/SubsystemBase.h"
 
-#include <frc/smartdashboard/SendableBuilder.h>
-#include <frc/smartdashboard/SendableRegistry.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandScheduler.h"
@@ -16,11 +13,11 @@
 using namespace frc2;
 
 SubsystemBase::SubsystemBase() {
-  frc::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
+  wpi::SendableRegistry::AddLW(this, GetTypeName(*this));
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
-void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
+void SubsystemBase::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Subsystem");
   builder.AddBooleanProperty(
       ".hasDefault", [this] { return GetDefaultCommand() != nullptr; },
@@ -29,7 +26,9 @@
       ".default",
       [this]() -> std::string {
         auto command = GetDefaultCommand();
-        if (command == nullptr) return "none";
+        if (command == nullptr) {
+          return "none";
+        }
         return command->GetName();
       },
       nullptr);
@@ -40,29 +39,30 @@
       ".command",
       [this]() -> std::string {
         auto command = GetCurrentCommand();
-        if (command == nullptr) return "none";
+        if (command == nullptr) {
+          return "none";
+        }
         return command->GetName();
       },
       nullptr);
 }
 
 std::string SubsystemBase::GetName() const {
-  return frc::SendableRegistry::GetInstance().GetName(this);
+  return wpi::SendableRegistry::GetName(this);
 }
 
-void SubsystemBase::SetName(const wpi::Twine& name) {
-  frc::SendableRegistry::GetInstance().SetName(this, name);
+void SubsystemBase::SetName(std::string_view name) {
+  wpi::SendableRegistry::SetName(this, name);
 }
 
 std::string SubsystemBase::GetSubsystem() const {
-  return frc::SendableRegistry::GetInstance().GetSubsystem(this);
+  return wpi::SendableRegistry::GetSubsystem(this);
 }
 
-void SubsystemBase::SetSubsystem(const wpi::Twine& name) {
-  frc::SendableRegistry::GetInstance().SetSubsystem(this, name);
+void SubsystemBase::SetSubsystem(std::string_view name) {
+  wpi::SendableRegistry::SetSubsystem(this, name);
 }
 
-void SubsystemBase::AddChild(std::string name, frc::Sendable* child) {
-  auto& registry = frc::SendableRegistry::GetInstance();
-  registry.AddLW(child, GetSubsystem(), name);
+void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
+  wpi::SendableRegistry::AddLW(child, GetSubsystem(), name);
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
index 5c49bee..da03540 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
@@ -1,17 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/WaitCommand.h"
 
+#include <fmt/format.h>
+#include <frc/fmt/Units.h>
+
 using namespace frc2;
 
 WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
-  auto durationStr = std::to_string(duration.to<double>());
-  SetName(wpi::Twine(GetName()) + ": " + wpi::Twine(durationStr) + " seconds");
+  SetName(fmt::format("{}: {}", GetName(), duration));
 }
 
 void WaitCommand::Initialize() {
@@ -19,8 +18,14 @@
   m_timer.Start();
 }
 
-void WaitCommand::End(bool interrupted) { m_timer.Stop(); }
+void WaitCommand::End(bool interrupted) {
+  m_timer.Stop();
+}
 
-bool WaitCommand::IsFinished() { return m_timer.HasElapsed(m_duration); }
+bool WaitCommand::IsFinished() {
+  return m_timer.HasElapsed(m_duration);
+}
 
-bool WaitCommand::RunsWhenDisabled() const { return true; }
+bool WaitCommand::RunsWhenDisabled() const {
+  return true;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
index 739a049..9ccd94e 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
@@ -1,13 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/WaitUntilCommand.h"
 
-#include "frc2/Timer.h"
+#include <frc/Timer.h>
 
 using namespace frc2;
 
@@ -15,8 +12,12 @@
     : m_condition{std::move(condition)} {}
 
 WaitUntilCommand::WaitUntilCommand(units::second_t time)
-    : m_condition{[=] { return Timer::GetMatchTime() - time > 0_s; }} {}
+    : m_condition{[=] { return frc::Timer::GetMatchTime() - time > 0_s; }} {}
 
-bool WaitUntilCommand::IsFinished() { return m_condition(); }
+bool WaitUntilCommand::IsFinished() {
+  return m_condition();
+}
 
-bool WaitUntilCommand::RunsWhenDisabled() const { return true; }
+bool WaitUntilCommand::RunsWhenDisabled() const {
+  return true;
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
index d8a7372..955830a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Button.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/button/Button.h"
 
@@ -23,7 +20,7 @@
 }
 
 Button Button::WhenPressed(std::function<void()> toRun,
-                           wpi::ArrayRef<Subsystem*> requirements) {
+                           wpi::span<Subsystem* const> requirements) {
   WhenActive(std::move(toRun), requirements);
   return *this;
 }
@@ -40,7 +37,7 @@
 }
 
 Button Button::WhileHeld(std::function<void()> toRun,
-                         wpi::ArrayRef<Subsystem*> requirements) {
+                         wpi::span<Subsystem* const> requirements) {
   WhileActiveContinous(std::move(toRun), requirements);
   return *this;
 }
@@ -62,7 +59,7 @@
 }
 
 Button Button::WhenReleased(std::function<void()> toRun,
-                            wpi::ArrayRef<Subsystem*> requirements) {
+                            wpi::span<Subsystem* const> requirements) {
   WhenInactive(std::move(toRun), requirements);
   return *this;
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
index 01214e0..3886c62 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/button/NetworkButton.h"
 
@@ -15,9 +12,9 @@
       }) {}
 
 NetworkButton::NetworkButton(std::shared_ptr<nt::NetworkTable> table,
-                             const wpi::Twine& field)
+                             std::string_view field)
     : NetworkButton(table->GetEntry(field)) {}
 
-NetworkButton::NetworkButton(const wpi::Twine& table, const wpi::Twine& field)
+NetworkButton::NetworkButton(std::string_view table, std::string_view field)
     : NetworkButton(nt::NetworkTableInstance::GetDefault().GetTable(table),
                     field) {}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
index 875b54e..0801549 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -1,17 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/button/Trigger.h"
 
+#include <frc/Debouncer.h>
+
 #include "frc2/command/InstantCommand.h"
 
 using namespace frc2;
 
-Trigger::Trigger(const Trigger& other) : m_isActive(other.m_isActive) {}
+Trigger::Trigger(const Trigger& other) = default;
 
 Trigger Trigger::WhenActive(Command* command, bool interruptible) {
   CommandScheduler::GetInstance().AddButton(
@@ -30,12 +29,12 @@
 
 Trigger Trigger::WhenActive(std::function<void()> toRun,
                             std::initializer_list<Subsystem*> requirements) {
-  return WhenActive(std::move(toRun), wpi::makeArrayRef(requirements.begin(),
-                                                        requirements.end()));
+  return WhenActive(std::move(toRun),
+                    {requirements.begin(), requirements.end()});
 }
 
 Trigger Trigger::WhenActive(std::function<void()> toRun,
-                            wpi::ArrayRef<Subsystem*> requirements) {
+                            wpi::span<Subsystem* const> requirements) {
   return WhenActive(InstantCommand(std::move(toRun), requirements));
 }
 
@@ -58,13 +57,12 @@
 Trigger Trigger::WhileActiveContinous(
     std::function<void()> toRun,
     std::initializer_list<Subsystem*> requirements) {
-  return WhileActiveContinous(
-      std::move(toRun),
-      wpi::makeArrayRef(requirements.begin(), requirements.end()));
+  return WhileActiveContinous(std::move(toRun),
+                              {requirements.begin(), requirements.end()});
 }
 
-Trigger Trigger::WhileActiveContinous(std::function<void()> toRun,
-                                      wpi::ArrayRef<Subsystem*> requirements) {
+Trigger Trigger::WhileActiveContinous(
+    std::function<void()> toRun, wpi::span<Subsystem* const> requirements) {
   return WhileActiveContinous(InstantCommand(std::move(toRun), requirements));
 }
 
@@ -100,12 +98,12 @@
 
 Trigger Trigger::WhenInactive(std::function<void()> toRun,
                               std::initializer_list<Subsystem*> requirements) {
-  return WhenInactive(std::move(toRun), wpi::makeArrayRef(requirements.begin(),
-                                                          requirements.end()));
+  return WhenInactive(std::move(toRun),
+                      {requirements.begin(), requirements.end()});
 }
 
 Trigger Trigger::WhenInactive(std::function<void()> toRun,
-                              wpi::ArrayRef<Subsystem*> requirements) {
+                              wpi::span<Subsystem* const> requirements) {
   return WhenInactive(InstantCommand(std::move(toRun), requirements));
 }
 
@@ -140,3 +138,9 @@
       });
   return *this;
 }
+
+Trigger Trigger::Debounce(units::second_t debounceTime) {
+  return Trigger([debouncer = frc::Debouncer(debounceTime), *this]() mutable {
+    return debouncer.Calculate(m_isActive());
+  });
+}
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index 060832c..66f4f7e 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -12,11 +9,10 @@
 #include <memory>
 #include <string>
 
-#include <frc/ErrorBase.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/Demangle.h>
 #include <wpi/SmallSet.h>
+#include <wpi/span.h>
 
 #include "frc2/command/Subsystem.h"
 
@@ -49,13 +45,13 @@
  * @see CommandScheduler
  * @see CommandHelper
  */
-class Command : public frc::ErrorBase {
+class Command {
  public:
   Command() = default;
   virtual ~Command();
 
-  Command(const Command&);
-  Command& operator=(const Command&);
+  Command(const Command&) = default;
+  Command& operator=(const Command& rhs);
   Command(Command&&) = default;
   Command& operator=(Command&&) = default;
 
@@ -111,7 +107,7 @@
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  ParallelRaceGroup WithTimeout(units::second_t duration) &&;
+  virtual ParallelRaceGroup WithTimeout(units::second_t duration) &&;
 
   /**
    * Decorates this command with an interrupt condition.  If the specified
@@ -122,7 +118,7 @@
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
-  ParallelRaceGroup WithInterrupt(std::function<bool()> condition) &&;
+  virtual ParallelRaceGroup WithInterrupt(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with a runnable to run before this command starts.
@@ -131,7 +127,7 @@
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  SequentialCommandGroup BeforeStarting(
+  virtual SequentialCommandGroup BeforeStarting(
       std::function<void()> toRun,
       std::initializer_list<Subsystem*> requirements) &&;
 
@@ -142,9 +138,9 @@
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  SequentialCommandGroup BeforeStarting(
+  virtual SequentialCommandGroup BeforeStarting(
       std::function<void()> toRun,
-      wpi::ArrayRef<Subsystem*> requirements = {}) &&;
+      wpi::span<Subsystem* const> requirements = {}) &&;
 
   /**
    * Decorates this command with a runnable to run after the command finishes.
@@ -153,7 +149,7 @@
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  SequentialCommandGroup AndThen(
+  virtual SequentialCommandGroup AndThen(
       std::function<void()> toRun,
       std::initializer_list<Subsystem*> requirements) &&;
 
@@ -164,9 +160,9 @@
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  SequentialCommandGroup AndThen(
+  virtual SequentialCommandGroup AndThen(
       std::function<void()> toRun,
-      wpi::ArrayRef<Subsystem*> requirements = {}) &&;
+      wpi::span<Subsystem* const> requirements = {}) &&;
 
   /**
    * Decorates this command to run perpetually, ignoring its ordinary end
@@ -174,17 +170,17 @@
    *
    * @return the decorated command
    */
-  PerpetualCommand Perpetually() &&;
+  virtual PerpetualCommand Perpetually() &&;
 
   /**
-   * Decorates this command to run "by proxy" by wrapping it in a {@link
-   * ProxyScheduleCommand}. This is useful for "forking off" from command groups
+   * Decorates this command to run "by proxy" by wrapping it in a
+   * ProxyScheduleCommand. This is useful for "forking off" from command groups
    * when the user does not wish to extend the command's requirements to the
    * entire command group.
    *
    * @return the decorated command
    */
-  ProxyScheduleCommand AsProxy();
+  virtual ProxyScheduleCommand AsProxy();
 
   /**
    * Schedules this command.
@@ -215,11 +211,9 @@
   bool IsScheduled() const;
 
   /**
-   * Whether the command requires a given subsystem.  Named "hasRequirement"
-   * rather than "requires" to avoid confusion with
-   * {@link
-   * edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)}
-   *  - this may be able to be changed in a few years.
+   * Whether the command requires a given subsystem.  Named "HasRequirement"
+   * rather than "requires" to avoid confusion with Command::Requires(Subsystem)
+   * -- this may be able to be changed in a few years.
    *
    * @param requirement the subsystem to inquire about
    * @return whether the subsystem is required
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h
index 481a51a..9a498bc 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h
@@ -1,20 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <initializer_list>
 #include <string>
+#include <string_view>
 
-#include <frc/smartdashboard/Sendable.h>
-#include <frc/smartdashboard/SendableHelper.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallSet.h>
-#include <wpi/Twine.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+#include <wpi/span.h>
 
 #include "frc2/command/Command.h"
 
@@ -23,25 +20,42 @@
  * A Sendable base class for Commands.
  */
 class CommandBase : public Command,
-                    public frc::Sendable,
-                    public frc::SendableHelper<CommandBase> {
+                    public wpi::Sendable,
+                    public wpi::SendableHelper<CommandBase> {
  public:
   /**
-   * Adds the specified requirements to the command.
+   * Adds the specified Subsystem requirements to the command.
    *
-   * @param requirements the requirements to add
+   * @param requirements the Subsystem requirements to add
    */
   void AddRequirements(std::initializer_list<Subsystem*> requirements);
 
   /**
-   * Adds the specified requirements to the command.
+   * Adds the specified Subsystem requirements to the command.
    *
-   * @param requirements the requirements to add
+   * @param requirements the Subsystem requirements to add
    */
-  void AddRequirements(wpi::ArrayRef<Subsystem*> requirements);
+  void AddRequirements(wpi::span<Subsystem* const> requirements);
 
+  /**
+   * Adds the specified Subsystem requirements to the command.
+   *
+   * @param requirements the Subsystem requirements to add
+   */
   void AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements);
 
+  /**
+   * Adds the specified Subsystem requirement to the command.
+   *
+   * @param requirement the Subsystem requirement to add
+   */
+  void AddRequirements(Subsystem* requirement);
+
+  /**
+   * Gets the Subsystem requirements of the command.
+   *
+   * @return the Command's Subsystem requirements
+   */
   wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
 
   /**
@@ -49,7 +63,7 @@
    *
    * @param name name
    */
-  void SetName(const wpi::Twine& name);
+  void SetName(std::string_view name);
 
   /**
    * Gets the name of this Command.
@@ -70,9 +84,9 @@
    *
    * @param subsystem subsystem name
    */
-  void SetSubsystem(const wpi::Twine& subsystem);
+  void SetSubsystem(std::string_view subsystem);
 
-  void InitSendable(frc::SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   CommandBase();
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
index 8b04b4c..6a84ee0 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -11,7 +8,7 @@
 #include <memory>
 #include <vector>
 
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 
@@ -28,10 +25,19 @@
    * Requires that the specified command not have been already allocated to a
    * CommandGroup. Reports an error if the command is already grouped.
    *
-   * @param commands The command to check
+   * @param command The command to check
    * @return True if all the command is ungrouped.
    */
-  static bool RequireUngrouped(Command& command);
+  static bool RequireUngrouped(const Command& command);
+
+  /**
+   * Requires that the specified command not have been already allocated to a
+   * CommandGroup. Reports an error if the command is already grouped.
+   *
+   * @param command The command to check
+   * @return True if all the command is ungrouped.
+   */
+  static bool RequireUngrouped(const Command* command);
 
   /**
    * Requires that the specified commands not have been already allocated to a
@@ -40,7 +46,8 @@
    * @param commands The commands to check
    * @return True if all the commands are ungrouped.
    */
-  static bool RequireUngrouped(wpi::ArrayRef<std::unique_ptr<Command>>);
+  static bool RequireUngrouped(
+      wpi::span<const std::unique_ptr<Command>> commands);
 
   /**
    * Requires that the specified commands not have been already allocated to a
@@ -49,7 +56,7 @@
    * @param commands The commands to check
    * @return True if all the commands are ungrouped.
    */
-  static bool RequireUngrouped(std::initializer_list<Command*>);
+  static bool RequireUngrouped(std::initializer_list<const Command*> commands);
 
   /**
    * Adds the given commands to the command group.
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
index f78a848..5709f0c 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
index 4711695..8976e85 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -11,14 +8,13 @@
 #include <memory>
 #include <utility>
 
-#include <frc/ErrorBase.h>
-#include <frc/WPIErrors.h>
+#include <frc/Errors.h>
 #include <frc/Watchdog.h>
-#include <frc/smartdashboard/Sendable.h>
-#include <frc/smartdashboard/SendableHelper.h>
+#include <networktables/NTSendable.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/FunctionExtras.h>
+#include <wpi/sendable/SendableHelper.h>
+#include <wpi/span.h>
 
 namespace frc2 {
 class Command;
@@ -31,9 +27,8 @@
  * with the scheduler using RegisterSubsystem() in order for their Periodic()
  * methods to be called and for their default commands to be scheduled.
  */
-class CommandScheduler final : public frc::Sendable,
-                               public frc::ErrorBase,
-                               public frc::SendableHelper<CommandScheduler> {
+class CommandScheduler final : public nt::NTSendable,
+                               public wpi::SendableHelper<CommandScheduler> {
  public:
   /**
    * Returns the Scheduler instance.
@@ -42,7 +37,7 @@
    */
   static CommandScheduler& GetInstance();
 
-  ~CommandScheduler();
+  ~CommandScheduler() override;
   CommandScheduler(const CommandScheduler&) = delete;
   CommandScheduler& operator=(const CommandScheduler&) = delete;
 
@@ -97,7 +92,7 @@
    * @param interruptible whether the commands should be interruptible
    * @param commands      the commands to schedule
    */
-  void Schedule(bool interruptible, wpi::ArrayRef<Command*> commands);
+  void Schedule(bool interruptible, wpi::span<Command* const> commands);
 
   /**
    * Schedules multiple commands for execution.  Does nothing if the command is
@@ -117,7 +112,7 @@
    *
    * @param commands the commands to schedule
    */
-  void Schedule(wpi::ArrayRef<Command*> commands);
+  void Schedule(wpi::span<Command* const> commands);
 
   /**
    * Schedules multiple commands for execution, with interruptible defaulted to
@@ -165,10 +160,10 @@
   void UnregisterSubsystem(Subsystem* subsystem);
 
   void RegisterSubsystem(std::initializer_list<Subsystem*> subsystems);
-  void RegisterSubsystem(wpi::ArrayRef<Subsystem*> subsystems);
+  void RegisterSubsystem(wpi::span<Subsystem* const> subsystems);
 
   void UnregisterSubsystem(std::initializer_list<Subsystem*> subsystems);
-  void UnregisterSubsystem(wpi::ArrayRef<Subsystem*> subsystems);
+  void UnregisterSubsystem(wpi::span<Subsystem* const> subsystems);
 
   /**
    * Sets the default command for a subsystem.  Registers that subsystem if it
@@ -185,14 +180,12 @@
                          Command, std::remove_reference_t<T>>>>
   void SetDefaultCommand(Subsystem* subsystem, T&& defaultCommand) {
     if (!defaultCommand.HasRequirement(subsystem)) {
-      wpi_setWPIErrorWithContext(
-          CommandIllegalUse, "Default commands must require their subsystem!");
-      return;
+      throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                          "Default commands must require their subsystem!");
     }
     if (defaultCommand.IsFinished()) {
-      wpi_setWPIErrorWithContext(CommandIllegalUse,
-                                 "Default commands should not end!");
-      return;
+      throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+                          "Default commands should not end!");
     }
     SetDefaultCommandImpl(subsystem,
                           std::make_unique<std::remove_reference_t<T>>(
@@ -216,7 +209,7 @@
    * <p>Commands will be canceled even if they are not scheduled as
    * interruptible.
    *
-   * @param commands the commands to cancel
+   * @param command the command to cancel
    */
   void Cancel(Command* command);
 
@@ -230,7 +223,7 @@
    *
    * @param commands the commands to cancel
    */
-  void Cancel(wpi::ArrayRef<Command*> commands);
+  void Cancel(wpi::span<Command* const> commands);
 
   /**
    * Cancels commands. The scheduler will only call Command::End()
@@ -256,9 +249,9 @@
    * them.
    *
    * @param command the command to query
-   * @return the time since the command was scheduled, in seconds
+   * @return the time since the command was scheduled
    */
-  double TimeSinceScheduled(const Command* command) const;
+  units::second_t TimeSinceScheduled(const Command* command) const;
 
   /**
    * Whether the given commands are running.  Note that this only works on
@@ -268,7 +261,7 @@
    * @param commands the command to query
    * @return whether the command is currently scheduled
    */
-  bool IsScheduled(wpi::ArrayRef<const Command*> commands) const;
+  bool IsScheduled(wpi::span<const Command* const> commands) const;
 
   /**
    * Whether the given commands are running.  Note that this only works on
@@ -285,7 +278,7 @@
    * that are directly scheduled by the scheduler; it will not work on commands
    * inside of CommandGroups, as the scheduler does not see them.
    *
-   * @param commands the command to query
+   * @param command the command to query
    * @return whether the command is currently scheduled
    */
   bool IsScheduled(const Command* command) const;
@@ -339,7 +332,7 @@
    */
   void OnCommandFinish(Action action);
 
-  void InitSendable(frc::SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
   // Constructor; private as this is a singleton
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h
index 41fc5d0..4c731b3 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h
@@ -1,12 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
+#include <units/time.h>
+
 namespace frc2 {
 /**
  * Class that holds scheduling state for a command.  Used internally by the
@@ -21,10 +20,10 @@
   bool IsInterruptible() const { return m_interruptible; }
 
   // The time since this command was initialized.
-  double TimeSinceInitialized() const;
+  units::second_t TimeSinceInitialized() const;
 
  private:
-  double m_startTime = -1;
+  units::second_t m_startTime = -1_s;
   bool m_interruptible;
 
   void StartTiming();
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
index af9f113..2c37200 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h
index eb88b5e..31b2ada 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <functional>
 #include <initializer_list>
 
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -55,7 +52,7 @@
                     std::function<void()> onExecute,
                     std::function<void(bool)> onEnd,
                     std::function<bool()> isFinished,
-                    wpi::ArrayRef<Subsystem*> requirements = {});
+                    wpi::span<Subsystem* const> requirements = {});
 
   FunctionalCommand(FunctionalCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h
index 3f29b17..3aba587 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <functional>
 #include <initializer_list>
 
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -40,8 +37,8 @@
    * @param toRun        the Runnable to run
    * @param requirements the subsystems required by this command
    */
-  InstantCommand(std::function<void()> toRun,
-                 wpi::ArrayRef<Subsystem*> requirements = {});
+  explicit InstantCommand(std::function<void()> toRun,
+                          wpi::span<Subsystem* const> requirements = {});
 
   InstantCommand(InstantCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
index 87b16ee..29f0fd4 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
@@ -1,15 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <cmath>
 #include <functional>
 #include <initializer_list>
 #include <memory>
 
+#include <frc/Timer.h>
 #include <frc/controller/HolonomicDriveController.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -23,19 +21,18 @@
 #include <units/length.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "CommandBase.h"
 #include "CommandHelper.h"
-#include "frc2/Timer.h"
 
 #pragma once
 
 namespace frc2 {
 /**
- * A command that uses two PID controllers ({@link PIDController}) and a
- * ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
- * {@link Trajectory} with a mecanum drive.
+ * A command that uses two PID controllers (PIDController) and a profiled PID
+ * controller (ProfiledPIDController) to follow a trajectory (Trajectory) with a
+ * mecanum drive.
  *
  * <p>The command handles trajectory-following,
  * Velocity PID calculations, and feedforwards internally. This
@@ -207,7 +204,7 @@
       std::function<void(units::volt_t, units::volt_t, units::volt_t,
                          units::volt_t)>
           output,
-      wpi::ArrayRef<Subsystem*> requirements = {});
+      wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Constructs a new MecanumControllerCommand that when executed will follow
@@ -260,7 +257,7 @@
       std::function<void(units::volt_t, units::volt_t, units::volt_t,
                          units::volt_t)>
           output,
-      wpi::ArrayRef<Subsystem*> requirements = {});
+      wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Constructs a new MecanumControllerCommand that when executed will follow
@@ -376,7 +373,7 @@
                          units::meters_per_second_t,
                          units::meters_per_second_t)>
           output,
-      wpi::ArrayRef<Subsystem*> requirements = {});
+      wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Constructs a new MecanumControllerCommand that when executed will follow
@@ -416,7 +413,7 @@
                          units::meters_per_second_t,
                          units::meters_per_second_t)>
           output,
-      wpi::ArrayRef<Subsystem*> requirements = {});
+      wpi::span<Subsystem* const> requirements = {});
 
   void Initialize() override;
 
@@ -447,7 +444,7 @@
       m_outputVolts;
 
   bool m_usePID;
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
   frc::MecanumDriveWheelSpeeds m_prevSpeeds;
   units::second_t m_prevTime;
 };
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
index 1c6d776..ec68fe7 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -12,7 +9,7 @@
 
 #include <frc/Notifier.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -20,9 +17,9 @@
 namespace frc2 {
 /**
  * A command that starts a notifier to run the given runnable periodically in a
- * separate thread. Has no end condition as-is; either subclass it or use {@link
- * Command#withTimeout(double)} or
- * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ * separate thread. Has no end condition as-is; either subclass it or use
+ * Command::WithTimeout(double) or Command::WithInterrupt(BooleanSupplier) to
+ * give it one.
  *
  * <p>WARNING: Do not use this class unless you are confident in your ability to
  * make the executed code thread-safe.  If you do not know what "thread-safe"
@@ -48,7 +45,7 @@
    * @param requirements the subsystems required by this command
    */
   NotifierCommand(std::function<void()> toRun, units::second_t period,
-                  wpi::ArrayRef<Subsystem*> requirements = {});
+                  wpi::span<Subsystem* const> requirements = {});
 
   NotifierCommand(NotifierCommand&& other);
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
index 8653313..31baf9e 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -11,6 +8,7 @@
 #include <initializer_list>
 
 #include <frc/controller/PIDController.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -56,7 +54,7 @@
              std::function<double()> measurementSource,
              std::function<double()> setpointSource,
              std::function<void(double)> useOutput,
-             wpi::ArrayRef<Subsystem*> requirements = {});
+             wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Creates a new PIDCommand, which controls the given output with a
@@ -86,7 +84,7 @@
   PIDCommand(PIDController controller,
              std::function<double()> measurementSource, double setpoint,
              std::function<void(double)> useOutput,
-             wpi::ArrayRef<Subsystem*> requirements = {});
+             wpi::span<Subsystem* const> requirements = {});
 
   PIDCommand(PIDCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
index 608fe56..c8a53db 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
index 5b0f0da..342265a 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -86,7 +83,7 @@
   bool RunsWhenDisabled() const override;
 
  private:
-  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) override;
+  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
 
   std::vector<std::pair<std::unique_ptr<Command>, bool>> m_commands;
   bool m_runWhenDisabled{true};
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
index 4debe75..af78c3b 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -94,7 +91,7 @@
   bool RunsWhenDisabled() const override;
 
  private:
-  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) override;
+  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
 
   void SetDeadline(std::unique_ptr<Command>&& deadline);
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
index 167dee4..3ba3907 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -74,7 +71,7 @@
   bool RunsWhenDisabled() const override;
 
  private:
-  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) override;
+  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
 
   std::vector<std::unique_ptr<Command>> m_commands;
   bool m_runWhenDisabled{true};
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
index 4a93704..a288ae2 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -68,6 +65,8 @@
 
   void End(bool interrupted) override;
 
+  PerpetualCommand Perpetually() && override;
+
  private:
   std::unique_ptr<Command> m_command;
 };
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h
index 7b706a0..536e77f 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h
@@ -1,13 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
-#include <wpi/Twine.h>
+#include <string_view>
 
 #include "frc2/command/CommandHelper.h"
 #include "frc2/command/InstantCommand.h"
@@ -23,7 +20,7 @@
    *
    * @param message the message to print
    */
-  explicit PrintCommand(const wpi::Twine& message);
+  explicit PrintCommand(std::string_view message);
 
   PrintCommand(PrintCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
index 5bc4978..b02c81d 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -13,7 +10,7 @@
 
 #include <frc/controller/ProfiledPIDController.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -73,7 +70,7 @@
                      std::function<Distance_t()> measurementSource,
                      std::function<State()> goalSource,
                      std::function<void(double, State)> useOutput,
-                     wpi::ArrayRef<Subsystem*> requirements = {})
+                     wpi::span<Subsystem* const> requirements = {})
       : m_controller{controller},
         m_measurement{std::move(measurementSource)},
         m_goal{std::move(goalSource)},
@@ -117,7 +114,7 @@
                      std::function<Distance_t()> measurementSource,
                      std::function<Distance_t()> goalSource,
                      std::function<void(double, State)> useOutput,
-                     wpi::ArrayRef<Subsystem*> requirements = {})
+                     wpi::span<Subsystem* const> requirements = {})
       : ProfiledPIDCommand(
             controller, measurementSource,
             [&goalSource]() {
@@ -156,7 +153,7 @@
   ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
                      std::function<Distance_t()> measurementSource, State goal,
                      std::function<void(double, State)> useOutput,
-                     wpi::ArrayRef<Subsystem*> requirements = {})
+                     wpi::span<Subsystem* const> requirements = {})
       : ProfiledPIDCommand(
             controller, measurementSource, [goal] { return goal; }, useOutput,
             requirements) {}
@@ -194,7 +191,7 @@
                      std::function<Distance_t()> measurementSource,
                      Distance_t goal,
                      std::function<void(double, State)> useOutput,
-                     wpi::ArrayRef<Subsystem*> requirements = {})
+                     wpi::span<Subsystem* const> requirements = {})
       : ProfiledPIDCommand(
             controller, measurementSource, [goal] { return goal; }, useOutput,
             requirements) {}
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
index 2bbe149..c8639b6 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h
index ef5204f..ad603f9 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h
@@ -1,14 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -30,7 +27,9 @@
    *
    * @param toSchedule the commands to schedule
    */
-  explicit ProxyScheduleCommand(wpi::ArrayRef<Command*> toSchedule);
+  explicit ProxyScheduleCommand(wpi::span<Command* const> toSchedule);
+
+  explicit ProxyScheduleCommand(Command* toSchedule);
 
   ProxyScheduleCommand(ProxyScheduleCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
index 21d5cfd..5f84997 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -11,6 +8,7 @@
 #include <initializer_list>
 #include <memory>
 
+#include <frc/Timer.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/RamseteController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -19,9 +17,8 @@
 #include <frc/trajectory/Trajectory.h>
 #include <units/length.h>
 #include <units/voltage.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
-#include "frc2/Timer.h"
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
 
@@ -117,7 +114,7 @@
                  frc2::PIDController leftController,
                  frc2::PIDController rightController,
                  std::function<void(units::volt_t, units::volt_t)> output,
-                 wpi::ArrayRef<Subsystem*> requirements = {});
+                 wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Constructs a new RamseteCommand that, when executed, will follow the
@@ -165,7 +162,7 @@
                  std::function<void(units::meters_per_second_t,
                                     units::meters_per_second_t)>
                      output,
-                 wpi::ArrayRef<Subsystem*> requirements = {});
+                 wpi::span<Subsystem* const> requirements = {});
 
   void Initialize() override;
 
@@ -188,7 +185,7 @@
   std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
       m_outputVel;
 
-  Timer m_timer;
+  frc::Timer m_timer;
   units::second_t m_prevTime;
   frc::DifferentialDriveWheelSpeeds m_prevSpeeds;
   bool m_usePID;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h
index 2036230..510840e 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <functional>
 #include <initializer_list>
 
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -41,14 +38,14 @@
    * @param toRun        the Runnable to run
    * @param requirements the subsystems to require
    */
-  RunCommand(std::function<void()> toRun,
-             wpi::ArrayRef<Subsystem*> requirements = {});
+  explicit RunCommand(std::function<void()> toRun,
+                      wpi::span<Subsystem* const> requirements = {});
 
   RunCommand(RunCommand&& other) = default;
 
   RunCommand(const RunCommand& other) = default;
 
-  void Execute();
+  void Execute() override;
 
  protected:
   std::function<void()> m_toRun;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h
index c2824ca..ca476d0 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h
@@ -1,14 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -29,7 +26,9 @@
    *
    * @param toSchedule the commands to schedule
    */
-  explicit ScheduleCommand(wpi::ArrayRef<Command*> toSchedule);
+  explicit ScheduleCommand(wpi::span<Command* const> toSchedule);
+
+  explicit ScheduleCommand(Command* toSchedule);
 
   ScheduleCommand(ScheduleCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
index e1074f4..b4e7f89 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -51,8 +48,8 @@
   template <class... Types,
             typename = std::enable_if_t<std::conjunction_v<
                 std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
-  SelectCommand(std::function<Key()> selector,
-                std::pair<Key, Types>... commands)
+  explicit SelectCommand(std::function<Key()> selector,
+                         std::pair<Key, Types>... commands)
       : m_selector{std::move(selector)} {
     std::vector<std::pair<Key, std::unique_ptr<Command>>> foo;
 
@@ -62,7 +59,7 @@
      ...);
 
     for (auto&& command : foo) {
-      if (!CommandGroupBase::RequireUngrouped(command.second)) {
+      if (!CommandGroupBase::RequireUngrouped(*command.second)) {
         return;
       }
     }
@@ -79,7 +76,7 @@
       std::vector<std::pair<Key, std::unique_ptr<Command>>>&& commands)
       : m_selector{std::move(selector)} {
     for (auto&& command : commands) {
-      if (!CommandGroupBase::RequireUngrouped(command.second)) {
+      if (!CommandGroupBase::RequireUngrouped(*command.second)) {
         return;
       }
     }
@@ -102,7 +99,8 @@
    *
    * @param toRun a supplier providing the command to run
    */
-  explicit SelectCommand(std::function<Command*()> toRun) : m_toRun{toRun} {}
+  explicit SelectCommand(std::function<Command*()> toRun)
+      : m_toRun{std::move(toRun)} {}
 
   SelectCommand(SelectCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h b/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
index c49356e..d80c07b 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -18,9 +15,7 @@
 #include <utility>
 #include <vector>
 
-#include <frc/ErrorBase.h>
-#include <frc/WPIErrors.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -91,6 +86,16 @@
 
   bool RunsWhenDisabled() const override;
 
+  SequentialCommandGroup BeforeStarting(
+      std::function<void()> toRun,
+      wpi::span<Subsystem* const> requirements = {}) &&
+      override;
+
+  SequentialCommandGroup AndThen(
+      std::function<void()> toRun,
+      wpi::span<Subsystem* const> requirements = {}) &&
+      override;
+
  private:
   void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SetUtilities.h b/wpilibNewCommands/src/main/native/include/frc2/command/SetUtilities.h
index d21f572..d40fbec 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SetUtilities.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SetUtilities.h
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
+#include <wpi/span.h>
 
 namespace frc2 {
 template <typename T>
-void SetInsert(wpi::SmallVectorImpl<T*>& vector, wpi::ArrayRef<T*> toAdd) {
+void SetInsert(wpi::SmallVectorImpl<T*>& vector, wpi::span<T* const> toAdd) {
   for (auto addCommand : toAdd) {
     bool exists = false;
     for (auto existingCommand : vector) {
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h
index 9b1252e..d364696 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <functional>
 #include <initializer_list>
 
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
@@ -45,7 +42,7 @@
    * @param requirements the subsystems required by this command
    */
   StartEndCommand(std::function<void()> onInit, std::function<void()> onEnd,
-                  wpi::ArrayRef<Subsystem*> requirements = {});
+                  wpi::span<Subsystem* const> requirements = {});
 
   StartEndCommand(StartEndCommand&& other) = default;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
index 3f8a278..4744463 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h b/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
index d75ad0d..748271a 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
@@ -1,16 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <string>
+#include <string_view>
 
-#include <frc/smartdashboard/Sendable.h>
-#include <frc/smartdashboard/SendableHelper.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc2/command/Subsystem.h"
 
@@ -20,10 +18,10 @@
  * provides a more intuitive method for setting the default command.
  */
 class SubsystemBase : public Subsystem,
-                      public frc::Sendable,
-                      public frc::SendableHelper<SubsystemBase> {
+                      public wpi::Sendable,
+                      public wpi::SendableHelper<SubsystemBase> {
  public:
-  void InitSendable(frc::SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
   /**
    * Gets the name of this Subsystem.
@@ -37,7 +35,7 @@
    *
    * @param name name
    */
-  void SetName(const wpi::Twine& name);
+  void SetName(std::string_view name);
 
   /**
    * Gets the subsystem name of this Subsystem.
@@ -49,9 +47,9 @@
   /**
    * Sets the subsystem name of this Subsystem.
    *
-   * @param subsystem subsystem name
+   * @param name subsystem name
    */
-  void SetSubsystem(const wpi::Twine& name);
+  void SetSubsystem(std::string_view name);
 
   /**
    * Associate a Sendable with this Subsystem.
@@ -60,7 +58,7 @@
    * @param name name to give child
    * @param child sendable
    */
-  void AddChild(std::string name, frc::Sendable* child);
+  void AddChild(std::string name, wpi::Sendable* child);
 
  protected:
   SubsystemBase();
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
index 6036ce8..9620fef 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
@@ -1,15 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <cmath>
 #include <functional>
 #include <initializer_list>
 #include <memory>
 
+#include <frc/Timer.h>
 #include <frc/controller/HolonomicDriveController.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -21,20 +19,19 @@
 #include <units/length.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "CommandBase.h"
 #include "CommandHelper.h"
-#include "frc2/Timer.h"
 
 #pragma once
 
 namespace frc2 {
 
 /**
- * A command that uses two PID controllers ({@link PIDController}) and a
- * ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
- * {@link Trajectory} with a swerve drive.
+ * A command that uses two PID controllers (PIDController) and a profiled PID
+ * controller (ProfiledPIDController) to follow a trajectory (Trajectory) with a
+ * swerve drive.
  *
  * <p>The command handles trajectory-following, Velocity PID calculations, and
  * feedforwards internally. This is intended to be a more-or-less "complete
@@ -170,7 +167,7 @@
       std::function<frc::Rotation2d()> desiredRotation,
       std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
           output,
-      wpi::ArrayRef<Subsystem*> requirements = {});
+      wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Constructs a new SwerveControllerCommand that when executed will follow the
@@ -208,7 +205,7 @@
       frc::ProfiledPIDController<units::radians> thetaController,
       std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
           output,
-      wpi::ArrayRef<Subsystem*> requirements = {});
+      wpi::span<Subsystem* const> requirements = {});
 
   void Initialize() override;
 
@@ -228,7 +225,7 @@
 
   std::function<frc::Rotation2d()> m_desiredRotation;
 
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
   units::second_t m_prevTime;
   frc::Rotation2d m_finalRotation;
 };
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
index 616244e..1f65b78 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
@@ -1,13 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <memory>
+#include <utility>
+
+#include "frc2/command/SwerveControllerCommand.h"
 
 namespace frc2 {
 
@@ -20,11 +20,11 @@
     std::function<frc::Rotation2d()> desiredRotation,
     std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
-      m_desiredRotation(desiredRotation),
+      m_desiredRotation(std::move(desiredRotation)),
       m_outputStates(output) {
   this->AddRequirements(requirements);
 }
@@ -37,8 +37,8 @@
     frc::ProfiledPIDController<units::radians> thetaController,
     std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
     std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
       m_outputStates(output) {
@@ -56,12 +56,12 @@
     frc::ProfiledPIDController<units::radians> thetaController,
     std::function<frc::Rotation2d()> desiredRotation,
     std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
-      m_desiredRotation(desiredRotation),
+      m_desiredRotation(std::move(desiredRotation)),
       m_outputStates(output) {
   this->AddRequirements(requirements);
 }
@@ -73,9 +73,9 @@
     frc2::PIDController xController, frc2::PIDController yController,
     frc::ProfiledPIDController<units::radians> thetaController,
     std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
-    wpi::ArrayRef<Subsystem*> requirements)
-    : m_trajectory(trajectory),
-      m_pose(pose),
+    wpi::span<Subsystem* const> requirements)
+    : m_trajectory(std::move(trajectory)),
+      m_pose(std::move(pose)),
       m_kinematics(kinematics),
       m_controller(xController, yController, thetaController),
       m_outputStates(output) {
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
index 70bf7f9..1d8d2c5 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -1,19 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <functional>
 #include <initializer_list>
 
+#include <frc/Timer.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
-#include "frc2/Timer.h"
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
 
@@ -38,8 +35,9 @@
    * Creates a new TrapezoidProfileCommand that will execute the given
    * TrapezoidalProfile. Output will be piped to the provided consumer function.
    *
-   * @param profile The motion profile to execute.
-   * @param output  The consumer for the profile output.
+   * @param profile      The motion profile to execute.
+   * @param output       The consumer for the profile output.
+   * @param requirements The list of requirements.
    */
   TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
                           std::function<void(State)> output,
@@ -52,12 +50,13 @@
    * Creates a new TrapezoidProfileCommand that will execute the given
    * TrapezoidalProfile. Output will be piped to the provided consumer function.
    *
-   * @param profile The motion profile to execute.
-   * @param output  The consumer for the profile output.
+   * @param profile      The motion profile to execute.
+   * @param output       The consumer for the profile output.
+   * @param requirements The list of requirements.
    */
   TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
                           std::function<void(State)> output,
-                          wpi::ArrayRef<Subsystem*> requirements = {})
+                          wpi::span<Subsystem* const> requirements = {})
       : m_profile(profile), m_output(output) {
     this->AddRequirements(requirements);
   }
@@ -79,7 +78,7 @@
   frc::TrapezoidProfile<Distance> m_profile;
   std::function<void(State)> m_output;
 
-  Timer m_timer;
+  frc::Timer m_timer;
 };
 
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
index 08336f1..fbebaf3 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
index 568db65..82249c3 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
@@ -1,15 +1,12 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
+#include <frc/Timer.h>
 #include <units/time.h>
 
-#include "frc2/Timer.h"
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
 
@@ -42,7 +39,7 @@
   bool RunsWhenDisabled() const override;
 
  protected:
-  Timer m_timer;
+  frc::Timer m_timer;
 
  private:
   units::second_t m_duration;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
index 741d3eb..ca74218 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
index 5e01edf..bab7a0f 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -11,7 +8,7 @@
 #include <initializer_list>
 #include <utility>
 
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "Trigger.h"
 
@@ -28,7 +25,7 @@
   /**
    * Create a new button that is pressed when the given condition is true.
    *
-   * @param isActive Whether the button is pressed.
+   * @param isPressed Whether the button is pressed.
    */
   explicit Button(std::function<bool()> isPressed);
 
@@ -82,7 +79,7 @@
    * @param requirements the required subsystems.
    */
   Button WhenPressed(std::function<void()> toRun,
-                     wpi::ArrayRef<Subsystem*> requirements = {});
+                     wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Binds a command to be started repeatedly while the button is pressed, and
@@ -128,7 +125,7 @@
    * @param requirements the required subsystems.
    */
   Button WhileHeld(std::function<void()> toRun,
-                   wpi::ArrayRef<Subsystem*> requirements = {});
+                   wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Binds a command to be started when the button is pressed, and canceled
@@ -202,7 +199,7 @@
    * @param requirements the required subsystems.
    */
   Button WhenReleased(std::function<void()> toRun,
-                      wpi::ArrayRef<Subsystem*> requirements = {});
+                      wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Binds a command to start when the button is pressed, and be canceled when
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h
index 421562e..4cd4689 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 #include <frc/GenericHID.h>
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h
index 9c09dd1..191e55d 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h
@@ -1,23 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
-#include <wpi/Twine.h>
 
 #include "Button.h"
 
 namespace frc2 {
 /**
- * A {@link Button} that uses a {@link NetworkTable} boolean field.
+ * A Button that uses a NetworkTable boolean field.
  */
 class NetworkButton : public Button {
  public:
@@ -35,7 +32,7 @@
    * @param field The field that is the value.
    */
   NetworkButton(std::shared_ptr<nt::NetworkTable> table,
-                const wpi::Twine& field);
+                std::string_view field);
 
   /**
    * Creates a NetworkButton that commands can be bound to.
@@ -43,6 +40,6 @@
    * @param table The table where the networktable value is located.
    * @param field The field that is the value.
    */
-  NetworkButton(const wpi::Twine& table, const wpi::Twine& field);
+  NetworkButton(std::string_view table, std::string_view field);
 };
 }  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
index e4f8f0e..cd8b62c 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 #include <frc/GenericHID.h>
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
index ecfc4d1..3213d4b 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -12,7 +9,8 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/ArrayRef.h>
+#include <units/time.h>
+#include <wpi/span.h>
 
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandScheduler.h"
@@ -92,7 +90,7 @@
    * Binds a runnable to execute when the trigger becomes active.
    *
    * @param toRun the runnable to execute.
-   * @paaram requirements the required subsystems.
+   * @param requirements the required subsystems.
    */
   Trigger WhenActive(std::function<void()> toRun,
                      std::initializer_list<Subsystem*> requirements);
@@ -101,10 +99,10 @@
    * Binds a runnable to execute when the trigger becomes active.
    *
    * @param toRun the runnable to execute.
-   * @paaram requirements the required subsystems.
+   * @param requirements the required subsystems.
    */
   Trigger WhenActive(std::function<void()> toRun,
-                     wpi::ArrayRef<Subsystem*> requirements = {});
+                     wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Binds a command to be started repeatedly while the trigger is active, and
@@ -164,7 +162,7 @@
    * @param requirements the required subsystems.
    */
   Trigger WhileActiveContinous(std::function<void()> toRun,
-                               wpi::ArrayRef<Subsystem*> requirements = {});
+                               wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Binds a command to be started when the trigger becomes active, and
@@ -264,7 +262,7 @@
    * @param requirements the required subsystems.
    */
   Trigger WhenInactive(std::function<void()> toRun,
-                       wpi::ArrayRef<Subsystem*> requirements = {});
+                       wpi::span<Subsystem* const> requirements = {});
 
   /**
    * Binds a command to start when the trigger becomes active, and be canceled
@@ -348,6 +346,15 @@
     return Trigger([*this] { return !m_isActive(); });
   }
 
+  /**
+   * Creates a new debounced trigger from this trigger - it will become active
+   * when this trigger has been active for longer than the specified period.
+   *
+   * @param debounceTime the debounce period
+   * @return the debounced trigger
+   */
+  Trigger Debounce(units::second_t debounceTime);
+
  private:
   std::function<bool()> m_isActive;
 };
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
index 0547b66..b0ffc88 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
@@ -1,19 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-
 public final class MockHardwareExtension implements BeforeAllCallback {
   private static ExtensionContext getRoot(ExtensionContext context) {
     return context.getParent().map(MockHardwareExtension::getRoot).orElse(context);
@@ -21,10 +17,15 @@
 
   @Override
   public void beforeAll(ExtensionContext context) {
-    getRoot(context).getStore(Namespace.GLOBAL).getOrComputeIfAbsent("HAL Initialized", key -> {
-      initializeHardware();
-      return true;
-    }, Boolean.class);
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "HAL Initialized",
+            key -> {
+              initializeHardware();
+              return true;
+            },
+            Boolean.class);
   }
 
   private void initializeHardware() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
index d661598..b2f482c 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -1,20 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.parallel.ResourceLock;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
-
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.parallel.ResourceLock;
 
 class CommandDecoratorTest extends CommandTestBase {
   @Test
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
index 82e78c5..8da92c7 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
@@ -1,30 +1,25 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 
+import org.junit.jupiter.api.Test;
+
 class CommandGroupErrorTest extends CommandTestBase {
   @Test
   void commandInMultipleGroupsTest() {
-
     MockCommandHolder command1Holder = new MockCommandHolder(true);
     Command command1 = command1Holder.getMock();
     MockCommandHolder command2Holder = new MockCommandHolder(true);
     Command command2 = command2Holder.getMock();
 
-    @SuppressWarnings("PMD.UnusedLocalVariable")
-    Command group = new ParallelCommandGroup(command1, command2);
-    assertThrows(IllegalArgumentException.class,
-        () -> new ParallelCommandGroup(command1, command2));
+    new ParallelCommandGroup(command1, command2);
+    assertThrows(
+        IllegalArgumentException.class, () -> new ParallelCommandGroup(command1, command2));
   }
 
   @Test
@@ -35,11 +30,9 @@
       MockCommandHolder command2Holder = new MockCommandHolder(true);
       Command command2 = command2Holder.getMock();
 
-      @SuppressWarnings("PMD.UnusedLocalVariable")
-      Command group = new ParallelCommandGroup(command1, command2);
+      new ParallelCommandGroup(command1, command2);
 
-      assertThrows(IllegalArgumentException.class,
-          () -> scheduler.schedule(command1));
+      assertThrows(IllegalArgumentException.class, () -> scheduler.schedule(command1));
     }
   }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
index d19331b..b5058c7 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
@@ -1,19 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class CommandRequirementsTest extends CommandTestBase {
   @Test
   void requirementInterruptTest() {
@@ -66,13 +63,12 @@
       Subsystem system = new TestSubsystem();
 
       Command missingRequirement = new WaitUntilCommand(() -> false);
-      Command ends = new InstantCommand(() -> {
-      }, system);
+      Command ends = new InstantCommand(() -> {}, system);
 
-      assertThrows(IllegalArgumentException.class,
+      assertThrows(
+          IllegalArgumentException.class,
           () -> scheduler.setDefaultCommand(system, missingRequirement));
-      assertThrows(IllegalArgumentException.class,
-          () -> scheduler.setDefaultCommand(system, ends));
+      assertThrows(IllegalArgumentException.class, () -> scheduler.setDefaultCommand(system, ends));
     }
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
index 74d2d5d..a30a6ca 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
@@ -1,14 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -16,6 +11,8 @@
 import static org.mockito.Mockito.times;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class CommandScheduleTest extends CommandTestBase {
   @Test
   void instantScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
index 6500f69..88190ed 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
@@ -1,27 +1,21 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Set;
-
-import org.junit.jupiter.api.BeforeEach;
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.simulation.DriverStationSim;
-
 import static org.mockito.Mockito.mock;
 import static org.mockito.Mockito.when;
 
-/**
- * Basic setup for all {@link Command tests}."
- */
-@SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import java.util.Set;
+import org.junit.jupiter.api.BeforeEach;
+
+/** Basic setup for all {@link Command tests}." */
 public abstract class CommandTestBase {
+  protected CommandTestBase() {}
+
   @BeforeEach
   void commandSetup() {
     CommandScheduler.getInstance().cancelAll();
@@ -37,8 +31,8 @@
 
     DriverStationSim.setEnabled(enabled);
     DriverStationSim.notifyNewData();
-    DriverStation.getInstance().isNewControlData();
-    while (DriverStation.getInstance().isEnabled() != enabled) {
+    DriverStation.isNewControlData();
+    while (DriverStation.isEnabled() != enabled) {
       try {
         Thread.sleep(1);
       } catch (InterruptedException exception) {
@@ -47,10 +41,9 @@
     }
   }
 
-  public class TestSubsystem extends SubsystemBase {
-  }
+  public static class TestSubsystem extends SubsystemBase {}
 
-  public class MockCommandHolder {
+  public static class MockCommandHolder {
     private final Command m_mockCommand = mock(Command.class);
 
     public MockCommandHolder(boolean runWhenDisabled, Subsystem... requirements) {
@@ -66,10 +59,9 @@
     public void setFinished(boolean finished) {
       when(m_mockCommand.isFinished()).thenReturn(finished);
     }
-
   }
 
-  public class Counter {
+  public static class Counter {
     public int m_counter;
 
     public void increment() {
@@ -77,7 +69,7 @@
     }
   }
 
-  public class ConditionHolder {
+  public static class ConditionHolder {
     private boolean m_condition;
 
     public void setCondition(boolean condition) {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
index 939fa01..ccf4205 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ConditionalCommandTest extends CommandTestBase {
   @Test
   void conditionalCommandTest() {
@@ -55,8 +52,7 @@
           new ConditionalCommand(command1, command2, () -> true);
 
       scheduler.schedule(conditionalCommand);
-      scheduler.schedule(new InstantCommand(() -> {
-      }, system3));
+      scheduler.schedule(new InstantCommand(() -> {}, system3));
 
       assertFalse(scheduler.isScheduled(conditionalCommand));
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
index dccf0ff..dc910fc 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class DefaultCommandTest extends CommandTestBase {
   @Test
   void defaultCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
index 484cdf9..e6a073f 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class FunctionalCommandTest extends CommandTestBase {
   @Test
   void functionalCommandScheduleTest() {
@@ -22,8 +19,11 @@
       ConditionHolder cond4 = new ConditionHolder();
 
       FunctionalCommand command =
-          new FunctionalCommand(() -> cond1.setCondition(true), () -> cond2.setCondition(true),
-              interrupted -> cond3.setCondition(true), cond4::getCondition);
+          new FunctionalCommand(
+              () -> cond1.setCondition(true),
+              () -> cond2.setCondition(true),
+              interrupted -> cond3.setCondition(true),
+              cond4::getCondition);
 
       scheduler.schedule(command);
       scheduler.run();
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
index e2b9dbe..88c55a6 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class InstantCommandTest extends CommandTestBase {
   @Test
   void instantCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
index 9d9ebfd..ac158c2 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
@@ -1,37 +1,32 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.ArrayList;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
+import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
+import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
+import edu.wpi.first.math.trajectory.TrajectoryConfig;
+import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.util.ArrayList;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
-import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
 class MecanumControllerCommandTest {
   @BeforeEach
   void setupAll() {
@@ -52,8 +47,8 @@
   private double m_frontRightSpeed;
   private double m_rearRightSpeed;
 
-  private final ProfiledPIDController m_rotController = new ProfiledPIDController(1, 0, 0,
-      new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
+  private final ProfiledPIDController m_rotController =
+      new ProfiledPIDController(1, 0, 0, new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
 
   private static final double kxTolerance = 1 / 12.0;
   private static final double kyTolerance = 1 / 12.0;
@@ -62,14 +57,16 @@
   private static final double kWheelBase = 0.5;
   private static final double kTrackWidth = 0.5;
 
-  private final MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
-      new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+  private final MecanumDriveKinematics m_kinematics =
+      new MecanumDriveKinematics(
+          new Translation2d(kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
 
-  private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics,
-      new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
+  private final MecanumDriveOdometry m_odometry =
+      new MecanumDriveOdometry(
+          m_kinematics, new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
 
   public void setWheelSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
     this.m_frontLeftSpeed = wheelSpeeds.frontLeftMetersPerSecond;
@@ -79,8 +76,8 @@
   }
 
   public MecanumDriveWheelSpeeds getCurrentWheelSpeeds() {
-    return new MecanumDriveWheelSpeeds(m_frontLeftSpeed,
-      m_frontRightSpeed, m_rearLeftSpeed, m_rearRightSpeed);
+    return new MecanumDriveWheelSpeeds(
+        m_frontLeftSpeed, m_frontRightSpeed, m_rearLeftSpeed, m_rearRightSpeed);
   }
 
   public Pose2d getRobotPose() {
@@ -90,7 +87,6 @@
 
   @Test
   @ResourceLock("timing")
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   void testReachesReference() {
     final var subsystem = new Subsystem() {};
 
@@ -102,15 +98,17 @@
 
     final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
 
-    final var command = new MecanumControllerCommand(trajectory,
-        this::getRobotPose,
-        m_kinematics,
-        new PIDController(0.6, 0, 0),
-        new PIDController(0.6, 0, 0),
-        m_rotController,
-        8.8,
-        this::setWheelSpeeds,
-        subsystem);
+    final var command =
+        new MecanumControllerCommand(
+            trajectory,
+            this::getRobotPose,
+            m_kinematics,
+            new PIDController(0.6, 0, 0),
+            new PIDController(0.6, 0, 0),
+            m_rotController,
+            8.8,
+            this::setWheelSpeeds,
+            subsystem);
 
     m_timer.reset();
     m_timer.start();
@@ -125,12 +123,12 @@
     command.end(true);
 
     assertAll(
-        () -> assertEquals(endState.poseMeters.getX(),
-          getRobotPose().getX(), kxTolerance),
-        () -> assertEquals(endState.poseMeters.getY(),
-          getRobotPose().getY(), kyTolerance),
-        () -> assertEquals(endState.poseMeters.getRotation().getRadians(),
-          getRobotPose().getRotation().getRadians(), kAngularTolerance)
-    );
+        () -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
+        () -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
+        () ->
+            assertEquals(
+                endState.poseMeters.getRotation().getRadians(),
+                getRobotPose().getRotation().getRadians(),
+                kAngularTolerance));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
index 2448821..283a3de 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
@@ -1,22 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
 class NotifierCommandTest extends CommandTestBase {
   @BeforeEach
   void setup() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
index a32b994..afc32ae 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
@@ -1,14 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
@@ -17,6 +12,8 @@
 import static org.mockito.Mockito.times;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ParallelCommandGroupTest extends CommandTestBase {
   @Test
   void parallelGroupScheduleTest() {
@@ -126,7 +123,7 @@
     MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
     Command command2 = command2Holder.getMock();
 
-    assertThrows(IllegalArgumentException.class,
-        () -> new ParallelCommandGroup(command1, command2));
+    assertThrows(
+        IllegalArgumentException.class, () -> new ParallelCommandGroup(command1, command2));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
index bc10a0e..1fe3866 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
@@ -1,14 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -16,6 +11,8 @@
 import static org.mockito.Mockito.verify;
 import static org.mockito.internal.verification.VerificationModeFactory.times;
 
+import org.junit.jupiter.api.Test;
+
 class ParallelDeadlineGroupTest extends CommandTestBase {
   @Test
   void parallelDeadlineScheduleTest() {
@@ -86,7 +83,6 @@
     }
   }
 
-
   @Test
   void parallelDeadlineRequirementTest() {
     Subsystem system1 = new TestSubsystem();
@@ -123,7 +119,7 @@
     MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
     Command command2 = command2Holder.getMock();
 
-    assertThrows(IllegalArgumentException.class,
-        () -> new ParallelDeadlineGroup(command1, command2));
+    assertThrows(
+        IllegalArgumentException.class, () -> new ParallelDeadlineGroup(command1, command2));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
index 360882d..3201a52 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
@@ -1,14 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertNotNull;
@@ -19,6 +14,8 @@
 import static org.mockito.Mockito.times;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ParallelRaceGroupTest extends CommandTestBase {
   @Test
   void parallelRaceScheduleTest() {
@@ -92,7 +89,6 @@
     }
   }
 
-
   @Test
   void parallelRaceRequirementTest() {
     Subsystem system1 = new TestSubsystem();
@@ -205,5 +201,4 @@
       assertFalse(scheduler.isScheduled(group));
     }
   }
-
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
index 58195f3..f9e93a3 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class PerpetualCommandTest extends CommandTestBase {
   @Test
   void perpetualCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
index 1895fc0..6abd94b 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
@@ -1,20 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.io.ByteArrayOutputStream;
-import java.io.PrintStream;
-
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 
+import java.io.ByteArrayOutputStream;
+import java.io.PrintStream;
+import org.junit.jupiter.api.Test;
+
 class PrintCommandTest extends CommandTestBase {
   @Test
   void printCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
index 5364b95..3c34688 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ProxyScheduleCommandTest extends CommandTestBase {
   @Test
   void proxyScheduleCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
index 3b607bf..b807c71 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
@@ -1,20 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Map;
-
-import org.junit.jupiter.api.Test;
-
 import static edu.wpi.first.wpilibj2.command.CommandGroupBase.parallel;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import java.util.Map;
+import org.junit.jupiter.api.Test;
+
 class RobotDisabledCommandTest extends CommandTestBase {
   @Test
   void robotDisabledCommandCancelTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
index 07c18dd..92e2d75 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class RunCommandTest extends CommandTestBase {
   @Test
   void runCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
index c8d5127..c9ae4b2 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class ScheduleCommandTest extends CommandTestBase {
   @Test
   void scheduleCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
index c148816..558ef57 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import org.junit.jupiter.api.Test;
+
 class SchedulerTest extends CommandTestBase {
   @Test
   void schedulerLambdaTestNoInterrupt() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
index 53f6a98..de40ef8 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
@@ -1,21 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.Map;
-
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 
+import java.util.Map;
+import org.junit.jupiter.api.Test;
+
 class SelectCommandTest extends CommandTestBase {
   @Test
   void selectCommandTest() {
@@ -29,10 +25,11 @@
       Command command3 = command3Holder.getMock();
 
       SelectCommand selectCommand =
-          new SelectCommand(Map.ofEntries(
-              Map.entry("one", command1),
-              Map.entry("two", command2),
-              Map.entry("three", command3)),
+          new SelectCommand(
+              Map.ofEntries(
+                  Map.entry("one", command1),
+                  Map.entry("two", command2),
+                  Map.entry("three", command3)),
               () -> "one");
 
       scheduler.schedule(selectCommand);
@@ -64,17 +61,17 @@
       Command command3 = command3Holder.getMock();
 
       SelectCommand selectCommand =
-          new SelectCommand(Map.ofEntries(
-              Map.entry("one", command1),
-              Map.entry("two", command2),
-              Map.entry("three", command3)),
+          new SelectCommand(
+              Map.ofEntries(
+                  Map.entry("one", command1),
+                  Map.entry("two", command2),
+                  Map.entry("three", command3)),
               () -> "four");
 
       assertDoesNotThrow(() -> scheduler.schedule(selectCommand));
     }
   }
 
-
   @Test
   void selectCommandRequirementTest() {
     Subsystem system1 = new TestSubsystem();
@@ -90,13 +87,16 @@
       MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
       Command command3 = command3Holder.getMock();
 
-      SelectCommand selectCommand = new SelectCommand(
-          Map.ofEntries(Map.entry("one", command1), Map.entry("two", command2),
-              Map.entry("three", command3)), () -> "one");
+      SelectCommand selectCommand =
+          new SelectCommand(
+              Map.ofEntries(
+                  Map.entry("one", command1),
+                  Map.entry("two", command2),
+                  Map.entry("three", command3)),
+              () -> "one");
 
       scheduler.schedule(selectCommand);
-      scheduler.schedule(new InstantCommand(() -> {
-      }, system3));
+      scheduler.schedule(new InstantCommand(() -> {}, system3));
 
       assertFalse(scheduler.isScheduled(selectCommand));
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
index a47f865..811034c 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
@@ -1,20 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 
+import org.junit.jupiter.api.Test;
+
 class SequentialCommandGroupTest extends CommandTestBase {
   @Test
   void sequentialGroupScheduleTest() {
@@ -100,7 +97,6 @@
     }
   }
 
-
   @Test
   void sequentialGroupRequirementTest() {
     Subsystem system1 = new TestSubsystem();
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
index 90ad41a..60c5c44 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class StartEndCommandTest extends CommandTestBase {
   @Test
   void startEndCommandScheduleTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
index 2febfbf..0cf6d67 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
@@ -1,37 +1,32 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import java.util.ArrayList;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.trajectory.TrajectoryConfig;
+import edu.wpi.first.math.trajectory.TrajectoryGenerator;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.util.ArrayList;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
-import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-import static org.junit.jupiter.api.Assertions.assertAll;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
 class SwerveControllerCommandTest {
   @BeforeEach
   void setup() {
@@ -47,14 +42,16 @@
   private final Timer m_timer = new Timer();
   private Rotation2d m_angle = new Rotation2d(0);
 
-  private SwerveModuleState[] m_moduleStates = new SwerveModuleState[]{
-    new SwerveModuleState(0, new Rotation2d(0)),
-    new SwerveModuleState(0, new Rotation2d(0)),
-    new SwerveModuleState(0, new Rotation2d(0)),
-    new SwerveModuleState(0, new Rotation2d(0))};
+  private SwerveModuleState[] m_moduleStates =
+      new SwerveModuleState[] {
+        new SwerveModuleState(0, new Rotation2d(0)),
+        new SwerveModuleState(0, new Rotation2d(0)),
+        new SwerveModuleState(0, new Rotation2d(0)),
+        new SwerveModuleState(0, new Rotation2d(0))
+      };
 
-  private final ProfiledPIDController m_rotController = new ProfiledPIDController(1, 0, 0,
-      new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
+  private final ProfiledPIDController m_rotController =
+      new ProfiledPIDController(1, 0, 0, new TrapezoidProfile.Constraints(3 * Math.PI, Math.PI));
 
   private static final double kxTolerance = 1 / 12.0;
   private static final double kyTolerance = 1 / 12.0;
@@ -63,14 +60,15 @@
   private static final double kWheelBase = 0.5;
   private static final double kTrackWidth = 0.5;
 
-  private final SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
-      new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-      new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+  private final SwerveDriveKinematics m_kinematics =
+      new SwerveDriveKinematics(
+          new Translation2d(kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
+          new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
 
-  private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics,
-      new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
+  private final SwerveDriveOdometry m_odometry =
+      new SwerveDriveOdometry(m_kinematics, new Rotation2d(0), new Pose2d(0, 0, new Rotation2d(0)));
 
   @SuppressWarnings("PMD.ArrayIsStoredDirectly")
   public void setModuleStates(SwerveModuleState[] moduleStates) {
@@ -84,7 +82,6 @@
 
   @Test
   @ResourceLock("timing")
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   void testReachesReference() {
     final var subsystem = new Subsystem() {};
 
@@ -96,14 +93,16 @@
 
     final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
 
-    final var command = new SwerveControllerCommand(trajectory,
-        this::getRobotPose,
-        m_kinematics,
-        new PIDController(0.6, 0, 0),
-        new PIDController(0.6, 0, 0),
-        m_rotController,
-        this::setModuleStates,
-        subsystem);
+    final var command =
+        new SwerveControllerCommand(
+            trajectory,
+            this::getRobotPose,
+            m_kinematics,
+            new PIDController(0.6, 0, 0),
+            new PIDController(0.6, 0, 0),
+            m_rotController,
+            this::setModuleStates,
+            subsystem);
 
     m_timer.reset();
     m_timer.start();
@@ -118,12 +117,12 @@
     command.end(true);
 
     assertAll(
-        () -> assertEquals(endState.poseMeters.getX(),
-          getRobotPose().getX(), kxTolerance),
-        () -> assertEquals(endState.poseMeters.getY(),
-          getRobotPose().getY(), kyTolerance),
-        () -> assertEquals(endState.poseMeters.getRotation().getRadians(),
-          getRobotPose().getRotation().getRadians(), kAngularTolerance)
-    );
+        () -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
+        () -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
+        () ->
+            assertEquals(
+                endState.poseMeters.getRotation().getRadians(),
+                getRobotPose().getRotation().getRadians(),
+                kAngularTolerance));
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
index f7f9296..7cf1a28 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
@@ -1,27 +1,24 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.parallel.ResourceLock;
-
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.ArgumentMatchers.anyDouble;
+import static org.mockito.ArgumentMatchers.notNull;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 import static org.mockito.Mockito.when;
 
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.parallel.ResourceLock;
+
 class WaitCommandTest extends CommandTestBase {
   @BeforeEach
   void setup() {
@@ -62,6 +59,7 @@
       MockCommandHolder command1Holder = new MockCommandHolder(true);
       Command command1 = command1Holder.getMock();
       when(command1.withTimeout(anyDouble())).thenCallRealMethod();
+      when(command1.raceWith(notNull())).thenCallRealMethod();
 
       Command timeout = command1.withTimeout(2);
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
index c38feee..85539dc 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
@@ -1,17 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command;
 
-import org.junit.jupiter.api.Test;
-
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import org.junit.jupiter.api.Test;
+
 class WaitUntilCommandTest extends CommandTestBase {
   @Test
   void waitUntilTest() {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
index 44083d0..1a4f05d 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
@@ -1,18 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import org.junit.jupiter.api.Test;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.CommandTestBase;
-
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -21,6 +12,11 @@
 import static org.mockito.Mockito.verify;
 import static org.mockito.Mockito.when;
 
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.CommandTestBase;
+import org.junit.jupiter.api.Test;
 
 class ButtonTest extends CommandTestBase {
   @Test
@@ -140,7 +136,6 @@
 
   @Test
   void runnableBindingTest() {
-
     InternalButton buttonWhenPressed = new InternalButton();
     InternalButton buttonWhileHeld = new InternalButton();
     InternalButton buttonWhenReleased = new InternalButton();
@@ -178,4 +173,26 @@
     assertFalse(button1.negate().get());
     assertTrue(button1.and(button2.negate()).get());
   }
+
+  @Test
+  void debounceTest() {
+    CommandScheduler scheduler = CommandScheduler.getInstance();
+    MockCommandHolder commandHolder = new MockCommandHolder(true);
+    Command command = commandHolder.getMock();
+
+    InternalButton button = new InternalButton();
+    Trigger debounced = button.debounce(0.1);
+
+    debounced.whenActive(command);
+
+    button.setPressed(true);
+    scheduler.run();
+    verify(command, never()).schedule(true);
+
+    SimHooks.stepTiming(0.3);
+
+    button.setPressed(true);
+    scheduler.run();
+    verify(command).schedule(true);
+  }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
index 26a4a1c..9502977 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
@@ -1,22 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.wpilibj2.command.button;
 
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
 
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.CommandTestBase;
-
-import static org.mockito.Mockito.never;
-import static org.mockito.Mockito.verify;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
 
 class NetworkButtonTest extends CommandTestBase {
   @BeforeEach
@@ -35,9 +31,7 @@
     var scheduler = CommandScheduler.getInstance();
     var commandHolder = new MockCommandHolder(true);
     var command = commandHolder.getMock();
-    var entry = NetworkTableInstance.getDefault()
-        .getTable("TestTable")
-        .getEntry("Test");
+    var entry = NetworkTableInstance.getDefault().getTable("TestTable").getEntry("Test");
 
     var button = new NetworkButton("TestTable", "Test");
     entry.setBoolean(false);
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
index 67eb428..5ae17cc 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <frc/simulation/SimHooks.h>
 
@@ -17,7 +14,7 @@
 using namespace frc2;
 class CommandDecoratorTest : public CommandTestBase {};
 
-TEST_F(CommandDecoratorTest, WithTimeoutTest) {
+TEST_F(CommandDecoratorTest, WithTimeout) {
   CommandScheduler scheduler = GetScheduler();
 
   frc::sim::PauseTiming();
@@ -37,7 +34,7 @@
   frc::sim::ResumeTiming();
 }
 
-TEST_F(CommandDecoratorTest, WithInterruptTest) {
+TEST_F(CommandDecoratorTest, WithInterrupt) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
@@ -56,7 +53,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(CommandDecoratorTest, BeforeStartingTest) {
+TEST_F(CommandDecoratorTest, BeforeStarting) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
@@ -74,7 +71,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(CommandDecoratorTest, AndThenTest) {
+TEST_F(CommandDecoratorTest, AndThen) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
@@ -93,7 +90,7 @@
   EXPECT_TRUE(finished);
 }
 
-TEST_F(CommandDecoratorTest, PerpetuallyTest) {
+TEST_F(CommandDecoratorTest, Perpetually) {
   CommandScheduler scheduler = GetScheduler();
 
   auto command = InstantCommand([] {}, {}).Perpetually();
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
index 2600430..c812670 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
@@ -1,9 +1,8 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <frc/Errors.h>
 
 #include "CommandTestBase.h"
 #include "frc2/command/CommandScheduler.h"
@@ -18,7 +17,7 @@
 using namespace frc2;
 class CommandRequirementsTest : public CommandTestBase {};
 
-TEST_F(CommandRequirementsTest, RequirementInterruptTest) {
+TEST_F(CommandRequirementsTest, RequirementInterrupt) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement;
@@ -45,7 +44,7 @@
   scheduler.Run();
 }
 
-TEST_F(CommandRequirementsTest, RequirementUninterruptibleTest) {
+TEST_F(CommandRequirementsTest, RequirementUninterruptible) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement;
@@ -72,13 +71,11 @@
   scheduler.Run();
 }
 
-TEST_F(CommandRequirementsTest, DefaultCommandRequirementErrorTest) {
+TEST_F(CommandRequirementsTest, DefaultCommandRequirementError) {
   TestSubsystem requirement1;
-  ErrorConfirmer confirmer("require");
 
   MockCommand command1;
 
-  requirement1.SetDefaultCommand(std::move(command1));
-
-  EXPECT_TRUE(requirement1.GetDefaultCommand() == NULL);
+  ASSERT_THROW(requirement1.SetDefaultCommand(std::move(command1)),
+               frc::RuntimeError);
 }
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp
index 6572a98..cb16b48 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp
@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 
 using namespace frc2;
 class CommandScheduleTest : public CommandTestBase {};
 
-TEST_F(CommandScheduleTest, InstantScheduleTest) {
+TEST_F(CommandScheduleTest, InstantSchedule) {
   CommandScheduler scheduler = GetScheduler();
   MockCommand command;
 
@@ -25,7 +22,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(CommandScheduleTest, SingleIterationScheduleTest) {
+TEST_F(CommandScheduleTest, SingleIterationSchedule) {
   CommandScheduler scheduler = GetScheduler();
   MockCommand command;
 
@@ -41,7 +38,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(CommandScheduleTest, MultiScheduleTest) {
+TEST_F(CommandScheduleTest, MultiSchedule) {
   CommandScheduler scheduler = GetScheduler();
   MockCommand command1;
   MockCommand command2;
@@ -78,7 +75,7 @@
   EXPECT_FALSE(scheduler.IsScheduled({&command1, &command2, &command3}));
 }
 
-TEST_F(CommandScheduleTest, SchedulerCancelTest) {
+TEST_F(CommandScheduleTest, SchedulerCancel) {
   CommandScheduler scheduler = GetScheduler();
   MockCommand command;
 
@@ -95,7 +92,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(CommandScheduleTest, NotScheduledCancelTest) {
+TEST_F(CommandScheduleTest, NotScheduledCancel) {
   CommandScheduler scheduler = GetScheduler();
   MockCommand command;
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.cpp
index e5136ba..7ebbb70 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 
@@ -16,9 +13,13 @@
   scheduler.ClearButtons();
 }
 
-CommandScheduler CommandTestBase::GetScheduler() { return CommandScheduler(); }
+CommandScheduler CommandTestBase::GetScheduler() {
+  return CommandScheduler();
+}
 
-void CommandTestBase::SetUp() { frc::sim::DriverStationSim::SetEnabled(true); }
+void CommandTestBase::SetUp() {
+  frc::sim::DriverStationSim::SetEnabled(true);
+}
 
 void CommandTestBase::TearDown() {
   CommandScheduler::GetInstance().ClearButtons();
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.h b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.h
index c6400a8..a3890f6 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.h
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandTestBase.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
@@ -12,7 +9,6 @@
 
 #include <frc/simulation/DriverStationSim.h>
 
-#include "ErrorConfirmer.h"
 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandScheduler.h"
 #include "frc2/command/SetUtilities.h"
@@ -68,20 +64,20 @@
           .WillRepeatedly(::testing::Return(m_requirements));
     }
 
-    MockCommand(const MockCommand& other) : Command{} {}
+    MockCommand(const MockCommand& other) : Command{other} {}
 
     void SetFinished(bool finished) {
       EXPECT_CALL(*this, IsFinished())
           .WillRepeatedly(::testing::Return(finished));
     }
 
-    ~MockCommand() {
+    ~MockCommand() {  // NOLINT
       auto& scheduler = CommandScheduler::GetInstance();
       scheduler.Cancel(this);
     }
 
    protected:
-    std::unique_ptr<Command> TransferOwnership() && {
+    std::unique_ptr<Command> TransferOwnership() && {  // NOLINT
       return std::make_unique<MockCommand>(std::move(*this));
     }
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
index 927721a..27b89e5 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/ConditionalCommand.h"
@@ -13,7 +10,7 @@
 using namespace frc2;
 class ConditionalCommandTest : public CommandTestBase {};
 
-TEST_F(ConditionalCommandTest, ConditionalCommandScheduleTest) {
+TEST_F(ConditionalCommandTest, ConditionalCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> mock = std::make_unique<MockCommand>();
@@ -34,7 +31,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&conditional));
 }
 
-TEST_F(ConditionalCommandTest, ConditionalCommandRequirementTest) {
+TEST_F(ConditionalCommandTest, ConditionalCommandRequirement) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement1;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
index b97cbb6..a9e3fc6 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/RunCommand.h"
@@ -11,7 +8,7 @@
 using namespace frc2;
 class DefaultCommandTest : public CommandTestBase {};
 
-TEST_F(DefaultCommandTest, DefaultCommandScheduleTest) {
+TEST_F(DefaultCommandTest, DefaultCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem subsystem;
@@ -25,7 +22,7 @@
   EXPECT_TRUE(scheduler.IsScheduled(handle));
 }
 
-TEST_F(DefaultCommandTest, DefaultCommandInterruptResumeTest) {
+TEST_F(DefaultCommandTest, DefaultCommandInterruptResume) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem subsystem;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ErrorConfirmer.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ErrorConfirmer.cpp
deleted file mode 100644
index 2c13f5d..0000000
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ErrorConfirmer.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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 "ErrorConfirmer.h"
-
-#include <regex>
-
-ErrorConfirmer* ErrorConfirmer::instance;
-
-int32_t ErrorConfirmer::HandleError(HAL_Bool isError, int32_t errorCode,
-                                    HAL_Bool isLVCode, const char* details,
-                                    const char* location, const char* callStack,
-                                    HAL_Bool printMsg) {
-  if (std::regex_search(details, std::regex(instance->m_msg))) {
-    instance->ConfirmError();
-  }
-  return 1;
-}
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ErrorConfirmer.h b/wpilibNewCommands/src/test/native/cpp/frc2/command/ErrorConfirmer.h
deleted file mode 100644
index 2df5e26..0000000
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ErrorConfirmer.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <hal/simulation/MockHooks.h>
-
-#include "gmock/gmock.h"
-
-class ErrorConfirmer {
- public:
-  explicit ErrorConfirmer(const char* msg) : m_msg(msg) {
-    if (instance != nullptr) return;
-    HALSIM_SetSendError(HandleError);
-    EXPECT_CALL(*this, ConfirmError());
-    instance = this;
-  }
-
-  ~ErrorConfirmer() {
-    HALSIM_SetSendError(nullptr);
-    instance = nullptr;
-  }
-
-  MOCK_METHOD0(ConfirmError, void());
-
-  const char* m_msg;
-
-  static int32_t HandleError(HAL_Bool isError, int32_t errorCode,
-                             HAL_Bool isLVCode, const char* details,
-                             const char* location, const char* callStack,
-                             HAL_Bool printMsg);
-
- private:
-  static ErrorConfirmer* instance;
-};
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/FunctionalCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/FunctionalCommandTest.cpp
index 140d4fb..0f0ebda 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/FunctionalCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/FunctionalCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/FunctionalCommand.h"
@@ -11,7 +8,7 @@
 using namespace frc2;
 class FunctionalCommandTest : public CommandTestBase {};
 
-TEST_F(FunctionalCommandTest, FunctionalCommandScheduleTest) {
+TEST_F(FunctionalCommandTest, FunctionalCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   int counter = 0;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/InstantCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/InstantCommandTest.cpp
index e91f677..90eab85 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/InstantCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/InstantCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
@@ -11,7 +8,7 @@
 using namespace frc2;
 class InstantCommandTest : public CommandTestBase {};
 
-TEST_F(InstantCommandTest, InstantCommandScheduleTest) {
+TEST_F(InstantCommandTest, InstantCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   int counter = 0;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
index 07bc07a..537d892 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
@@ -1,14 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/Timer.h>
 #include <frc2/command/MecanumControllerCommand.h>
 #include <frc2/command/Subsystem.h>
 
+#include <frc/Timer.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/geometry/Rotation2d.h>
@@ -17,7 +14,7 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/simulation/SimHooks.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "gtest/gtest.h"
 
@@ -30,7 +27,7 @@
                            units::inverse<units::squared<units::second>>>;
 
  protected:
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
   frc::Rotation2d m_angle{0_rad};
 
   units::meters_per_second_t m_frontLeftSpeed = 0.0_mps;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp
index b4df5a7..00c9b89 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <frc/simulation/SimHooks.h>
 
@@ -15,7 +12,7 @@
 
 class NotifierCommandTest : public CommandTestBase {};
 
-TEST_F(NotifierCommandTest, NotifierCommandScheduleTest) {
+TEST_F(NotifierCommandTest, NotifierCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   frc::sim::PauseTiming();
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/POVButtonTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/POVButtonTest.cpp
index 2a1646d..5f6e733 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/POVButtonTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/POVButtonTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <frc/Joystick.h>
 #include <frc/simulation/JoystickSim.h>
@@ -18,7 +15,7 @@
 using namespace frc2;
 class POVButtonTest : public CommandTestBase {};
 
-TEST_F(POVButtonTest, SetPOVTest) {
+TEST_F(POVButtonTest, SetPOV) {
   frc::sim::JoystickSim joysim(1);
   joysim.SetPOV(0);
   joysim.NotifyNewData();
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
index 55c7b98..d6c0295 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
@@ -13,7 +10,7 @@
 using namespace frc2;
 class ParallelCommandGroupTest : public CommandTestBase {};
 
-TEST_F(ParallelCommandGroupTest, ParallelGroupScheduleTest) {
+TEST_F(ParallelCommandGroupTest, ParallelGroupSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
@@ -43,7 +40,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelCommandGroupTest, ParallelGroupInterruptTest) {
+TEST_F(ParallelCommandGroupTest, ParallelGroupInterrupt) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
@@ -74,7 +71,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelCommandGroupTest, ParallelGroupNotScheduledCancelTest) {
+TEST_F(ParallelCommandGroupTest, ParallelGroupNotScheduledCancel) {
   CommandScheduler scheduler = GetScheduler();
 
   ParallelCommandGroup group((InstantCommand(), InstantCommand()));
@@ -82,7 +79,7 @@
   EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
 }
 
-TEST_F(ParallelCommandGroupTest, ParallelGroupCopyTest) {
+TEST_F(ParallelCommandGroupTest, ParallelGroupCopy) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
@@ -98,7 +95,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelCommandGroupTest, ParallelGroupRequirementTest) {
+TEST_F(ParallelCommandGroupTest, ParallelGroupRequirement) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement1;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
index 6e3246f..67d8720 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
@@ -13,7 +10,7 @@
 using namespace frc2;
 class ParallelDeadlineGroupTest : public CommandTestBase {};
 
-TEST_F(ParallelDeadlineGroupTest, DeadlineGroupScheduleTest) {
+TEST_F(ParallelDeadlineGroupTest, DeadlineGroupSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
@@ -51,7 +48,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelDeadlineGroupTest, SequentialGroupInterruptTest) {
+TEST_F(ParallelDeadlineGroupTest, SequentialGroupInterrupt) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem subsystem;
@@ -90,7 +87,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelDeadlineGroupTest, DeadlineGroupNotScheduledCancelTest) {
+TEST_F(ParallelDeadlineGroupTest, DeadlineGroupNotScheduledCancel) {
   CommandScheduler scheduler = GetScheduler();
 
   ParallelDeadlineGroup group{InstantCommand(), InstantCommand()};
@@ -98,7 +95,7 @@
   EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
 }
 
-TEST_F(ParallelDeadlineGroupTest, ParallelDeadlineCopyTest) {
+TEST_F(ParallelDeadlineGroupTest, ParallelDeadlineCopy) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
@@ -114,7 +111,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelDeadlineGroupTest, ParallelDeadlineRequirementTest) {
+TEST_F(ParallelDeadlineGroupTest, ParallelDeadlineRequirement) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement1;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
index 072bcb0..72f4274 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
@@ -14,7 +11,7 @@
 using namespace frc2;
 class ParallelRaceGroupTest : public CommandTestBase {};
 
-TEST_F(ParallelRaceGroupTest, ParallelRaceScheduleTest) {
+TEST_F(ParallelRaceGroupTest, ParallelRaceSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
@@ -50,7 +47,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelRaceGroupTest, ParallelRaceInterruptTest) {
+TEST_F(ParallelRaceGroupTest, ParallelRaceInterrupt) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
@@ -86,7 +83,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelRaceGroupTest, ParallelRaceNotScheduledCancelTest) {
+TEST_F(ParallelRaceGroupTest, ParallelRaceNotScheduledCancel) {
   CommandScheduler scheduler = GetScheduler();
 
   ParallelRaceGroup group{InstantCommand(), InstantCommand()};
@@ -94,7 +91,7 @@
   EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
 }
 
-TEST_F(ParallelRaceGroupTest, ParallelRaceCopyTest) {
+TEST_F(ParallelRaceGroupTest, ParallelRaceCopy) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
@@ -110,7 +107,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelRaceGroupTest, RaceGroupRequirementTest) {
+TEST_F(ParallelRaceGroupTest, RaceGroupRequirement) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement1;
@@ -131,7 +128,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(ParallelRaceGroupTest, ParallelRaceOnlyCallsEndOnceTest) {
+TEST_F(ParallelRaceGroupTest, ParallelRaceOnlyCallsEndOnce) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished1 = false;
@@ -155,7 +152,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group2));
 }
 
-TEST_F(ParallelRaceGroupTest, ParallelRaceScheduleTwiceTest) {
+TEST_F(ParallelRaceGroupTest, ParallelRaceScheduleTwice) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/PerpetualCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/PerpetualCommandTest.cpp
index b3ef861..6254b85 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/PerpetualCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/PerpetualCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
@@ -12,7 +9,7 @@
 using namespace frc2;
 class PerpetualCommandTest : public CommandTestBase {};
 
-TEST_F(PerpetualCommandTest, PerpetualCommandScheduleTest) {
+TEST_F(PerpetualCommandTest, PerpetualCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   bool check = false;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/PrintCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/PrintCommandTest.cpp
index b940566..02575a3 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/PrintCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/PrintCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <regex>
 
@@ -13,7 +10,7 @@
 using namespace frc2;
 class PrintCommandTest : public CommandTestBase {};
 
-TEST_F(PrintCommandTest, PrintCommandScheduleTest) {
+TEST_F(PrintCommandTest, PrintCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   PrintCommand command("Test!");
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp
index 09a569f..def7be9 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <regex>
 
@@ -15,7 +12,7 @@
 using namespace frc2;
 class ProxyScheduleCommandTest : public CommandTestBase {};
 
-TEST_F(ProxyScheduleCommandTest, ProxyScheduleCommandScheduleTest) {
+TEST_F(ProxyScheduleCommandTest, ProxyScheduleCommandSchedule) {
   CommandScheduler& scheduler = CommandScheduler::GetInstance();
 
   bool scheduled = false;
@@ -30,7 +27,7 @@
   EXPECT_TRUE(scheduled);
 }
 
-TEST_F(ProxyScheduleCommandTest, ProxyScheduleCommandEndTest) {
+TEST_F(ProxyScheduleCommandTest, ProxyScheduleCommandEnd) {
   CommandScheduler& scheduler = CommandScheduler::GetInstance();
 
   bool finished = false;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/RobotDisabledCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/RobotDisabledCommandTest.cpp
index bac40d5..1595a1e 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/RobotDisabledCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/RobotDisabledCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/ConditionalCommand.h"
@@ -16,7 +13,7 @@
 using namespace frc2;
 class RobotDisabledCommandTest : public CommandTestBase {};
 
-TEST_F(RobotDisabledCommandTest, RobotDisabledCommandCancelTest) {
+TEST_F(RobotDisabledCommandTest, RobotDisabledCommandCancel) {
   CommandScheduler scheduler = GetScheduler();
 
   MockCommand command({}, false, false);
@@ -37,7 +34,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(RobotDisabledCommandTest, RunWhenDisabledTest) {
+TEST_F(RobotDisabledCommandTest, RunWhenDisabled) {
   CommandScheduler scheduler = GetScheduler();
 
   MockCommand command1;
@@ -55,7 +52,7 @@
   EXPECT_TRUE(scheduler.IsScheduled(&command2));
 }
 
-TEST_F(RobotDisabledCommandTest, SequentialGroupRunWhenDisabledTest) {
+TEST_F(RobotDisabledCommandTest, SequentialGroupRunWhenDisabled) {
   CommandScheduler scheduler = GetScheduler();
 
   SequentialCommandGroup runWhenDisabled{MockCommand(), MockCommand()};
@@ -71,7 +68,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
 }
 
-TEST_F(RobotDisabledCommandTest, ParallelGroupRunWhenDisabledTest) {
+TEST_F(RobotDisabledCommandTest, ParallelGroupRunWhenDisabled) {
   CommandScheduler scheduler = GetScheduler();
 
   ParallelCommandGroup runWhenDisabled{MockCommand(), MockCommand()};
@@ -87,7 +84,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
 }
 
-TEST_F(RobotDisabledCommandTest, ParallelRaceRunWhenDisabledTest) {
+TEST_F(RobotDisabledCommandTest, ParallelRaceRunWhenDisabled) {
   CommandScheduler scheduler = GetScheduler();
 
   ParallelRaceGroup runWhenDisabled{MockCommand(), MockCommand()};
@@ -103,7 +100,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
 }
 
-TEST_F(RobotDisabledCommandTest, ParallelDeadlineRunWhenDisabledTest) {
+TEST_F(RobotDisabledCommandTest, ParallelDeadlineRunWhenDisabled) {
   CommandScheduler scheduler = GetScheduler();
 
   ParallelDeadlineGroup runWhenDisabled{MockCommand(), MockCommand()};
@@ -119,7 +116,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
 }
 
-TEST_F(RobotDisabledCommandTest, ConditionalCommandRunWhenDisabledTest) {
+TEST_F(RobotDisabledCommandTest, ConditionalCommandRunWhenDisabled) {
   CommandScheduler scheduler = GetScheduler();
 
   ConditionalCommand runWhenDisabled{MockCommand(), MockCommand(),
@@ -136,7 +133,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
 }
 
-TEST_F(RobotDisabledCommandTest, SelectCommandRunWhenDisabledTest) {
+TEST_F(RobotDisabledCommandTest, SelectCommandRunWhenDisabled) {
   CommandScheduler scheduler = GetScheduler();
 
   SelectCommand<int> runWhenDisabled{[] { return 1; },
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/RunCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/RunCommandTest.cpp
index 07eecb3..11d4ada 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/RunCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/RunCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/RunCommand.h"
@@ -11,7 +8,7 @@
 using namespace frc2;
 class RunCommandTest : public CommandTestBase {};
 
-TEST_F(RunCommandTest, RunCommandScheduleTest) {
+TEST_F(RunCommandTest, RunCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   int counter = 0;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ScheduleCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ScheduleCommandTest.cpp
index 29e8dc5..4003b4a 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ScheduleCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ScheduleCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <regex>
 
@@ -15,7 +12,7 @@
 using namespace frc2;
 class ScheduleCommandTest : public CommandTestBase {};
 
-TEST_F(ScheduleCommandTest, ScheduleCommandScheduleTest) {
+TEST_F(ScheduleCommandTest, ScheduleCommandSchedule) {
   CommandScheduler& scheduler = CommandScheduler::GetInstance();
 
   bool scheduled = false;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp
index 2582ad9..c0f1e5a 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulerTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
@@ -29,7 +26,7 @@
   EXPECT_EQ(counter, 3);
 }
 
-TEST_F(SchedulerTest, SchedulerLambdaInterruptTest) {
+TEST_F(SchedulerTest, SchedulerLambdaInterrupt) {
   CommandScheduler scheduler = GetScheduler();
 
   RunCommand command([] {}, {});
@@ -45,7 +42,7 @@
   EXPECT_EQ(counter, 1);
 }
 
-TEST_F(SchedulerTest, UnregisterSubsystemTest) {
+TEST_F(SchedulerTest, UnregisterSubsystem) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem system;
@@ -55,7 +52,7 @@
   EXPECT_NO_FATAL_FAILURE(scheduler.UnregisterSubsystem(&system));
 }
 
-TEST_F(SchedulerTest, SchedulerCancelAllTest) {
+TEST_F(SchedulerTest, SchedulerCancelAll) {
   CommandScheduler scheduler = GetScheduler();
 
   RunCommand command([] {}, {});
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
index 6be14ef..409e2a6 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/ConditionalCommand.h"
@@ -13,7 +10,7 @@
 using namespace frc2;
 class SelectCommandTest : public CommandTestBase {};
 
-TEST_F(SelectCommandTest, SelectCommandTest) {
+TEST_F(SelectCommandTest, SelectCommand) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> mock = std::make_unique<MockCommand>();
@@ -39,7 +36,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&select));
 }
 
-TEST_F(SelectCommandTest, SelectCommandRequirementTest) {
+TEST_F(SelectCommandTest, SelectCommandRequirement) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement1;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
index 3a6f8d8..2d88c0a 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
@@ -13,7 +10,7 @@
 using namespace frc2;
 class SequentialCommandGroupTest : public CommandTestBase {};
 
-TEST_F(SequentialCommandGroupTest, SequentialGroupScheduleTest) {
+TEST_F(SequentialCommandGroupTest, SequentialGroupSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
@@ -52,7 +49,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(SequentialCommandGroupTest, SequentialGroupInterruptTest) {
+TEST_F(SequentialCommandGroupTest, SequentialGroupInterrupt) {
   CommandScheduler scheduler = GetScheduler();
 
   std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
@@ -91,7 +88,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(SequentialCommandGroupTest, SequentialGroupNotScheduledCancelTest) {
+TEST_F(SequentialCommandGroupTest, SequentialGroupNotScheduledCancel) {
   CommandScheduler scheduler = GetScheduler();
 
   SequentialCommandGroup group{InstantCommand(), InstantCommand()};
@@ -99,7 +96,7 @@
   EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
 }
 
-TEST_F(SequentialCommandGroupTest, SequentialGroupCopyTest) {
+TEST_F(SequentialCommandGroupTest, SequentialGroupCopy) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
@@ -115,7 +112,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
 
-TEST_F(SequentialCommandGroupTest, SequentialGroupRequirementTest) {
+TEST_F(SequentialCommandGroupTest, SequentialGroupRequirement) {
   CommandScheduler scheduler = GetScheduler();
 
   TestSubsystem requirement1;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/StartEndCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/StartEndCommandTest.cpp
index 3f25792..53a2df2 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/StartEndCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/StartEndCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/StartEndCommand.h"
@@ -11,7 +8,7 @@
 using namespace frc2;
 class StartEndCommandTest : public CommandTestBase {};
 
-TEST_F(StartEndCommandTest, StartEndCommandScheduleTest) {
+TEST_F(StartEndCommandTest, StartEndCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   int counter = 0;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
index b2c47d0..93117b8 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
@@ -1,14 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/Timer.h>
 #include <frc2/command/Subsystem.h>
 #include <frc2/command/SwerveControllerCommand.h>
 
+#include <frc/Timer.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/geometry/Rotation2d.h>
@@ -18,7 +15,7 @@
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/simulation/SimHooks.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
-#include <wpi/math>
+#include <wpi/numbers>
 
 #include "gtest/gtest.h"
 
@@ -31,10 +28,10 @@
                            units::inverse<units::squared<units::second>>>;
 
  protected:
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
   frc::Rotation2d m_angle{0_rad};
 
-  std::array<frc::SwerveModuleState, 4> m_moduleStates{
+  wpi::array<frc::SwerveModuleState, 4> m_moduleStates{
       frc::SwerveModuleState{}, frc::SwerveModuleState{},
       frc::SwerveModuleState{}, frc::SwerveModuleState{}};
 
@@ -63,7 +60,7 @@
 
   void TearDown() override { frc::sim::ResumeTiming(); }
 
-  std::array<frc::SwerveModuleState, 4> getCurrentWheelSpeeds() {
+  wpi::array<frc::SwerveModuleState, 4> getCurrentWheelSpeeds() {
     return m_moduleStates;
   }
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitCommandTest.cpp
index 000a9bb..30eea6b 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <frc/simulation/SimHooks.h>
 
@@ -14,7 +11,7 @@
 using namespace frc2;
 class WaitCommandTest : public CommandTestBase {};
 
-TEST_F(WaitCommandTest, WaitCommandScheduleTest) {
+TEST_F(WaitCommandTest, WaitCommandSchedule) {
   frc::sim::PauseTiming();
 
   CommandScheduler scheduler = GetScheduler();
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitUntilCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitUntilCommandTest.cpp
index e9728db..01acc39 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitUntilCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/WaitUntilCommandTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include "CommandTestBase.h"
 #include "frc2/command/WaitUntilCommand.h"
@@ -11,7 +8,7 @@
 using namespace frc2;
 class WaitUntilCommandTest : public CommandTestBase {};
 
-TEST_F(WaitUntilCommandTest, WaitUntilCommandScheduleTest) {
+TEST_F(WaitUntilCommandTest, WaitUntilCommandSchedule) {
   CommandScheduler scheduler = GetScheduler();
 
   bool finished = false;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ButtonTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/ButtonTest.cpp
similarity index 83%
rename from wpilibNewCommands/src/test/native/cpp/frc2/command/ButtonTest.cpp
rename to wpilibNewCommands/src/test/native/cpp/frc2/command/button/ButtonTest.cpp
index d504ff7..db4276d 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ButtonTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/ButtonTest.cpp
@@ -1,11 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
-#include "CommandTestBase.h"
+#include <frc/simulation/SimHooks.h>
+
+#include "../CommandTestBase.h"
 #include "frc2/command/CommandScheduler.h"
 #include "frc2/command/RunCommand.h"
 #include "frc2/command/WaitUntilCommand.h"
@@ -15,7 +14,7 @@
 using namespace frc2;
 class ButtonTest : public CommandTestBase {};
 
-TEST_F(ButtonTest, WhenPressedTest) {
+TEST_F(ButtonTest, WhenPressed) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed = false;
@@ -33,7 +32,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(ButtonTest, WhenReleasedTest) {
+TEST_F(ButtonTest, WhenReleased) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed = false;
@@ -51,7 +50,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(ButtonTest, WhileHeldTest) {
+TEST_F(ButtonTest, WhileHeld) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed = false;
@@ -74,7 +73,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(ButtonTest, WhenHeldTest) {
+TEST_F(ButtonTest, WhenHeld) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed = false;
@@ -102,7 +101,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(ButtonTest, ToggleWhenPressedTest) {
+TEST_F(ButtonTest, ToggleWhenPressed) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed = false;
@@ -122,7 +121,7 @@
   EXPECT_FALSE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(ButtonTest, AndTest) {
+TEST_F(ButtonTest, And) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed1 = false;
@@ -140,7 +139,7 @@
   EXPECT_TRUE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(ButtonTest, OrTest) {
+TEST_F(ButtonTest, Or) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed1 = false;
@@ -165,7 +164,7 @@
   EXPECT_TRUE(scheduler.IsScheduled(&command2));
 }
 
-TEST_F(ButtonTest, NegateTest) {
+TEST_F(ButtonTest, Negate) {
   auto& scheduler = CommandScheduler::GetInstance();
   bool finished = false;
   bool pressed = true;
@@ -179,7 +178,7 @@
   EXPECT_TRUE(scheduler.IsScheduled(&command));
 }
 
-TEST_F(ButtonTest, RValueButtonTest) {
+TEST_F(ButtonTest, RValueButton) {
   auto& scheduler = CommandScheduler::GetInstance();
   int counter = 0;
   bool pressed = false;
@@ -193,3 +192,19 @@
   scheduler.Run();
   EXPECT_EQ(counter, 1);
 }
+
+TEST_F(ButtonTest, Debounce) {
+  auto& scheduler = CommandScheduler::GetInstance();
+  bool pressed = false;
+  RunCommand command([] {});
+
+  Trigger([&pressed] { return pressed; }).Debounce(100_ms).WhenActive(&command);
+  pressed = true;
+  scheduler.Run();
+  EXPECT_FALSE(scheduler.IsScheduled(&command));
+
+  frc::sim::StepTiming(300_ms);
+
+  scheduler.Run();
+  EXPECT_TRUE(scheduler.IsScheduled(&command));
+}
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/button/NetworkButtonTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/NetworkButtonTest.cpp
index 18fef35..7de1084 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/button/NetworkButtonTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/NetworkButtonTest.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <networktables/NetworkTableInstance.h>
 
@@ -25,7 +22,7 @@
   }
 };
 
-TEST_F(NetworkButtonTest, SetNetworkButtonTest) {
+TEST_F(NetworkButtonTest, SetNetworkButton) {
   auto& scheduler = CommandScheduler::GetInstance();
   auto entry = nt::NetworkTableInstance::GetDefault()
                    .GetTable("TestTable")
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/make_vector.h b/wpilibNewCommands/src/test/native/cpp/frc2/command/make_vector.h
index 89d55b6..05adf8e 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/make_vector.h
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/make_vector.h
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #pragma once
 
diff --git a/wpilibNewCommands/src/test/native/cpp/main.cpp b/wpilibNewCommands/src/test/native/cpp/main.cpp
index c6b6c58..6aea19a 100644
--- a/wpilibNewCommands/src/test/native/cpp/main.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/main.cpp
@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2019 FIRST. 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.                                                               */
-/*----------------------------------------------------------------------------*/
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
 #include <hal/HALBase.h>