diff --git a/wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.cpp b/wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.cpp
deleted file mode 100644
index 24726b0..0000000
--- a/wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-// 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 "ReplaceMeCommand.h"
-
-ReplaceMeCommand::ReplaceMeCommand() {
-  // Use Requires() here to declare subsystem dependencies
-  // eg. Requires(Robot::chassis.get());
-}
-
-// Called just before this Command runs the first time
-void ReplaceMeCommand::Initialize() {}
-
-// Called repeatedly when this Command is scheduled to run
-void ReplaceMeCommand::Execute() {}
-
-// Make this return true when this Command no longer needs to run execute()
-bool ReplaceMeCommand::IsFinished() {
-  return false;
-}
-
-// Called once after isFinished returns true
-void ReplaceMeCommand::End() {}
-
-// Called when another command which requires one or more of the same
-// subsystems is scheduled to run
-void ReplaceMeCommand::Interrupted() {}
diff --git a/wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.h b/wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.h
deleted file mode 100644
index 64fcd26..0000000
--- a/wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.h
+++ /dev/null
@@ -1,17 +0,0 @@
-// 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/commands/Command.h>
-
-class ReplaceMeCommand : public frc::Command {
- public:
-  ReplaceMeCommand();
-  void Initialize() override;
-  void Execute() override;
-  bool IsFinished() override;
-  void End() override;
-  void Interrupted() override;
-};
diff --git a/wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.cpp b/wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.cpp
deleted file mode 100644
index ced938d..0000000
--- a/wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-// 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 "ReplaceMeCommandGroup.h"
-
-ReplaceMeCommandGroup::ReplaceMeCommandGroup() {
-  // Add Commands here:
-  // e.g. AddSequential(new Command1());
-  //      AddSequential(new Command2());
-  // these will run in order.
-
-  // To run multiple commands at the same time,
-  // use AddParallel()
-  // e.g. AddParallel(new Command1());
-  //      AddSequential(new Command2());
-  // Command1 and Command2 will run in parallel.
-
-  // A command group will require all of the subsystems that each member
-  // would require.
-  // e.g. if Command1 requires chassis, and Command2 requires arm,
-  // a CommandGroup containing them would require both the chassis and the
-  // arm.
-}
diff --git a/wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.h b/wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.h
deleted file mode 100644
index c51a964..0000000
--- a/wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// 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/commands/CommandGroup.h>
-
-class ReplaceMeCommandGroup : public frc::CommandGroup {
- public:
-  ReplaceMeCommandGroup();
-};
diff --git a/wpilibcExamples/src/main/cpp/commands/commands.json b/wpilibcExamples/src/main/cpp/commands/commands.json
index 6b5bf1e..7f0c8f9 100644
--- a/wpilibcExamples/src/main/cpp/commands/commands.json
+++ b/wpilibcExamples/src/main/cpp/commands/commands.json
@@ -16,120 +16,7 @@
     "commandversion": 0
   },
   {
-    "name": "Command (Old)",
-    "description": "Create a base command",
-    "tags": [
-      "command"
-    ],
-    "foldername": "command",
-    "headers": [
-      "ReplaceMeCommand.h"
-    ],
-    "source": [
-      "ReplaceMeCommand.cpp"
-    ],
-    "replacename": "ReplaceMeCommand",
-    "commandversion": 1
-  },
-  {
-    "name": "Command Group (Old)",
-    "description": "Create a command group",
-    "tags": [
-      "commandgroup"
-    ],
-    "foldername": "commandgroup",
-    "headers": [
-      "ReplaceMeCommandGroup.h"
-    ],
-    "source": [
-      "ReplaceMeCommandGroup.cpp"
-    ],
-    "replacename": "ReplaceMeCommandGroup",
-    "commandversion": 1
-  },
-  {
-    "name": "Instant Command (Old)",
-    "description": "A command that runs immediately",
-    "tags": [
-      "instantcommand"
-    ],
-    "foldername": "instant",
-    "headers": [
-      "ReplaceMeInstantCommand.h"
-    ],
-    "source": [
-      "ReplaceMeInstantCommand.cpp"
-    ],
-    "replacename": "ReplaceMeInstantCommand",
-    "commandversion": 1
-  },
-  {
-    "name": "Subsystem (Old)",
-    "description": "A subsystem",
-    "tags": [
-      "subsystem"
-    ],
-    "foldername": "subsystem",
-    "headers": [
-      "ReplaceMeSubsystem.h"
-    ],
-    "source": [
-      "ReplaceMeSubsystem.cpp"
-    ],
-    "replacename": "ReplaceMeSubsystem",
-    "commandversion": 1
-  },
-  {
-    "name": "PID Subsystem (Old)",
-    "description": "A subsystem that runs a PID loop",
-    "tags": [
-      "pidsubsystem",
-      "pid"
-    ],
-    "foldername": "pidsubsystem",
-    "headers": [
-      "ReplaceMePIDSubsystem.h"
-    ],
-    "source": [
-      "ReplaceMePIDSubsystem.cpp"
-    ],
-    "replacename": "ReplaceMePIDSubsystem",
-    "commandversion": 1
-  },
-  {
-    "name": "Timed Command (Old)",
-    "description": "A command that runs for a specified time",
-    "tags": [
-      "timedcommand"
-    ],
-    "foldername": "timed",
-    "headers": [
-      "ReplaceMeTimedCommand.h"
-    ],
-    "source": [
-      "ReplaceMeTimedCommand.cpp"
-    ],
-    "replacename": "ReplaceMeTimedCommand",
-    "commandversion": 1
-  },
-  {
-    "name": "Trigger (Old)",
-    "description": "A command that runs off of a trigger",
-    "tags": [
-      "trigger"
-    ],
-    "foldername": "trigger",
-    "headers": [
-      "ReplaceMeTrigger.h"
-    ],
-    "source": [
-      "ReplaceMeTrigger.cpp"
-    ],
-    "replacename": "ReplaceMeTrigger",
-    "commandversion": 1
-  },
-  {
-    "name": "Command (New)",
+    "name": "Command",
     "description": "A command.",
     "tags": [
       "command"
@@ -145,7 +32,7 @@
     "commandversion": 2
   },
   {
-    "name": "InstantCommand (New)",
+    "name": "InstantCommand",
     "description": "A command that finishes instantly.",
     "tags": [
       "instantcommand"
@@ -161,7 +48,7 @@
     "commandversion": 2
   },
   {
-    "name": "ParallelCommandGroup (New)",
+    "name": "ParallelCommandGroup",
     "description": "A command group that runs commands in parallel, ending when all commands have finished.",
     "tags": [
       "parallelcommandgroup"
@@ -177,7 +64,7 @@
     "commandversion": 2
   },
   {
-    "name": "ParallelDeadlineGroup (New)",
+    "name": "ParallelDeadlineGroup",
     "description": "A command group that runs commands in parallel, ending when a specific command has finished.",
     "tags": [
       "paralleldeadlinegroup"
@@ -193,7 +80,7 @@
     "commandversion": 2
   },
   {
-    "name": "ParallelRaceGroup (New)",
+    "name": "ParallelRaceGroup",
     "description": "A command that runs commands in parallel, ending as soon as any command has finished.",
     "tags": [
       "parallelracegroup"
@@ -209,7 +96,7 @@
     "commandversion": 2
   },
   {
-    "name": "PIDCommand (New)",
+    "name": "PIDCommand",
     "description": "A command that runs a PIDController.",
     "tags": [
       "pidcommand"
@@ -225,7 +112,7 @@
     "commandversion": 2
   },
   {
-    "name": "PIDSubsystem (New)",
+    "name": "PIDSubsystem",
     "description": "A subsystem that runs a PIDController.",
     "tags": [
       "pidsubsystem"
@@ -241,7 +128,7 @@
     "commandversion": 2
   },
   {
-    "name": "ProfiledPIDCommand (New)",
+    "name": "ProfiledPIDCommand",
     "description": "A command that runs a ProfiledPIDController.",
     "tags": [
       "profiledpidcommand"
@@ -257,7 +144,7 @@
     "commandversion": 2
   },
   {
-    "name": "ProfiledPIDSubsystem (New)",
+    "name": "ProfiledPIDSubsystem",
     "description": "A subsystem that runs a ProfiledPIDController.",
     "tags": [
       "profiledpidsubsystem"
@@ -273,7 +160,7 @@
     "commandversion": 2
   },
   {
-    "name": "SequentialCommandGroup (New)",
+    "name": "SequentialCommandGroup",
     "description": "A command group that runs commands in sequence.",
     "tags": [
       "sequentialcommandgroup"
@@ -289,7 +176,7 @@
     "commandversion": 2
   },
   {
-    "name": "Subsystem (New)",
+    "name": "Subsystem",
     "description": "A robot subsystem.",
     "tags": [
       "subsystem"
@@ -305,7 +192,7 @@
     "commandversion": 2
   },
   {
-    "name": "TrapezoidProfileCommand (New)",
+    "name": "TrapezoidProfileCommand",
     "description": "A command that executes a trapezoidal motion profile.",
     "tags": [
       "trapezoidprofilecommand"
@@ -321,7 +208,7 @@
     "commandversion": 2
   },
   {
-    "name": "TrapezoidProfileSubsystem (New)",
+    "name": "TrapezoidProfileSubsystem",
     "description": "A subsystem that executes a trapezoidal motion profile.",
     "tags": [
       "trapezoidprofilesubsystem"
diff --git a/wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.cpp b/wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.cpp
deleted file mode 100644
index 1a80288..0000000
--- a/wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.cpp
+++ /dev/null
@@ -1,13 +0,0 @@
-// 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 "ReplaceMeInstantCommand.h"
-
-ReplaceMeInstantCommand::ReplaceMeInstantCommand() {
-  // Use Requires() here to declare subsystem dependencies
-  // eg. Requires(Robot::chassis.get());
-}
-
-// Called once when the command executes
-void ReplaceMeInstantCommand::Initialize() {}
diff --git a/wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.h b/wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.h
deleted file mode 100644
index c73cbcf..0000000
--- a/wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.h
+++ /dev/null
@@ -1,13 +0,0 @@
-// 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/commands/InstantCommand.h>
-
-class ReplaceMeInstantCommand : public frc::InstantCommand {
- public:
-  ReplaceMeInstantCommand();
-  void Initialize() override;
-};
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp
index e814a09..3a387ff 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp
@@ -9,5 +9,5 @@
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMeParallelCommandGroup::ReplaceMeParallelCommandGroup() {
   // Add your commands here, e.g.
-  // AddCommands(FooCommand(), BarCommand());
+  // AddCommands(FooCommand{}, BarCommand{});
 }
diff --git a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
index 67c12a3..f664e55 100644
--- a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
@@ -10,9 +10,8 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMeParallelDeadlineGroup::ReplaceMeParallelDeadlineGroup()
-    : CommandHelper(
-          // The deadline command
-          frc2::InstantCommand([] {})) {
+    // The deadline command
+    : CommandHelper{frc2::InstantCommand{[] {}}} {
   // Add your commands here, e.g.
-  // AddCommands(FooCommand(), BarCommand());
+  // AddCommands(FooCommand{}, BarCommand{});
 }
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp
index 9cc3784..f51433c 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp
@@ -9,5 +9,5 @@
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMeParallelRaceGroup::ReplaceMeParallelRaceGroup() {
   // Add your commands here, e.g.
-  // AddCommands(FooCommand(), BarCommand());
+  // AddCommands(FooCommand{}, BarCommand{});
 }
diff --git a/wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp b/wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp
index 1bcc830..4a7d0e1 100644
--- a/wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp
@@ -8,16 +8,15 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMePIDCommand::ReplaceMePIDCommand()
-    : CommandHelper(
-          frc2::PIDController(0, 0, 0),
-          // This should return the measurement
-          [] { return 0; },
-          // This should return the setpoint (can also be a constant)
-          [] { return 0; },
-          // This uses the output
-          [](double output) {
-            // Use the output here
-          }) {}
+    : CommandHelper{frc2::PIDController{0, 0, 0},
+                    // This should return the measurement
+                    [] { return 0; },
+                    // This should return the setpoint (can also be a constant)
+                    [] { return 0; },
+                    // This uses the output
+                    [](double output) {
+                      // Use the output here
+                    }} {}
 
 // Returns true when the command should end.
 bool ReplaceMePIDCommand::IsFinished() {
diff --git a/wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.cpp b/wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.cpp
deleted file mode 100644
index 7b44893..0000000
--- a/wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-// 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 "ReplaceMePIDSubsystem.h"
-
-#include <frc/livewindow/LiveWindow.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-
-ReplaceMePIDSubsystem::ReplaceMePIDSubsystem()
-    : PIDSubsystem("ReplaceMePIDSubsystem", 1.0, 0.0, 0.0) {
-  // Use these to get going:
-  // SetSetpoint() -  Sets where the PID controller should move the system
-  //                  to
-  // Enable() - Enables the PID controller.
-}
-
-double ReplaceMePIDSubsystem::ReturnPIDInput() {
-  // Return your input value for the PID loop
-  // e.g. a sensor, like a potentiometer:
-  // yourPot->SetAverageVoltage() / kYourMaxVoltage;
-  return 0;
-}
-
-void ReplaceMePIDSubsystem::UsePIDOutput(double output) {
-  // Use output to drive your system, like a motor
-  // e.g. yourMotor->Set(output);
-}
-
-void ReplaceMePIDSubsystem::InitDefaultCommand() {
-  // Set the default command for a subsystem here.
-  // SetDefaultCommand(new MySpecialCommand());
-}
diff --git a/wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.h b/wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.h
deleted file mode 100644
index f9aabc9..0000000
--- a/wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.h
+++ /dev/null
@@ -1,15 +0,0 @@
-// 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/commands/PIDSubsystem.h>
-
-class ReplaceMePIDSubsystem : public frc::PIDSubsystem {
- public:
-  ReplaceMePIDSubsystem();
-  double ReturnPIDInput() override;
-  void UsePIDOutput(double output) override;
-  void InitDefaultCommand() override;
-};
diff --git a/wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.cpp b/wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.cpp
index 2cdce1b..749b106 100644
--- a/wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.cpp
@@ -5,9 +5,8 @@
 #include "ReplaceMePIDSubsystem2.h"
 
 ReplaceMePIDSubsystem2::ReplaceMePIDSubsystem2()
-    : PIDSubsystem(
-          // The PIDController used by the subsystem
-          frc2::PIDController(0, 0, 0)) {}
+    // The PIDController used by the subsystem
+    : PIDSubsystem{frc2::PIDController{0, 0, 0}} {}
 
 void ReplaceMePIDSubsystem2::UseOutput(double output, double setpoint) {
   // Use the output here
diff --git a/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp b/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp
index 880a222..f3fd26a 100644
--- a/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp
@@ -11,13 +11,15 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMeProfiledPIDCommand::ReplaceMeProfiledPIDCommand()
-    : CommandHelper(
+    : CommandHelper{
           // The ProfiledPIDController that the command will use
-          frc::ProfiledPIDController<units::meters>(
+          frc::ProfiledPIDController<units::meters>{
               // The PID gains
-              0, 0, 0,
+              0,
+              0,
+              0,
               // The motion profile constraints
-              {0_mps, 0_mps_sq}),
+              {0_mps, 0_mps_sq}},
           // This should return the measurement
           [] { return 0_m; },
           // This should return the goal state (can also be a constant)
@@ -28,7 +30,7 @@
           [](double output,
              frc::TrapezoidProfile<units::meters>::State setpoint) {
             // Use the output and setpoint here
-          }) {}
+          }} {}
 
 // Returns true when the command should end.
 bool ReplaceMeProfiledPIDCommand::IsFinished() {
diff --git a/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp b/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp
index d65a867..2ee899c 100644
--- a/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp
@@ -8,13 +8,14 @@
 #include <units/velocity.h>
 
 ReplaceMeProfiledPIDSubsystem::ReplaceMeProfiledPIDSubsystem()
-    : ProfiledPIDSubsystem(
-          // The ProfiledPIDController used by the subsystem
-          frc::ProfiledPIDController<units::meters>(
-              // The PID gains
-              0, 0, 0,
-              // The constraints for the motion profiles
-              {0_mps, 0_mps_sq})) {}
+    // The ProfiledPIDController used by the subsystem
+    : ProfiledPIDSubsystem{frc::ProfiledPIDController<units::meters>{
+          // The PID gains
+          0,
+          0,
+          0,
+          // The constraints for the motion profiles
+          {0_mps, 0_mps_sq}}} {}
 
 void ReplaceMeProfiledPIDSubsystem::UseOutput(
     double output, frc::TrapezoidProfile<units::meters>::State setpoint) {
diff --git a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp
index c83a99d..cc2504c 100644
--- a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp
@@ -9,5 +9,5 @@
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMeSequentialCommandGroup::ReplaceMeSequentialCommandGroup() {
   // Add your commands here, e.g.
-  // AddCommands(FooCommand(), BarCommand());
+  // AddCommands(FooCommand{}, BarCommand{});
 }
diff --git a/wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.cpp b/wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.cpp
deleted file mode 100644
index ca589f1..0000000
--- a/wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-// 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 "ReplaceMeSubsystem.h"
-
-ReplaceMeSubsystem::ReplaceMeSubsystem() : Subsystem("ExampleSubsystem") {}
-
-void ReplaceMeSubsystem::InitDefaultCommand() {
-  // Set the default command for a subsystem here.
-  // SetDefaultCommand(new MySpecialCommand());
-}
-
-// Put methods for controlling this subsystem
-// here. Call these from Commands.
diff --git a/wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.h b/wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.h
deleted file mode 100644
index 3de6031..0000000
--- a/wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.h
+++ /dev/null
@@ -1,17 +0,0 @@
-// 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/commands/Subsystem.h>
-
-class ReplaceMeSubsystem : public frc::Subsystem {
- private:
-  // It's desirable that everything possible under private except
-  // for methods that implement subsystem capabilities
-
- public:
-  ReplaceMeSubsystem();
-  void InitDefaultCommand() override;
-};
diff --git a/wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.cpp b/wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.cpp
deleted file mode 100644
index c6793e0..0000000
--- a/wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-// 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 "ReplaceMeTimedCommand.h"
-
-ReplaceMeTimedCommand::ReplaceMeTimedCommand(units::second_t timeout)
-    : TimedCommand(timeout) {
-  // Use Requires() here to declare subsystem dependencies
-  // eg. Requires(Robot::chassis.get());
-}
-
-// Called just before this Command runs the first time
-void ReplaceMeTimedCommand::Initialize() {}
-
-// Called repeatedly when this Command is scheduled to run
-void ReplaceMeTimedCommand::Execute() {}
-
-// Called once after command times out
-void ReplaceMeTimedCommand::End() {}
-
-// Called when another command which requires one or more of the same
-// subsystems is scheduled to run
-void ReplaceMeTimedCommand::Interrupted() {}
diff --git a/wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.h b/wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.h
deleted file mode 100644
index 48cfa2d..0000000
--- a/wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.h
+++ /dev/null
@@ -1,17 +0,0 @@
-// 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/commands/TimedCommand.h>
-#include <units/time.h>
-
-class ReplaceMeTimedCommand : public frc::TimedCommand {
- public:
-  explicit ReplaceMeTimedCommand(units::second_t timeout);
-  void Initialize() override;
-  void Execute() override;
-  void End() override;
-  void Interrupted() override;
-};
diff --git a/wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.cpp b/wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.cpp
deleted file mode 100644
index 3c563ff..0000000
--- a/wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.cpp
+++ /dev/null
@@ -1,11 +0,0 @@
-// 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 "ReplaceMeTrigger.h"
-
-ReplaceMeTrigger::ReplaceMeTrigger() = default;
-
-bool ReplaceMeTrigger::Get() {
-  return false;
-}
diff --git a/wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.h b/wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.h
deleted file mode 100644
index a76dcd9..0000000
--- a/wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.h
+++ /dev/null
@@ -1,13 +0,0 @@
-// 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/buttons/Trigger.h>
-
-class ReplaceMeTrigger : public frc::Trigger {
- public:
-  ReplaceMeTrigger();
-  bool Get() override;
-};
diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
index d59b370..d3356c6 100644
--- a/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
@@ -2,54 +2,37 @@
 // 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 <array>
+#include "Robot.h"
 
-#include <frc/AddressableLED.h>
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+void Robot::RobotInit() {
+  // Default to a length of 60, start empty output
+  // Length is expensive to set, so only set it once, then just update data
+  m_led.SetLength(kLength);
+  m_led.SetData(m_ledBuffer);
+  m_led.Start();
+}
 
-class Robot : public frc::TimedRobot {
-  static constexpr int kLength = 60;
+void Robot::RobotPeriodic() {
+  // Fill the buffer with a rainbow
+  Rainbow();
+  // Set the LEDs
+  m_led.SetData(m_ledBuffer);
+}
 
-  // PWM port 9
-  // Must be a PWM header, not MXP or DIO
-  frc::AddressableLED m_led{9};
-  std::array<frc::AddressableLED::LEDData, kLength>
-      m_ledBuffer;  // Reuse the buffer
-  // Store what the last hue of the first pixel is
-  int firstPixelHue = 0;
-
- public:
-  void Rainbow() {
-    // For every pixel
-    for (int i = 0; i < kLength; i++) {
-      // Calculate the hue - hue is easier for rainbows because the color
-      // shape is a circle so only one value needs to precess
-      const auto pixelHue = (firstPixelHue + (i * 180 / kLength)) % 180;
-      // Set the value
-      m_ledBuffer[i].SetHSV(pixelHue, 255, 128);
-    }
-    // Increase by to make the rainbow "move"
-    firstPixelHue += 3;
-    // Check bounds
-    firstPixelHue %= 180;
+void Robot::Rainbow() {
+  // For every pixel
+  for (int i = 0; i < kLength; i++) {
+    // Calculate the hue - hue is easier for rainbows because the color
+    // shape is a circle so only one value needs to precess
+    const auto pixelHue = (firstPixelHue + (i * 180 / kLength)) % 180;
+    // Set the value
+    m_ledBuffer[i].SetHSV(pixelHue, 255, 128);
   }
-
-  void RobotInit() override {
-    // Default to a length of 60, start empty output
-    // Length is expensive to set, so only set it once, then just update data
-    m_led.SetLength(kLength);
-    m_led.SetData(m_ledBuffer);
-    m_led.Start();
-  }
-
-  void RobotPeriodic() override {
-    // Fill the buffer with a rainbow
-    Rainbow();
-    // Set the LEDs
-    m_led.SetData(m_ledBuffer);
-  }
-};
+  // Increase by to make the rainbow "move"
+  firstPixelHue += 3;
+  // Check bounds
+  firstPixelHue %= 180;
+}
 
 #ifndef RUNNING_FRC_TESTS
 int main() {
diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
new file mode 100644
index 0000000..77090b6
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
@@ -0,0 +1,28 @@
+// 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 <array>
+
+#include <frc/AddressableLED.h>
+#include <frc/TimedRobot.h>
+
+class Robot : public frc::TimedRobot {
+ public:
+  void Rainbow();
+  void RobotInit() override;
+  void RobotPeriodic() override;
+
+ private:
+  static constexpr int kLength = 60;
+
+  // PWM port 9
+  // Must be a PWM header, not MXP or DIO
+  frc::AddressableLED m_led{9};
+  std::array<frc::AddressableLED::LEDData, kLength>
+      m_ledBuffer;  // Reuse the buffer
+  // Store what the last hue of the first pixel is
+  int firstPixelHue = 0;
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
index e346e41..b636b44 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -27,7 +27,7 @@
 
   void TeleopPeriodic() override {
     // Drive with arcade style
-    m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
+    m_robotDrive.ArcadeDrive(-m_stick.GetY(), -m_stick.GetX());
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
index 7f497b3..23c9a56 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -30,7 +30,7 @@
     // That means that the Y axis of the left stick moves forward
     // and backward, and the X of the right stick turns left and right.
     m_robotDrive.ArcadeDrive(-m_driverController.GetLeftY(),
-                             m_driverController.GetRightX());
+                             -m_driverController.GetRightX());
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
index 158945e..90aa789 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
@@ -5,9 +5,13 @@
 #include "RobotContainer.h"
 
 #include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/InstantCommand.h>
 #include <frc2/command/button/JoystickButton.h>
 #include <units/angle.h>
 
+namespace ac = AutoConstants;
+
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
 
@@ -15,10 +19,10 @@
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::RunCommand(
+  m_drive.SetDefaultCommand(frc2::cmd::Run(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }
@@ -27,32 +31,29 @@
   // Configure your button bindings here
 
   // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .WhenPressed(
-          [this] {
-            m_arm.SetGoal(2_rad);
-            m_arm.Enable();
-          },
-          {&m_arm});
+  m_driverController.A().OnTrue(frc2::cmd::RunOnce(
+      [this] {
+        m_arm.SetGoal(2_rad);
+        m_arm.Enable();
+      },
+      {&m_arm}));
 
   // Move the arm to neutral position when the 'B' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
-      .WhenPressed(
-          [this] {
-            m_arm.SetGoal(ArmConstants::kArmOffset);
-            m_arm.Enable();
-          },
-          {&m_arm});
+  m_driverController.B().OnTrue(frc2::cmd::RunOnce(
+      [this] {
+        m_arm.SetGoal(ArmConstants::kArmOffset);
+        m_arm.Enable();
+      },
+      {&m_arm}));
 
   // Disable the arm controller when Y is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kY)
-      .WhenPressed([this] { m_arm.Disable(); }, {&m_arm});
+  m_driverController.Y().OnTrue(
+      frc2::cmd::RunOnce([this] { m_arm.Disable(); }, {&m_arm}));
 
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
-      .WhenPressed([this] { m_drive.SetMaxOutput(0.5); })
-      .WhenReleased([this] { m_drive.SetMaxOutput(1); });
+  m_driverController.RightBumper()
+      .OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }))
+      .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }));
 }
 
 void RobotContainer::DisablePIDSubsystems() {
@@ -60,6 +61,5 @@
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
-  // Runs the chosen command in autonomous
-  return new frc2::InstantCommand([] {});
+  return nullptr;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
index c5fb3b2..6d5eab6 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
@@ -26,9 +26,9 @@
   units::volt_t feedforward =
       m_feedforward.Calculate(setpoint.position, setpoint.velocity);
   // Add the feedforward to the PID output to get the motor output
-  m_motor.SetVoltage(units::volt_t(output) + feedforward);
+  m_motor.SetVoltage(units::volt_t{output} + feedforward);
 }
 
 units::radian_t ArmSubsystem::GetMeasurement() {
-  return units::radian_t(m_encoder.GetDistance()) + kArmOffset;
+  return units::radian_t{m_encoder.GetDistance()} + kArmOffset;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
index bd432ee..cff3932 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
@@ -4,11 +4,12 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <units/angle.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -34,7 +35,7 @@
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
@@ -56,7 +57,7 @@
 constexpr int kEncoderPorts[]{4, 5};
 constexpr int kEncoderPPR = 256;
 constexpr auto kEncoderDistancePerPulse =
-    2.0_rad * wpi::numbers::pi / kEncoderPPR;
+    2.0_rad * std::numbers::pi / kEncoderPPR;
 
 // The offset of the arm from the horizontal in its neutral position,
 // measured from the horizontal
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
index 782207b..67d194c 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
@@ -4,23 +4,13 @@
 
 #pragma once
 
-#include <frc/XboxController.h>
-#include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/ConditionalCommand.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-#include <frc2/command/RunCommand.h>
-#include <frc2/command/SequentialCommandGroup.h>
-#include <frc2/command/WaitCommand.h>
-#include <frc2/command/WaitUntilCommand.h>
+#include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
 #include "subsystems/ArmSubsystem.h"
 #include "subsystems/DriveSubsystem.h"
 
-namespace ac = AutoConstants;
-
 /**
  * This class is where the bulk of the robot should be declared.  Since
  * Command-based is a "declarative" paradigm, very little robot logic should
@@ -42,7 +32,8 @@
 
  private:
   // The driver's controller
-  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
 
@@ -50,7 +41,5 @@
   DriveSubsystem m_drive;
   ArmSubsystem m_arm;
 
-  // The chooser for the autonomous routines
-
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
index 1f6a138..dce4b95 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
@@ -4,8 +4,6 @@
 
 #include "RobotContainer.h"
 
-#include <frc/shuffleboard/Shuffleboard.h>
-#include <frc2/command/button/JoystickButton.h>
 #include <units/angle.h>
 
 RobotContainer::RobotContainer() {
@@ -15,34 +13,27 @@
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::RunCommand(
-      [this] {
-        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
-      },
-      {&m_drive}));
+  m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(
+      [this] { return -m_driverController.GetLeftY(); },
+      [this] { return -m_driverController.GetRightX(); }));
 }
 
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
   // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .WhenPressed([this] { m_arm.SetGoal(2_rad); }, {&m_arm});
+  m_driverController.A().OnTrue(m_arm.SetArmGoalCommand(2_rad));
 
   // Move the arm to neutral position when the 'B' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
-      .WhenPressed([this] { m_arm.SetGoal(ArmConstants::kArmOffset); },
-                   {&m_arm});
+  m_driverController.B().OnTrue(
+      m_arm.SetArmGoalCommand(ArmConstants::kArmOffset));
 
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
-      .WhenPressed([this] { m_drive.SetMaxOutput(0.5); })
-      .WhenReleased([this] { m_drive.SetMaxOutput(1); });
+  m_driverController.RightBumper()
+      .OnTrue(m_drive.SetMaxOutputCommand(0.5))
+      .OnFalse(m_drive.SetMaxOutputCommand(1.0));
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
-  // Runs the chosen command in autonomous
-  return new frc2::InstantCommand([] {});
+  return nullptr;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
index 7557b5a..5603c68 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
@@ -25,3 +25,7 @@
   m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
                       setpoint.position.value(), feedforward / 12_V);
 }
+
+frc2::CommandPtr ArmSubsystem::SetArmGoalCommand(units::radian_t goal) {
+  return frc2::cmd::RunOnce([this, goal] { this->SetGoal(goal); }, {this});
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
index fac0df9..16409ad 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
@@ -26,10 +26,6 @@
   // Implementation of subsystem periodic method goes here.
 }
 
-void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
-  m_drive.ArcadeDrive(fwd, rot);
-}
-
 void DriveSubsystem::ResetEncoders() {
   m_leftEncoder.Reset();
   m_rightEncoder.Reset();
@@ -47,6 +43,16 @@
   return m_rightEncoder;
 }
 
-void DriveSubsystem::SetMaxOutput(double maxOutput) {
-  m_drive.SetMaxOutput(maxOutput);
+frc2::CommandPtr DriveSubsystem::SetMaxOutputCommand(double maxOutput) {
+  return frc2::cmd::RunOnce(
+      [this, maxOutput] { m_drive.SetMaxOutput(maxOutput); });
+}
+
+frc2::CommandPtr DriveSubsystem::ArcadeDriveCommand(
+    std::function<double()> fwd, std::function<double()> rot) {
+  return frc2::cmd::Run(
+      [this, fwd = std::move(fwd), rot = std::move(rot)] {
+        m_drive.ArcadeDrive(fwd(), rot());
+      },
+      {this});
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
index bd432ee..cff3932 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
@@ -4,11 +4,12 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <units/angle.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -34,7 +35,7 @@
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
@@ -56,7 +57,7 @@
 constexpr int kEncoderPorts[]{4, 5};
 constexpr int kEncoderPPR = 256;
 constexpr auto kEncoderDistancePerPulse =
-    2.0_rad * wpi::numbers::pi / kEncoderPPR;
+    2.0_rad * std::numbers::pi / kEncoderPPR;
 
 // The offset of the arm from the horizontal in its neutral position,
 // measured from the horizontal
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h
index 5aba470..08a4dbe 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h
@@ -4,16 +4,8 @@
 
 #pragma once
 
-#include <frc/XboxController.h>
-#include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/ConditionalCommand.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-#include <frc2/command/RunCommand.h>
-#include <frc2/command/SequentialCommandGroup.h>
-#include <frc2/command/WaitCommand.h>
-#include <frc2/command/WaitUntilCommand.h>
+#include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
 #include "subsystems/ArmSubsystem.h"
@@ -36,7 +28,8 @@
 
  private:
   // The driver's controller
-  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
 
@@ -44,7 +37,5 @@
   DriveSubsystem m_drive;
   ArmSubsystem m_arm;
 
-  // The chooser for the autonomous routines
-
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h
index 1fb5b87..ea2dc64 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h
@@ -5,6 +5,7 @@
 #pragma once
 
 #include <frc/controller/ArmFeedforward.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/TrapezoidProfileSubsystem.h>
 #include <units/angle.h>
 
@@ -21,6 +22,8 @@
 
   void UseState(State setpoint) override;
 
+  frc2::CommandPtr SetArmGoalCommand(units::radian_t goal);
+
  private:
   ExampleSmartMotorController m_motor;
   frc::ArmFeedforward m_feedforward;
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
index 47bf28e..6830b96 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
@@ -4,10 +4,13 @@
 
 #pragma once
 
+#include <functional>
+
 #include <frc/Encoder.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/SubsystemBase.h>
 
 #include "Constants.h"
@@ -24,14 +27,6 @@
   // Subsystem methods go here.
 
   /**
-   * Drives the robot using arcade controls.
-   *
-   * @param fwd the commanded forward movement
-   * @param rot the commanded rotation
-   */
-  void ArcadeDrive(double fwd, double rot);
-
-  /**
    * Resets the drive encoders to currently read a position of 0.
    */
   void ResetEncoders();
@@ -63,7 +58,10 @@
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
-  void SetMaxOutput(double maxOutput);
+  frc2::CommandPtr SetMaxOutputCommand(double maxOutput);
+
+  frc2::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
+                                      std::function<double()> rot);
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
index 330ddc4..2027d25 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/Preferences.h>
@@ -22,7 +24,6 @@
 #include <frc/util/Color8Bit.h>
 #include <units/angle.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -45,7 +46,7 @@
   // distance per pulse = (angle per revolution) / (pulses per revolution)
   //  = (2 * PI rads) / (4096 pulses)
   static constexpr double kArmEncoderDistPerPulse =
-      2.0 * wpi::numbers::pi / 4096.0;
+      2.0 * std::numbers::pi / 4096.0;
 
   // The arm gearbox represents a gearbox containing two Vex 775pro motors.
   frc::DCMotor m_armGearbox = frc::DCMotor::Vex775Pro(2);
@@ -101,8 +102,8 @@
   void SimulationPeriodic() override {
     // In this method, we update our simulation of what our arm is doing
     // First, we set our "inputs" (voltages)
-    m_armSim.SetInput(Eigen::Vector<double, 1>{
-        m_motor.Get() * frc::RobotController::GetInputVoltage()});
+    m_armSim.SetInput(frc::Vectord<1>{m_motor.Get() *
+                                      frc::RobotController::GetInputVoltage()});
 
     // Next, we update it. The standard loop time is 20ms.
     m_armSim.Update(20_ms);
@@ -120,8 +121,8 @@
 
   void TeleopInit() override {
     // Read Preferences for Arm setpoint and kP on entering Teleop
-    armPosition = units::degree_t(
-        frc::Preferences::GetDouble(kArmPositionKey, armPosition.value()));
+    armPosition = units::degree_t{
+        frc::Preferences::GetDouble(kArmPositionKey, armPosition.value())};
     if (kArmKp != frc::Preferences::GetDouble(kArmPKey, kArmKp)) {
       kArmKp = frc::Preferences::GetDouble(kArmPKey, kArmKp);
       m_controller.SetP(kArmKp);
@@ -133,8 +134,8 @@
       // Here, we run PID control like normal, with a setpoint read from
       // preferences in degrees.
       double pidOutput = m_controller.Calculate(
-          m_encoder.GetDistance(), (units::radian_t(armPosition).value()));
-      m_motor.SetVoltage(units::volt_t(pidOutput));
+          m_encoder.GetDistance(), (units::radian_t{armPosition}.value()));
+      m_motor.SetVoltage(units::volt_t{pidOutput});
     } else {
       // Otherwise, we disable the motor.
       m_motor.Set(0.0);
diff --git a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
index aed898f..95a9a0d 100644
--- a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
@@ -13,20 +13,40 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void TeleopPeriodic() override {
-    /* Get the current going through channel 7, in Amperes. The PDP returns the
-     * current in increments of 0.125A. At low currents the current readings
-     * tend to be less accurate.
-     */
-    frc::SmartDashboard::PutNumber("Current Channel 7", m_pdp.GetCurrent(7));
+  void RobotInit() override {
+    // Put the PDP itself to the dashboard
+    frc::SmartDashboard::PutData("PDP", &m_pdp);
+  }
 
-    /* Get the voltage going into the PDP, in Volts. The PDP returns the voltage
-     * in increments of 0.05 Volts.
-     */
-    frc::SmartDashboard::PutNumber("Voltage", m_pdp.GetVoltage());
+  void RobotPeriodic() override {
+    // Get the current going through channel 7, in Amperes.
+    // The PDP returns the current in increments of 0.125A.
+    // At low currents the current readings tend to be less accurate.
+    double current7 = m_pdp.GetCurrent(7);
+    frc::SmartDashboard::PutNumber("Current Channel 7", current7);
+
+    // Get the voltage going into the PDP, in Volts.
+    // The PDP returns the voltage in increments of 0.05 Volts.
+    double voltage = m_pdp.GetVoltage();
+    frc::SmartDashboard::PutNumber("Voltage", voltage);
 
     // Retrieves the temperature of the PDP, in degrees Celsius.
-    frc::SmartDashboard::PutNumber("Temperature", m_pdp.GetTemperature());
+    double temperatureCelsius = m_pdp.GetTemperature();
+    frc::SmartDashboard::PutNumber("Temperature", temperatureCelsius);
+
+    // Get the total current of all channels.
+    double totalCurrent = m_pdp.GetTotalCurrent();
+    frc::SmartDashboard::PutNumber("Total Current", totalCurrent);
+
+    // Get the total power of all channels.
+    // Power is the bus voltage multiplied by the current with the units Watts.
+    double totalPower = m_pdp.GetTotalPower();
+    frc::SmartDashboard::PutNumber("Total Power", totalPower);
+
+    // Get the total energy of all channels.
+    // Energy is the power summed over time with units Joules.
+    double totalEnergy = m_pdp.GetTotalEnergy();
+    frc::SmartDashboard::PutNumber("Total Energy", totalEnergy);
   }
 
  private:
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
index da638d5..cc7db7b 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
@@ -23,6 +23,6 @@
 
 void Drivetrain::UpdateOdometry() {
   m_odometry.Update(m_gyro.GetRotation2d(),
-                    units::meter_t(m_leftEncoder.GetDistance()),
-                    units::meter_t(m_rightEncoder.GetDistance()));
+                    units::meter_t{m_leftEncoder.GetDistance()},
+                    units::meter_t{m_rightEncoder.GetDistance()});
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
index 81d0a71..b4ad1db 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -16,7 +18,6 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -33,9 +34,9 @@
     // Set the distance per pulse for the drive encoders. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                       kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                        kEncoderResolution);
 
     m_leftEncoder.Reset();
@@ -45,7 +46,7 @@
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
@@ -74,7 +75,9 @@
   frc::AnalogGyro m_gyro{0};
 
   frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
-  frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
+  frc::DifferentialDriveOdometry m_odometry{
+      m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
+      units::meter_t{m_rightEncoder.GetDistance()}};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
index 1ed0e46..866d62d 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -27,10 +27,8 @@
 
 void Drivetrain::UpdateOdometry() {
   m_poseEstimator.Update(m_gyro.GetRotation2d(),
-                         {units::meters_per_second_t(m_leftEncoder.GetRate()),
-                          units::meters_per_second_t(m_rightEncoder.GetRate())},
-                         units::meter_t(m_leftEncoder.GetDistance()),
-                         units::meter_t(m_rightEncoder.GetDistance()));
+                         units::meter_t{m_leftEncoder.GetDistance()},
+                         units::meter_t{m_rightEncoder.GetDistance()});
 
   // Also apply vision measurements. We use 0.3 seconds in the past as an
   // example -- on a real robot, this must be calculated based either on latency
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
index dfb57a6..3001763 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -16,7 +18,6 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -34,9 +35,9 @@
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
     m_leftEncoder.SetDistancePerPulse(
-        2 * wpi::numbers::pi * kWheelRadius.value() / kEncoderResolution);
+        2 * std::numbers::pi * kWheelRadius.value() / kEncoderResolution);
     m_rightEncoder.SetDistancePerPulse(
-        2 * wpi::numbers::pi * kWheelRadius.value() / kEncoderResolution);
+        2 * std::numbers::pi * kWheelRadius.value() / kEncoderResolution);
 
     m_leftEncoder.Reset();
     m_rightEncoder.Reset();
@@ -45,7 +46,7 @@
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
@@ -78,10 +79,12 @@
   // Gains are for example purposes only - must be determined for your own
   // robot!
   frc::DifferentialDrivePoseEstimator m_poseEstimator{
-      frc::Rotation2d(),
-      frc::Pose2d(),
-      {0.01, 0.01, 0.01, 0.01, 0.01},
-      {0.1, 0.1, 0.1},
+      m_kinematics,
+      m_gyro.GetRotation2d(),
+      units::meter_t{m_leftEncoder.GetDistance()},
+      units::meter_t{m_rightEncoder.GetDistance()},
+      frc::Pose2d{},
+      {0.01, 0.01, 0.01},
       {0.1, 0.1, 0.1}};
 
   // Gains are for example purposes only - must be determined for your own
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
index 4697938..b9e2ba4 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
@@ -16,9 +16,9 @@
   static frc::Pose2d GetEstimatedGlobalPose(
       const frc::Pose2d& estimatedRobotPose) {
     auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
-    return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
-                       estimatedRobotPose.Y() + units::meter_t(randVec(1)),
+    return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
+                       estimatedRobotPose.Y() + units::meter_t{randVec(1)},
                        estimatedRobotPose.Rotation() +
-                           frc::Rotation2d(units::radian_t(randVec(2))));
+                           frc::Rotation2d{units::radian_t{randVec(2)}}};
   }
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index bc940cd..8c2423b 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -4,9 +4,6 @@
 
 #include "RobotContainer.h"
 
-#include <frc/shuffleboard/Shuffleboard.h>
-#include <frc2/command/button/JoystickButton.h>
-
 #include "commands/DriveDistanceProfiled.h"
 
 RobotContainer::RobotContainer() {
@@ -16,10 +13,10 @@
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::RunCommand(
+  m_drive.SetDefaultCommand(frc2::cmd::Run(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }
@@ -28,37 +25,38 @@
   // Configure your button bindings here
 
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
-      .WhenPressed(&m_driveHalfSpeed)
-      .WhenReleased(&m_driveFullSpeed);
+  m_driverController.RightBumper()
+      .OnTrue(m_driveHalfSpeed.get())
+      .OnFalse(m_driveFullSpeed.get());
 
   // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of
   // 10 seconds
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .WhenPressed(DriveDistanceProfiled(3_m, &m_drive).WithTimeout(10_s));
+  m_driverController.A().OnTrue(
+      DriveDistanceProfiled(3_m, &m_drive).WithTimeout(10_s));
 
   // Do the same thing as above when the 'B' button is pressed, but defined
   // inline
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
-      .WhenPressed(
-          frc2::TrapezoidProfileCommand<units::meters>(
-              frc::TrapezoidProfile<units::meters>(
-                  // Limit the max acceleration and velocity
-                  {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration},
-                  // End at desired position in meters; implicitly starts at 0
-                  {3_m, 0_mps}),
-              // Pipe the profile state to the drive
-              [this](auto setpointState) {
-                m_drive.SetDriveStates(setpointState, setpointState);
-              },
-              // Require the drive
-              {&m_drive})
-              .BeforeStarting([this]() { m_drive.ResetEncoders(); })
-              .WithTimeout(10_s));
+  m_driverController.B().OnTrue(
+      frc2::TrapezoidProfileCommand<units::meters>(
+          frc::TrapezoidProfile<units::meters>(
+              // Limit the max acceleration and velocity
+              {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration},
+              // End at desired position in meters; implicitly starts at 0
+              {3_m, 0_mps}),
+          // Pipe the profile state to the drive
+          [this](auto setpointState) {
+            m_drive.SetDriveStates(setpointState, setpointState);
+          },
+          // Require the drive
+          {&m_drive})
+          // Convert to CommandPtr
+          .ToPtr()
+          .BeforeStarting(
+              frc2::cmd::RunOnce([this]() { m_drive.ResetEncoders(); }, {}))
+          .WithTimeout(10_s));
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
-  return new frc2::InstantCommand([] {});
+  return nullptr;
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp
index cecb9d6..6780c33 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp
@@ -10,18 +10,18 @@
 
 DriveDistanceProfiled::DriveDistanceProfiled(units::meter_t distance,
                                              DriveSubsystem* drive)
-    : CommandHelper(
-          frc::TrapezoidProfile<units::meters>(
+    : CommandHelper{
+          frc::TrapezoidProfile<units::meters>{
               // Limit the max acceleration and velocity
               {kMaxSpeed, kMaxAcceleration},
               // End at desired position in meters; implicitly starts at 0
-              {distance, 0_mps}),
+              {distance, 0_mps}},
           // Pipe the profile state to the drive
           [drive](auto setpointState) {
             drive->SetDriveStates(setpointState, setpointState);
           },
           // Require the drive
-          {drive}) {
+          {drive}} {
   // Reset drive encoders since we're starting at 0
   drive->ResetEncoders();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
index 270124b..db8ba70 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
@@ -54,11 +54,11 @@
 }
 
 units::meter_t DriveSubsystem::GetLeftEncoderDistance() {
-  return units::meter_t(m_leftLeader.GetEncoderDistance());
+  return units::meter_t{m_leftLeader.GetEncoderDistance()};
 }
 
 units::meter_t DriveSubsystem::GetRightEncoderDistance() {
-  return units::meter_t(m_rightLeader.GetEncoderDistance());
+  return units::meter_t{m_rightLeader.GetEncoderDistance()};
 }
 
 void DriveSubsystem::SetMaxOutput(double maxOutput) {
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
index 6644c08..7b7de40 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
@@ -4,12 +4,13 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <units/acceleration.h>
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h
index aced9e0..4700a70 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h
@@ -4,14 +4,10 @@
 
 #pragma once
 
-#include <frc/XboxController.h>
-#include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-#include <frc2/command/RunCommand.h>
-#include <frc2/command/SequentialCommandGroup.h>
-#include <frc2/command/StartEndCommand.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
 #include "subsystems/DriveSubsystem.h"
@@ -31,17 +27,19 @@
 
  private:
   // The driver's controller
-  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
 
   // The robot's subsystems
   DriveSubsystem m_drive;
 
-  frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
-                                        {}};
-  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
-                                        {}};
+  // RobotContainer-owned commands
+  frc2::CommandPtr m_driveHalfSpeed =
+      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {});
+  frc2::CommandPtr m_driveFullSpeed =
+      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {});
 
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
index ebafa75..518114a 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/TimedRobot.h>
@@ -12,14 +14,13 @@
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
-#include <wpi/numbers>
 
 class Robot : public frc::TimedRobot {
  public:
   static constexpr units::second_t kDt = 20_ms;
 
   Robot() {
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::numbers::pi * 1.5);
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * std::numbers::pi * 1.5);
   }
 
   void TeleopPeriodic() override {
@@ -31,7 +32,7 @@
 
     // Run controller and update motor output
     m_motor.Set(
-        m_controller.Calculate(units::meter_t(m_encoder.GetDistance())));
+        m_controller.Calculate(units::meter_t{m_encoder.GetDistance()}));
   }
 
  private:
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
index 4b2891d..039a499 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/RobotController.h>
@@ -23,7 +25,6 @@
 #include <units/angle.h>
 #include <units/length.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -46,7 +47,7 @@
   // distance per pulse = (distance per revolution) / (pulses per revolution)
   //  = (Pi * D) / ppr
   static constexpr double kArmEncoderDistPerPulse =
-      2.0 * wpi::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
+      2.0 * std::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
 
   // This gearbox represents a gearbox containing 4 Vex 775pro motors.
   frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
@@ -64,6 +65,7 @@
                                       kElevatorDrumRadius,
                                       kMinElevatorHeight,
                                       kMaxElevatorHeight,
+                                      true,
                                       {0.01}};
   frc::sim::EncoderSim m_encoderSim{m_encoder};
 
@@ -73,7 +75,7 @@
       m_mech2d.GetRoot("Elevator Root", 10, 0);
   frc::MechanismLigament2d* m_elevatorMech2d =
       m_elevatorRoot->Append<frc::MechanismLigament2d>(
-          "Elevator", units::inch_t(m_elevatorSim.GetPosition()).value(),
+          "Elevator", units::inch_t{m_elevatorSim.GetPosition()}.value(),
           90_deg);
 
  public:
@@ -81,13 +83,15 @@
     m_encoder.SetDistancePerPulse(kArmEncoderDistPerPulse);
 
     // Put Mechanism 2d to SmartDashboard
+    // To view the Elevator Sim in the simulator, select Network Tables ->
+    // SmartDashboard -> Elevator Sim
     frc::SmartDashboard::PutData("Elevator Sim", &m_mech2d);
   }
 
   void SimulationPeriodic() override {
     // In this method, we update our simulation of what our elevator is doing
     // First, we set our "inputs" (voltages)
-    m_elevatorSim.SetInput(Eigen::Vector<double, 1>{
+    m_elevatorSim.SetInput(frc::Vectord<1>{
         m_motor.Get() * frc::RobotController::GetInputVoltage()});
 
     // Next, we update it. The standard loop time is 20ms.
@@ -102,15 +106,15 @@
 
     // Update the Elevator length based on the simulated elevator height
     m_elevatorMech2d->SetLength(
-        units::inch_t(m_elevatorSim.GetPosition()).value());
+        units::inch_t{m_elevatorSim.GetPosition()}.value());
   }
 
   void TeleopPeriodic() override {
     if (m_joystick.GetTrigger()) {
       // Here, we run PID control like normal, with a constant setpoint of 30in.
       double pidOutput = m_controller.Calculate(m_encoder.GetDistance(),
-                                                units::meter_t(30_in).value());
-      m_motor.SetVoltage(units::volt_t(pidOutput));
+                                                units::meter_t{30_in}.value());
+      m_motor.SetVoltage(units::volt_t{pidOutput});
     } else {
       // Otherwise, we disable the motor.
       m_motor.Set(0.0);
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
index d629185..f708143 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/Joystick.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -11,7 +13,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 #include "ExampleSmartMotorController.h"
 
diff --git a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
index 7db2c83..255cc4f 100644
--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -2,10 +2,11 @@
 // 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 <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/numbers>
 
 /**
  * Sample program displaying the value of a quadrature encoder on the
@@ -40,7 +41,7 @@
      * inch diameter (1.5inch radius) wheel, and that we want to measure
      * distance in inches.
      */
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::numbers::pi * 1.5);
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * std::numbers::pi * 1.5);
 
     /* Defines the lowest rate at which the encoder will not be considered
      * stopped, for the purposes of the GetStopped() method. Units are in
diff --git a/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
new file mode 100644
index 0000000..c8e84fb
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
@@ -0,0 +1,102 @@
+// 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/Encoder.h>
+#include <frc/Joystick.h>
+#include <frc/TimedRobot.h>
+#include <frc/Ultrasonic.h>
+#include <frc/controller/PIDController.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/event/BooleanEvent.h>
+#include <frc/event/EventLoop.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/voltage.h>
+
+static const auto SHOT_VELOCITY = 200_rpm;
+static const auto TOLERANCE = 8_rpm;
+static const auto KICKER_THRESHOLD = 15_mm;
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override {
+    m_controller.SetTolerance(TOLERANCE.value());
+
+    frc::BooleanEvent isBallAtKicker{&m_loop, [&kickerSensor = m_kickerSensor] {
+                                       return kickerSensor.GetRange() <
+                                              KICKER_THRESHOLD;
+                                     }};
+    frc::BooleanEvent intakeButton{
+        &m_loop, [&joystick = m_joystick] { return joystick.GetRawButton(2); }};
+
+    // if the thumb button is held
+    (intakeButton
+     // and there is not a ball at the kicker
+     && !isBallAtKicker)
+        // activate the intake
+        .IfHigh([&intake = m_intake] { intake.Set(0.5); });
+
+    // if the thumb button is not held
+    (!intakeButton
+     // or there is a ball in the kicker
+     || isBallAtKicker)
+        // stop the intake
+        .IfHigh([&intake = m_intake] { intake.Set(0.0); });
+
+    frc::BooleanEvent shootTrigger{
+        &m_loop, [&joystick = m_joystick] { return joystick.GetTrigger(); }};
+
+    // if the trigger is held
+    shootTrigger
+        // accelerate the shooter wheel
+        .IfHigh([&shooter = m_shooter, &controller = m_controller, &ff = m_ff,
+                 &encoder = m_shooterEncoder] {
+          shooter.SetVoltage(units::volt_t{controller.Calculate(
+                                 encoder.GetRate(), SHOT_VELOCITY.value())} +
+                             ff.Calculate(SHOT_VELOCITY));
+        });
+    // if not, stop
+    (!shootTrigger).IfHigh([&shooter = m_shooter] { shooter.Set(0.0); });
+
+    frc::BooleanEvent atTargetVelocity =
+        frc::BooleanEvent(
+            &m_loop,
+            [&controller = m_controller] { return controller.AtSetpoint(); })
+            // debounce for more stability
+            .Debounce(0.2_s);
+
+    // if we're at the target velocity, kick the ball into the shooter wheel
+    atTargetVelocity.IfHigh([&kicker = m_kicker] { kicker.Set(0.7); });
+
+    // when we stop being at the target velocity, it means the ball was shot
+    atTargetVelocity
+        .Falling()
+        // so stop the kicker
+        .IfHigh([&kicker = m_kicker] { kicker.Set(0.0); });
+  }
+
+  void RobotPeriodic() override { m_loop.Poll(); }
+
+ private:
+  frc::PWMSparkMax m_shooter{0};
+  frc::Encoder m_shooterEncoder{0, 1};
+  frc::PIDController m_controller{0.3, 0, 0};
+  frc::SimpleMotorFeedforward<units::radians> m_ff{0.1_V, 0.065_V / 1_rpm};
+
+  frc::PWMSparkMax m_kicker{1};
+  frc::Ultrasonic m_kickerSensor{2, 3};
+
+  frc::PWMSparkMax m_intake{3};
+
+  frc::EventLoop m_loop{};
+  frc::Joystick m_joystick{0};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
index c459739..3841118 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
@@ -4,9 +4,6 @@
 
 #include "RobotContainer.h"
 
-#include <frc/shuffleboard/Shuffleboard.h>
-#include <frc2/command/button/JoystickButton.h>
-
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
 
@@ -14,10 +11,10 @@
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::RunCommand(
+  m_drive.SetDefaultCommand(frc2::cmd::Run(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }
@@ -25,27 +22,45 @@
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
+  // We can bind commands while keeping their ownership in RobotContainer
+
   // Spin up the shooter when the 'A' button is pressed
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .WhenPressed(&m_spinUpShooter);
+  m_driverController.A().OnTrue(m_spinUpShooter.get());
 
   // Turn off the shooter when the 'B' button is pressed
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
-      .WhenPressed(&m_stopShooter);
+  m_driverController.B().OnTrue(m_stopShooter.get());
 
-  // Shoot when the 'X' button is held
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kX)
-      .WhenPressed(&m_shoot)
-      .WhenReleased(&m_stopFeeder);
+  // We can also *move* command ownership to the scheduler
+  // Note that we won't be able to access these commands after moving them!
+
+  // Shoots if the shooter wheel has reached the target speed
+  frc2::CommandPtr shoot = frc2::cmd::Either(
+      // Run the feeder
+      frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
+      // Do nothing
+      frc2::cmd::None(),
+      // Determine which of the above to do based on whether the shooter has
+      // reached the desired speed
+      [this] { return m_shooter.AtSetpoint(); });
+
+  frc2::CommandPtr stopFeeder =
+      frc2::cmd::RunOnce([this] { m_shooter.StopFeeder(); }, {&m_shooter});
+
+  // Shoot when the 'X' button is pressed
+  m_driverController.X()
+      .OnTrue(std::move(shoot))
+      .OnFalse(std::move(stopFeeder));
+
+  // We can also define commands inline at the binding!
+  // (ownership will be passed to the scheduler)
 
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
-      .WhenPressed(&m_driveHalfSpeed)
-      .WhenReleased(&m_driveFullSpeed);
+  m_driverController.RightBumper()
+      .OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
+      .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {}));
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
-  return &m_autonomousCommand;
+  return m_autonomousCommand.get();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
index c386ee7..aec84f1 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
@@ -11,7 +11,7 @@
 using namespace ShooterConstants;
 
 ShooterSubsystem::ShooterSubsystem()
-    : PIDSubsystem(frc2::PIDController(kP, kI, kD)),
+    : PIDSubsystem{frc2::PIDController{kP, kI, kD}},
       m_shooterMotor(kShooterMotorPort),
       m_feederMotor(kFeederMotorPort),
       m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]),
@@ -22,7 +22,7 @@
 }
 
 void ShooterSubsystem::UseOutput(double output, double setpoint) {
-  m_shooterMotor.SetVoltage(units::volt_t(output) +
+  m_shooterMotor.SetVoltage(units::volt_t{output} +
                             m_shooterFeedforward.Calculate(kShooterTargetRPS));
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
index 8ac7b0e..855603a 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
@@ -4,10 +4,11 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <units/angle.h>
 #include <units/time.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -33,7 +34,7 @@
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
index 26714fe..40091f1 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
@@ -4,16 +4,10 @@
 
 #pragma once
 
-#include <frc/XboxController.h>
-#include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/ConditionalCommand.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-#include <frc2/command/RunCommand.h>
-#include <frc2/command/SequentialCommandGroup.h>
-#include <frc2/command/WaitCommand.h>
-#include <frc2/command/WaitUntilCommand.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
 #include "subsystems/DriveSubsystem.h"
@@ -32,65 +26,47 @@
  public:
   RobotContainer();
 
+  // The chooser for the autonomous routines
   frc2::Command* GetAutonomousCommand();
 
  private:
   // The driver's controller
-  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
-
-  // The robot's subsystems and commands are defined here...
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
 
   // The robot's subsystems
   DriveSubsystem m_drive;
   ShooterSubsystem m_shooter;
 
-  // A simple autonomous routine that shoots the loaded frisbees
-  frc2::SequentialCommandGroup m_autonomousCommand =
-      frc2::SequentialCommandGroup{
+  // RobotContainer-owned commands
+  // (These variables will still be valid after binding, because we don't move
+  // ownership)
+
+  frc2::CommandPtr m_spinUpShooter =
+      frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter});
+
+  frc2::CommandPtr m_stopShooter =
+      frc2::cmd::RunOnce([this] { m_shooter.Disable(); }, {&m_shooter});
+
+  // An autonomous routine that shoots the loaded frisbees
+  frc2::CommandPtr m_autonomousCommand =
+      frc2::cmd::Sequence(
           // Start the command by spinning up the shooter...
-          frc2::InstantCommand([this] { m_shooter.Enable(); }, {&m_shooter}),
+          frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter}),
           // Wait until the shooter is at speed before feeding the frisbees
-          frc2::WaitUntilCommand([this] { return m_shooter.AtSetpoint(); }),
+          frc2::cmd::WaitUntil([this] { return m_shooter.AtSetpoint(); }),
           // Start running the feeder
-          frc2::InstantCommand([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
+          frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
           // Shoot for the specified time
-          frc2::WaitCommand(ac::kAutoShootTimeSeconds)}
+          frc2::cmd::Wait(ac::kAutoShootTimeSeconds))
           // Add a timeout (will end the command if, for instance, the shooter
           // never gets up to speed)
           .WithTimeout(ac::kAutoTimeoutSeconds)
           // When the command ends, turn off the shooter and the feeder
-          .AndThen([this] {
+          .AndThen(frc2::cmd::RunOnce([this] {
             m_shooter.Disable();
             m_shooter.StopFeeder();
-          });
-
-  // Assorted commands to be bound to buttons
-
-  frc2::InstantCommand m_spinUpShooter{[this] { m_shooter.Enable(); },
-                                       {&m_shooter}};
-
-  frc2::InstantCommand m_stopShooter{[this] { m_shooter.Disable(); },
-                                     {&m_shooter}};
-
-  // Shoots if the shooter wheel has reached the target speed
-  frc2::ConditionalCommand m_shoot{
-      // Run the feeder
-      frc2::InstantCommand{[this] { m_shooter.RunFeeder(); }, {&m_shooter}},
-      // Do nothing
-      frc2::InstantCommand(),
-      // Determine which of the above to do based on whether the shooter has
-      // reached the desired speed
-      [this] { return m_shooter.AtSetpoint(); }};
-
-  frc2::InstantCommand m_stopFeeder{[this] { m_shooter.StopFeeder(); },
-                                    {&m_shooter}};
-
-  frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
-                                        {}};
-  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
-                                        {}};
-
-  // The chooser for the autonomous routines
+          }));
 
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
index 37eb460..c08faee 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
@@ -22,9 +22,9 @@
   frc::SmartDashboard::PutData(&m_wrist);
   frc::SmartDashboard::PutData(&m_claw);
 
-  m_drivetrain.SetDefaultCommand(TankDrive([this] { return m_joy.GetLeftY(); },
-                                           [this] { return m_joy.GetRightY(); },
-                                           m_drivetrain));
+  m_drivetrain.SetDefaultCommand(
+      TankDrive([this] { return -m_joy.GetLeftY(); },
+                [this] { return -m_joy.GetRightY(); }, m_drivetrain));
 
   // Configure the button bindings
   ConfigureButtonBindings();
@@ -32,20 +32,20 @@
 
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
-  frc2::JoystickButton(&m_joy, 5).WhenPressed(
-      SetElevatorSetpoint(0.25, m_elevator));
-  frc2::JoystickButton(&m_joy, 6).WhenPressed(CloseClaw(m_claw));
-  frc2::JoystickButton(&m_joy, 7).WhenPressed(
-      SetElevatorSetpoint(0.0, m_elevator));
-  frc2::JoystickButton(&m_joy, 8).WhenPressed(OpenClaw(m_claw));
-  frc2::JoystickButton(&m_joy, 9).WhenPressed(
-      Autonomous(m_claw, m_wrist, m_elevator, m_drivetrain));
+  frc2::JoystickButton(&m_joy, 5).OnTrue(
+      SetElevatorSetpoint(0.25, m_elevator).ToPtr());
+  frc2::JoystickButton(&m_joy, 6).OnTrue(CloseClaw(m_claw).ToPtr());
+  frc2::JoystickButton(&m_joy, 7).OnTrue(
+      SetElevatorSetpoint(0.0, m_elevator).ToPtr());
+  frc2::JoystickButton(&m_joy, 8).OnTrue(OpenClaw(m_claw).ToPtr());
+  frc2::JoystickButton(&m_joy, 9).OnTrue(
+      Autonomous(m_claw, m_wrist, m_elevator, m_drivetrain).ToPtr());
   frc2::JoystickButton(&m_joy, 10)
-      .WhenPressed(Pickup(m_claw, m_wrist, m_elevator));
+      .OnTrue(Pickup(m_claw, m_wrist, m_elevator).ToPtr());
   frc2::JoystickButton(&m_joy, 11)
-      .WhenPressed(Place(m_claw, m_wrist, m_elevator));
+      .OnTrue(Place(m_claw, m_wrist, m_elevator).ToPtr());
   frc2::JoystickButton(&m_joy, 12)
-      .WhenPressed(PrepareToPickup(m_claw, m_wrist, m_elevator));
+      .OnTrue(PrepareToPickup(m_claw, m_wrist, m_elevator).ToPtr());
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
index d3e85bd..c1f5d88 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
@@ -9,12 +9,13 @@
 #include "Robot.h"
 
 DriveStraight::DriveStraight(double distance, Drivetrain& drivetrain)
-    : frc2::CommandHelper<frc2::PIDCommand, DriveStraight>(
-          frc2::PIDController(4, 0, 0),
-          [&drivetrain] { return drivetrain.GetDistance(); }, distance,
+    : frc2::CommandHelper<frc2::PIDCommand, DriveStraight>{
+          frc2::PIDController{4, 0, 0},
+          [&drivetrain] { return drivetrain.GetDistance(); },
+          distance,
           [&drivetrain](double output) { drivetrain.Drive(output, output); },
-          {&drivetrain}),
-      m_drivetrain(&drivetrain) {
+          {&drivetrain}},
+      m_drivetrain{&drivetrain} {
   m_controller.SetTolerance(0.01);
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
index 84bf237..de8f1e7 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
@@ -9,13 +9,13 @@
 #include "Robot.h"
 
 SetDistanceToBox::SetDistanceToBox(double distance, Drivetrain& drivetrain)
-    : frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox>(
-          frc2::PIDController(-2, 0, 0),
+    : frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox>{
+          frc2::PIDController{-2, 0, 0},
           [&drivetrain] { return drivetrain.GetDistanceToObstacle(); },
           distance,
           [&drivetrain](double output) { drivetrain.Drive(output, output); },
-          {&drivetrain}),
-      m_drivetrain(&drivetrain) {
+          {&drivetrain}},
+      m_drivetrain{&drivetrain} {
   m_controller.SetTolerance(0.01);
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
index 16d6e46..2bfd391 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
@@ -4,10 +4,11 @@
 
 #include "subsystems/Drivetrain.h"
 
+#include <numbers>
+
 #include <frc/Joystick.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <units/length.h>
-#include <wpi/numbers>
 
 Drivetrain::Drivetrain() {
   // We need to invert one side of the drivetrain so that positive voltages
@@ -26,9 +27,9 @@
 #else
   // Circumference = diameter * pi. 360 tick simulated encoders.
   m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
-                                    wpi::numbers::pi / 360.0);
+                                    std::numbers::pi / 360.0);
   m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
-                                     wpi::numbers::pi / 360.0);
+                                     std::numbers::pi / 360.0);
 #endif
   SetName("Drivetrain");
   // Let's show everything on the LiveWindow
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
index 0c195e3..c75c7bc 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
@@ -9,7 +9,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 
 Elevator::Elevator()
-    : frc2::PIDSubsystem(frc2::PIDController(kP_real, kI_real, 0)) {
+    : frc2::PIDSubsystem{frc2::PIDController{kP_real, kI_real, 0}} {
 #ifdef SIMULATION  // Check for simulation and update PID values
   GetPIDController()->SetPID(kP_simulation, kI_simulation, 0, 0);
 #endif
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
index 339ccd0..8b24a7b 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
@@ -7,7 +7,7 @@
 #include <frc/controller/PIDController.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 
-Wrist::Wrist() : frc2::PIDSubsystem(frc2::PIDController(kP, 0, 0)) {
+Wrist::Wrist() : frc2::PIDSubsystem{frc2::PIDController{kP, 0, 0}} {
   m_controller.SetTolerance(2.5);
 
   SetName("Wrist");
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index 003a08a..a49d4f6 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -2,20 +2,20 @@
 // 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/TimedRobot.h>
 #include <frc/Timer.h>
+#include <frc/XboxController.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 
 class Robot : public frc::TimedRobot {
  public:
   Robot() {
-    m_right.SetInverted(true);
-    m_robotDrive.SetExpiration(100_ms);
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.
+    m_right.SetInverted(true);
+    m_robotDrive.SetExpiration(100_ms);
     m_timer.Start();
   }
 
@@ -27,19 +27,20 @@
   void AutonomousPeriodic() override {
     // Drive for 2 seconds
     if (m_timer.Get() < 2_s) {
-      // Drive forwards half speed
-      m_robotDrive.ArcadeDrive(0.5, 0.0);
+      // Drive forwards half speed, make sure to turn input squaring off
+      m_robotDrive.ArcadeDrive(0.5, 0.0, false);
     } else {
       // Stop robot
-      m_robotDrive.ArcadeDrive(0.0, 0.0);
+      m_robotDrive.ArcadeDrive(0.0, 0.0, false);
     }
   }
 
   void TeleopInit() override {}
 
   void TeleopPeriodic() override {
-    // Drive with arcade style (use right stick)
-    m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
+    // Drive with arcade style (use right stick to steer)
+    m_robotDrive.ArcadeDrive(-m_controller.GetLeftY(),
+                             m_controller.GetRightX());
   }
 
   void TestInit() override {}
@@ -52,7 +53,7 @@
   frc::PWMSparkMax m_right{1};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
-  frc::Joystick m_stick{0};
+  frc::XboxController m_controller{0};
   frc::Timer m_timer;
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
index 0e1410e..5230c7c 100644
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -32,9 +32,7 @@
    */
   void TeleopPeriodic() override {
     double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
-    // Invert the direction of the turn if we are going backwards
-    turningValue = std::copysign(turningValue, m_joystick.GetY());
-    m_robotDrive.ArcadeDrive(-m_joystick.GetY(), turningValue);
+    m_drive.ArcadeDrive(-m_joystick.GetY(), -turningValue);
   }
 
  private:
@@ -52,7 +50,7 @@
 
   frc::PWMSparkMax m_left{kLeftMotorPort};
   frc::PWMSparkMax m_right{kRightMotorPort};
-  frc::DifferentialDrive m_robotDrive{m_left, m_right};
+  frc::DifferentialDrive m_drive{m_left, m_right};
 
   frc::AnalogGyro m_gyro{kGyroPort};
   frc::Joystick m_joystick{kJoystickPort};
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
index 6f5911e..3404b77 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
@@ -5,6 +5,7 @@
 #include "RobotContainer.h"
 
 #include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/PIDCommand.h>
 #include <frc2/command/ParallelRaceGroup.h>
 #include <frc2/command/RunCommand.h>
@@ -20,7 +21,7 @@
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }
@@ -32,33 +33,35 @@
 
   // Stabilize robot to drive straight with gyro when L1 is held
   frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kL1)
-      .WhenHeld(frc2::PIDCommand{
-          frc2::PIDController{dc::kStabilizationP, dc::kStabilizationI,
-                              dc::kStabilizationD},
-          // Close the loop on the turn rate
-          [this] { return m_drive.GetTurnRate(); },
-          // Setpoint is 0
-          0,
-          // Pipe the output to the turning controls
-          [this](double output) {
-            m_drive.ArcadeDrive(m_driverController.GetLeftY(), output);
-          },
-          // Require the robot drive
-          {&m_drive}});
+      .WhileTrue(
+          frc2::PIDCommand(
+              frc2::PIDController{dc::kStabilizationP, dc::kStabilizationI,
+                                  dc::kStabilizationD},
+              // Close the loop on the turn rate
+              [this] { return m_drive.GetTurnRate(); },
+              // Setpoint is 0
+              0,
+              // Pipe the output to the turning controls
+              [this](double output) {
+                m_drive.ArcadeDrive(m_driverController.GetLeftY(), output);
+              },
+              // Require the robot drive
+              {&m_drive})
+              .ToPtr());
 
   // Turn to 90 degrees when the 'Cross' button is pressed
   frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kCross)
-      .WhenPressed(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
+      .OnTrue(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
 
   // Turn to -90 degrees with a profile when the 'Square' button is pressed,
   // with a 5 second timeout
   frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kSquare)
-      .WhenPressed(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
+      .OnTrue(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
 
   // While holding R1, drive at half speed
   frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kR1)
-      .WhenPressed(frc2::InstantCommand{[this] { m_drive.SetMaxOutput(0.5); }})
-      .WhenReleased(frc2::InstantCommand{[this] { m_drive.SetMaxOutput(1); }});
+      .OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
+      .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {}));
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
index 681bb39..3038f79 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
@@ -9,16 +9,15 @@
 using namespace DriveConstants;
 
 TurnToAngle::TurnToAngle(units::degree_t target, DriveSubsystem* drive)
-    : CommandHelper(
-          frc2::PIDController(kTurnP, kTurnI, kTurnD),
-          // Close loop on heading
-          [drive] { return drive->GetHeading().value(); },
-          // Set reference to target
-          target.value(),
-          // Pipe output to turn robot
-          [drive](double output) { drive->ArcadeDrive(0, output); },
-          // Require the drive
-          {drive}) {
+    : CommandHelper{frc2::PIDController{kTurnP, kTurnI, kTurnD},
+                    // Close loop on heading
+                    [drive] { return drive->GetHeading().value(); },
+                    // Set reference to target
+                    target.value(),
+                    // Pipe output to turn robot
+                    [drive](double output) { drive->ArcadeDrive(0, output); },
+                    // Require the drive
+                    {drive}} {
   // Set the controller to be continuous (because it is an angle controller)
   m_controller.EnableContinuousInput(-180, 180);
   // Set the controller tolerance - the delta tolerance ensures the robot is
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp
index a359625..df4e355 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp
@@ -10,9 +10,9 @@
 
 TurnToAngleProfiled::TurnToAngleProfiled(units::degree_t target,
                                          DriveSubsystem* drive)
-    : CommandHelper(
-          frc::ProfiledPIDController<units::radians>(
-              kTurnP, kTurnI, kTurnD, {kMaxTurnRate, kMaxTurnAcceleration}),
+    : CommandHelper{
+          frc::ProfiledPIDController<units::radians>{
+              kTurnP, kTurnI, kTurnD, {kMaxTurnRate, kMaxTurnAcceleration}},
           // Close loop on heading
           [drive] { return drive->GetHeading(); },
           // Set reference to target
@@ -22,7 +22,7 @@
             drive->ArcadeDrive(0, output);
           },
           // Require the drive
-          {drive}) {
+          {drive}} {
   // Set the controller to be continuous (because it is an angle controller)
   GetController().EnableContinuousInput(-180_deg, 180_deg);
   // Set the controller tolerance - the delta tolerance ensures the robot is
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp
index baa78de..0cbd0e5 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp
@@ -53,8 +53,8 @@
 }
 
 units::degree_t DriveSubsystem::GetHeading() {
-  return units::degree_t(std::remainder(m_gyro.GetAngle(), 360) *
-                         (kGyroReversed ? -1.0 : 1.0));
+  return units::degree_t{std::remainder(m_gyro.GetAngle(), 360) *
+                         (kGyroReversed ? -1.0 : 1.0)};
 }
 
 double DriveSubsystem::GetTurnRate() {
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
index 210f82d..77673c9 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
@@ -4,9 +4,10 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <units/angle.h>
 #include <units/angular_velocity.h>
-#include <wpi/numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -32,7 +33,7 @@
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 constexpr bool kGyroReversed = true;
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
index a4e0457..2207f79 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -28,8 +28,8 @@
    * Mecanum drive is used with the gyro angle as an input.
    */
   void TeleopPeriodic() override {
-    m_robotDrive.DriveCartesian(-m_joystick.GetY(), m_joystick.GetX(),
-                                m_joystick.GetZ(), m_gyro.GetAngle());
+    m_robotDrive.DriveCartesian(-m_joystick.GetY(), -m_joystick.GetX(),
+                                -m_joystick.GetZ(), m_gyro.GetRotation2d());
   }
 
  private:
diff --git a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
index 0db402b..b0905f9 100644
--- a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
+++ b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
@@ -87,13 +87,18 @@
     return 1;
   }
 
+  WPI_EventHandle eventHandle = WPI_CreateEvent(1, 0);
+  HAL_ProvideNewDataEventHandle(eventHandle);
+
   while (1) {
     // Wait for DS data, with a timeout
-    HAL_Bool validData = HAL_WaitForDSDataTimeout(1.0);
-    if (!validData) {
+    int timed_out = 0;
+    int signaled = WPI_WaitForObjectTimeout(eventHandle, 1.0, &timed_out);
+    if (!signaled) {
       // Do something here on no packet
       continue;
     }
+
     enum DriverStationMode dsMode = getDSMode();
     switch (dsMode) {
       case DisabledMode:
@@ -116,6 +121,9 @@
   }
 
   // Clean up resources
+  HAL_RemoveNewDataEventHandle(eventHandle);
+  WPI_DestroyEvent(eventHandle);
+
   status = 0;
   HAL_FreeDIOPort(dio);
   HAL_FreePWMPort(pwmPort, &status);
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
index 8fae7d2..5a0cdad 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -5,14 +5,14 @@
 #include "RobotContainer.h"
 
 #include <frc/shuffleboard/Shuffleboard.h>
-#include <frc2/command/button/JoystickButton.h>
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
 
   // Add commands to the autonomous command chooser
-  m_chooser.SetDefaultOption("Simple Auto", &m_simpleAuto);
-  m_chooser.AddOption("Complex Auto", &m_complexAuto);
+  // Note that we do *not* move ownership into the chooser
+  m_chooser.SetDefaultOption("Simple Auto", m_simpleAuto.get());
+  m_chooser.AddOption("Complex Auto", m_complexAuto.get());
 
   // Put the chooser on the dashboard
   frc::Shuffleboard::GetTab("Autonomous").Add(m_chooser);
@@ -21,10 +21,10 @@
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::RunCommand(
+  m_drive.SetDefaultCommand(frc2::cmd::Run(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }
@@ -33,15 +33,13 @@
   // Configure your button bindings here
 
   // Grab the hatch when the 'Circle' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kCircle)
-      .WhenPressed(&m_grabHatch);
+  m_driverController.Circle().OnTrue(m_hatch.GrabHatchCommand());
   // Release the hatch when the 'Square' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kSquare)
-      .WhenPressed(&m_releaseHatch);
+  m_driverController.Square().OnTrue(m_hatch.ReleaseHatchCommand());
   // While holding R1, drive at half speed
-  frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kR1)
-      .WhenPressed(&m_driveHalfSpeed)
-      .WhenReleased(&m_driveFullSpeed);
+  m_driverController.R1()
+      .OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
+      .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }, {}));
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
new file mode 100644
index 0000000..73e60ed
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
@@ -0,0 +1,73 @@
+// 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 "commands/Autos.h"
+
+#include <frc2/command/Commands.h>
+#include <frc2/command/FunctionalCommand.h>
+
+#include "Constants.h"
+
+using namespace AutoConstants;
+
+frc2::CommandPtr autos::SimpleAuto(DriveSubsystem* drive) {
+  return frc2::FunctionalCommand(
+             // Reset encoders on command start
+             [drive] { drive->ResetEncoders(); },
+             // Drive forward while the command is executing
+             [drive] { drive->ArcadeDrive(AutoConstants::kAutoDriveSpeed, 0); },
+             // Stop driving at the end of the command
+             [drive](bool interrupted) { drive->ArcadeDrive(0, 0); },
+             // End the command when the robot's driven distance exceeds the
+             // desired value
+             [drive] {
+               return drive->GetAverageEncoderDistance() >=
+                      AutoConstants::kAutoDriveDistanceInches;
+             },
+             // Requires the drive subsystem
+             {drive})
+      .ToPtr();
+}
+
+frc2::CommandPtr autos::ComplexAuto(DriveSubsystem* drive,
+                                    HatchSubsystem* hatch) {
+  return frc2::cmd::Sequence(
+      // Drive forward the specified distance
+      frc2::FunctionalCommand(
+          // Reset encoders on command start
+          [drive] { drive->ResetEncoders(); },
+          // Drive forward while the command is executing
+          [drive] { drive->ArcadeDrive(kAutoDriveSpeed, 0); },
+          // Stop driving at the end of the command
+          [drive](bool interrupted) { drive->ArcadeDrive(0, 0); },
+          // End the command when the robot's driven distance exceeds the
+          // desired value
+          [drive] {
+            return drive->GetAverageEncoderDistance() >=
+                   kAutoDriveDistanceInches;
+          },
+          // Requires the drive subsystem
+          {drive})
+          .ToPtr(),
+      // Release the hatch
+      hatch->ReleaseHatchCommand(),
+      // Drive backward the specified distance
+      // Drive forward the specified distance
+      frc2::FunctionalCommand(
+          // Reset encoders on command start
+          [drive] { drive->ResetEncoders(); },
+          // Drive backward while the command is executing
+          [drive] { drive->ArcadeDrive(-kAutoDriveSpeed, 0); },
+          // Stop driving at the end of the command
+          [drive](bool interrupted) { drive->ArcadeDrive(0, 0); },
+          // End the command when the robot's driven distance exceeds the
+          // desired value
+          [drive] {
+            return drive->GetAverageEncoderDistance() <=
+                   kAutoBackupDistanceInches;
+          },
+          // Requires the drive subsystem
+          {drive})
+          .ToPtr());
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/ComplexAuto.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/ComplexAuto.cpp
deleted file mode 100644
index f88850e..0000000
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/ComplexAuto.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-// 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 "commands/ComplexAuto.h"
-
-#include <frc2/command/FunctionalCommand.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-
-using namespace AutoConstants;
-
-ComplexAuto::ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch) {
-  AddCommands(
-      // Drive forward the specified distance
-      frc2::FunctionalCommand(
-          // Reset encoders on command start
-          [&] { drive->ResetEncoders(); },
-          // Drive forward while the command is executing
-          [&] { drive->ArcadeDrive(kAutoDriveSpeed, 0); },
-          // Stop driving at the end of the command
-          [&](bool interrupted) { drive->ArcadeDrive(0, 0); },
-          // End the command when the robot's driven distance exceeds the
-          // desired value
-          [&] {
-            return drive->GetAverageEncoderDistance() >=
-                   kAutoDriveDistanceInches;
-          },
-          // Requires the drive subsystem
-          {drive}),
-      // Release the hatch
-      frc2::InstantCommand([hatch] { hatch->ReleaseHatch(); }, {hatch}),
-      // Drive backward the specified distance
-      // Drive forward the specified distance
-      frc2::FunctionalCommand(
-          // Reset encoders on command start
-          [&] { drive->ResetEncoders(); },
-          // Drive backward while the command is executing
-          [&] { drive->ArcadeDrive(-kAutoDriveSpeed, 0); },
-          // Stop driving at the end of the command
-          [&](bool interrupted) { drive->ArcadeDrive(0, 0); },
-          // End the command when the robot's driven distance exceeds the
-          // desired value
-          [&] {
-            return drive->GetAverageEncoderDistance() <=
-                   kAutoBackupDistanceInches;
-          },
-          // Requires the drive subsystem
-          {drive}));
-}
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
index ba1c0dd..e766d43 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
@@ -10,10 +10,14 @@
     : m_hatchSolenoid{frc::PneumaticsModuleType::CTREPCM,
                       kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
 
-void HatchSubsystem::GrabHatch() {
-  m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward);
+frc2::CommandPtr HatchSubsystem::GrabHatchCommand() {
+  // implicitly require `this`
+  return this->RunOnce(
+      [this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward); });
 }
 
-void HatchSubsystem::ReleaseHatch() {
-  m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse);
+frc2::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
+  // implicitly require `this`
+  return this->RunOnce(
+      [this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse); });
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
index e9fbfdc..7a2bdae 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/numbers>
+#include <numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -30,7 +30,7 @@
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
index b17c55d..002a8a6 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
@@ -4,17 +4,13 @@
 
 #pragma once
 
-#include <frc/PS4Controller.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/FunctionalCommand.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-#include <frc2/command/RunCommand.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/button/CommandPS4Controller.h>
 
 #include "Constants.h"
-#include "commands/ComplexAuto.h"
+#include "commands/Autos.h"
 #include "subsystems/DriveSubsystem.h"
 #include "subsystems/HatchSubsystem.h"
 
@@ -35,7 +31,8 @@
 
  private:
   // The driver's controller
-  frc::PS4Controller m_driverController{OIConstants::kDriverControllerPort};
+  frc2::CommandPS4Controller m_driverController{
+      OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
 
@@ -43,33 +40,11 @@
   DriveSubsystem m_drive;
   HatchSubsystem m_hatch;
 
+  // Commands owned by RobotContainer
+
   // The autonomous routines
-  frc2::FunctionalCommand m_simpleAuto = frc2::FunctionalCommand(
-      // Reset encoders on command start
-      [this] { m_drive.ResetEncoders(); },
-      // Drive forward while the command is executing
-      [this] { m_drive.ArcadeDrive(AutoConstants::kAutoDriveSpeed, 0); },
-      // Stop driving at the end of the command
-      [this](bool interrupted) { m_drive.ArcadeDrive(0, 0); },
-      // End the command when the robot's driven distance exceeds the desired
-      // value
-      [this] {
-        return m_drive.GetAverageEncoderDistance() >=
-               AutoConstants::kAutoDriveDistanceInches;
-      },
-      // Requires the drive subsystem
-      {&m_drive});
-  ComplexAuto m_complexAuto{&m_drive, &m_hatch};
-
-  // Assorted commands to be bound to buttons
-
-  frc2::InstantCommand m_grabHatch{[this] { m_hatch.GrabHatch(); }, {&m_hatch}};
-  frc2::InstantCommand m_releaseHatch{[this] { m_hatch.ReleaseHatch(); },
-                                      {&m_hatch}};
-  frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
-                                        {}};
-  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
-                                        {}};
+  frc2::CommandPtr m_simpleAuto = autos::SimpleAuto(&m_drive);
+  frc2::CommandPtr m_complexAuto = autos::ComplexAuto(&m_drive, &m_hatch);
 
   // The chooser for the autonomous routines
   frc::SendableChooser<frc2::Command*> m_chooser;
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.h
new file mode 100644
index 0000000..8adbdf8
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.h
@@ -0,0 +1,26 @@
+// 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 <frc2/command/CommandPtr.h>
+
+#include "subsystems/DriveSubsystem.h"
+#include "subsystems/HatchSubsystem.h"
+
+/** Container for auto command factories. */
+namespace autos {
+
+/**
+ * A simple auto that drives forward, then stops.
+ */
+frc2::CommandPtr SimpleAuto(DriveSubsystem* drive);
+
+/**
+ * A complex auto command that drives forward, releases a hatch, and then drives
+ * backward.
+ */
+frc2::CommandPtr ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
+
+}  // namespace autos
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/ComplexAuto.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/ComplexAuto.h
deleted file mode 100644
index e746d8a..0000000
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/ComplexAuto.h
+++ /dev/null
@@ -1,28 +0,0 @@
-// 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 <frc2/command/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
-
-#include "Constants.h"
-#include "subsystems/DriveSubsystem.h"
-#include "subsystems/HatchSubsystem.h"
-
-/**
- * A complex auto command that drives forward, releases a hatch, and then drives
- * backward.
- */
-class ComplexAuto
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup, ComplexAuto> {
- public:
-  /**
-   * Creates a new ComplexAuto.
-   *
-   * @param drive The drive subsystem this command will run on
-   * @param hatch The hatch subsystem this command will run on
-   */
-  ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
-};
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
index bb06100..b21bb56 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
@@ -6,6 +6,7 @@
 
 #include <frc/DoubleSolenoid.h>
 #include <frc/PneumaticsControlModule.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/SubsystemBase.h>
 
 #include "Constants.h"
@@ -19,12 +20,12 @@
   /**
    * Grabs the hatch.
    */
-  void GrabHatch();
+  frc2::CommandPtr GrabHatchCommand();
 
   /**
    * Releases the hatch.
    */
-  void ReleaseHatch();
+  frc2::CommandPtr ReleaseHatchCommand();
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index 6f8c5a6..876a984 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -28,27 +28,25 @@
   // Set up default drive command
   m_drive.SetDefaultCommand(DefaultDrive(
       &m_drive, [this] { return -m_driverController.GetLeftY(); },
-      [this] { return m_driverController.GetRightX(); }));
+      [this] { return -m_driverController.GetRightX(); }));
 }
 
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
-  // NOTE: Using `new` here will leak these commands if they are ever no longer
-  // needed. This is usually a non-issue as button-bindings tend to be permanent
-  // - however, if you wish to avoid this, the commands should be
-  // stack-allocated and declared as members of RobotContainer.
+  // NOTE: since we're binding a CommandPtr, command ownership here is moved to
+  // the scheduler thus, no memory leaks!
 
   // Grab the hatch when the 'A' button is pressed.
   frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .WhenPressed(new GrabHatch(&m_hatch));
+      .OnTrue(GrabHatch(&m_hatch).ToPtr());
   // Release the hatch when the 'B' button is pressed.
   frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
-      .WhenPressed(new ReleaseHatch(&m_hatch));
+      .OnTrue(ReleaseHatch(&m_hatch).ToPtr());
   // While holding the shoulder button, drive at half speed
   frc2::JoystickButton(&m_driverController,
                        frc::XboxController::Button::kRightBumper)
-      .WhenHeld(new HalveDriveSpeed(&m_drive));
+      .WhileTrue(HalveDriveSpeed(&m_drive).ToPtr());
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
index e9fbfdc..7a2bdae 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/numbers>
+#include <numbers>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -30,7 +30,7 @@
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
index 4d3aac2..a59b758 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
@@ -5,10 +5,17 @@
 #include "Drivetrain.h"
 
 frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
-  return {units::meters_per_second_t(m_frontLeftEncoder.GetRate()),
-          units::meters_per_second_t(m_frontRightEncoder.GetRate()),
-          units::meters_per_second_t(m_backLeftEncoder.GetRate()),
-          units::meters_per_second_t(m_backRightEncoder.GetRate())};
+  return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
+          units::meters_per_second_t{m_frontRightEncoder.GetRate()},
+          units::meters_per_second_t{m_backLeftEncoder.GetRate()},
+          units::meters_per_second_t{m_backRightEncoder.GetRate()}};
+}
+
+frc::MecanumDriveWheelPositions Drivetrain::GetCurrentWheelDistances() const {
+  return {units::meter_t{m_frontLeftEncoder.GetDistance()},
+          units::meter_t{m_frontRightEncoder.GetDistance()},
+          units::meter_t{m_backLeftEncoder.GetDistance()},
+          units::meter_t{m_backRightEncoder.GetDistance()}};
 }
 
 void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
@@ -52,5 +59,5 @@
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_odometry.Update(m_gyro.GetRotation2d(), GetCurrentState());
+  m_odometry.Update(m_gyro.GetRotation2d(), GetCurrentWheelDistances());
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
index 9ec5fc5..fd4ae7a 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -13,7 +15,6 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <wpi/numbers>
 
 /**
  * Represents a mecanum drive style drivetrain.
@@ -30,6 +31,7 @@
   }
 
   frc::MecanumDriveWheelSpeeds GetCurrentState() const;
+  frc::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
   void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
   void Drive(units::meters_per_second_t xSpeed,
              units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
@@ -39,7 +41,7 @@
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::PWMSparkMax m_frontLeftMotor{1};
@@ -68,7 +70,8 @@
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
       m_backRightLocation};
 
-  frc::MecanumDriveOdometry m_odometry{m_kinematics, m_gyro.GetRotation2d()};
+  frc::MecanumDriveOdometry m_odometry{m_kinematics, m_gyro.GetRotation2d(),
+                                       GetCurrentWheelDistances()};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp
index 36912b5..99aed4e 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp
@@ -7,10 +7,10 @@
 namespace DriveConstants {
 
 const frc::MecanumDriveKinematics kDriveKinematics{
-    frc::Translation2d(kWheelBase / 2, kTrackWidth / 2),
-    frc::Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-    frc::Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-    frc::Translation2d(-kWheelBase / 2, -kTrackWidth / 2)};
+    frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
+    frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
+    frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
+    frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
 
 }  // namespace DriveConstants
 
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
index 3e2c6bf..1e9a9ae 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
@@ -30,9 +30,9 @@
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.Drive(m_driverController.GetLeftY(),
-                      m_driverController.GetRightX(),
-                      m_driverController.GetLeftX(), false);
+        m_drive.Drive(-m_driverController.GetLeftY(),
+                      -m_driverController.GetRightX(),
+                      -m_driverController.GetLeftX(), false);
       },
       {&m_drive}));
 }
@@ -43,8 +43,8 @@
   // While holding the shoulder button, drive at half speed
   frc2::JoystickButton(&m_driverController,
                        frc::XboxController::Button::kRightBumper)
-      .WhenPressed(&m_driveHalfSpeed)
-      .WhenReleased(&m_driveFullSpeed);
+      .OnTrue(&m_driveHalfSpeed)
+      .OnFalse(&m_driveFullSpeed);
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
@@ -57,11 +57,11 @@
   // An example trajectory to follow.  All units in meters.
   auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(
       // Start at the origin facing the +X direction
-      frc::Pose2d(0_m, 0_m, frc::Rotation2d(0_deg)),
+      frc::Pose2d{0_m, 0_m, 0_deg},
       // Pass through these two interior waypoints, making an 's' curve path
-      {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
+      {frc::Translation2d{1_m, 1_m}, frc::Translation2d{2_m, -1_m}},
       // End 3 meters straight ahead of where we started, facing forward
-      frc::Pose2d(3_m, 0_m, frc::Rotation2d(0_deg)),
+      frc::Pose2d{3_m, 0_m, 0_deg},
       // Pass the config
       config);
 
@@ -71,8 +71,8 @@
       frc::SimpleMotorFeedforward<units::meters>(ks, kv, ka),
       DriveConstants::kDriveKinematics,
 
-      frc2::PIDController(AutoConstants::kPXController, 0, 0),
-      frc2::PIDController(AutoConstants::kPYController, 0, 0),
+      frc2::PIDController{AutoConstants::kPXController, 0, 0},
+      frc2::PIDController{AutoConstants::kPYController, 0, 0},
       frc::ProfiledPIDController<units::radians>(
           AutoConstants::kPThetaController, 0, 0,
           AutoConstants::kThetaControllerConstraints),
@@ -81,18 +81,18 @@
 
       [this]() {
         return frc::MecanumDriveWheelSpeeds{
-            units::meters_per_second_t(m_drive.GetFrontLeftEncoder().GetRate()),
-            units::meters_per_second_t(
-                m_drive.GetFrontRightEncoder().GetRate()),
-            units::meters_per_second_t(m_drive.GetRearLeftEncoder().GetRate()),
-            units::meters_per_second_t(
-                m_drive.GetRearRightEncoder().GetRate())};
+            units::meters_per_second_t{m_drive.GetFrontLeftEncoder().GetRate()},
+            units::meters_per_second_t{
+                m_drive.GetFrontRightEncoder().GetRate()},
+            units::meters_per_second_t{m_drive.GetRearLeftEncoder().GetRate()},
+            units::meters_per_second_t{
+                m_drive.GetRearRightEncoder().GetRate()}};
       },
 
-      frc2::PIDController(DriveConstants::kPFrontLeftVel, 0, 0),
-      frc2::PIDController(DriveConstants::kPRearLeftVel, 0, 0),
-      frc2::PIDController(DriveConstants::kPFrontRightVel, 0, 0),
-      frc2::PIDController(DriveConstants::kPRearRightVel, 0, 0),
+      frc2::PIDController{DriveConstants::kPFrontLeftVel, 0, 0},
+      frc2::PIDController{DriveConstants::kPRearLeftVel, 0, 0},
+      frc2::PIDController{DriveConstants::kPFrontRightVel, 0, 0},
+      frc2::PIDController{DriveConstants::kPRearRightVel, 0, 0},
 
       [this](units::volt_t frontLeft, units::volt_t rearLeft,
              units::volt_t frontRight, units::volt_t rearRight) {
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
index 9e06068..9120fa6 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -28,7 +28,8 @@
       m_rearRightEncoder{kRearRightEncoderPorts[0], kRearRightEncoderPorts[1],
                          kRearRightEncoderReversed},
 
-      m_odometry{kDriveKinematics, m_gyro.GetRotation2d(), frc::Pose2d()} {
+      m_odometry{kDriveKinematics, m_gyro.GetRotation2d(),
+                 getCurrentWheelDistances(), frc::Pose2d{}} {
   // Set the distance per pulse for the encoders
   m_frontLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
   m_rearLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
@@ -43,19 +44,13 @@
 
 void DriveSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
-  m_odometry.Update(
-      m_gyro.GetRotation2d(),
-      frc::MecanumDriveWheelSpeeds{
-          units::meters_per_second_t(m_frontLeftEncoder.GetRate()),
-          units::meters_per_second_t(m_rearLeftEncoder.GetRate()),
-          units::meters_per_second_t(m_frontRightEncoder.GetRate()),
-          units::meters_per_second_t(m_rearRightEncoder.GetRate())});
+  m_odometry.Update(m_gyro.GetRotation2d(), getCurrentWheelDistances());
 }
 
 void DriveSubsystem::Drive(double xSpeed, double ySpeed, double rot,
                            bool fieldRelative) {
   if (fieldRelative) {
-    m_drive.DriveCartesian(ySpeed, xSpeed, rot, -m_gyro.GetAngle());
+    m_drive.DriveCartesian(ySpeed, xSpeed, rot, m_gyro.GetRotation2d());
   } else {
     m_drive.DriveCartesian(ySpeed, xSpeed, rot);
   }
@@ -96,10 +91,18 @@
 
 frc::MecanumDriveWheelSpeeds DriveSubsystem::getCurrentWheelSpeeds() {
   return (frc::MecanumDriveWheelSpeeds{
-      units::meters_per_second_t(m_frontLeftEncoder.GetRate()),
-      units::meters_per_second_t(m_rearLeftEncoder.GetRate()),
-      units::meters_per_second_t(m_frontRightEncoder.GetRate()),
-      units::meters_per_second_t(m_rearRightEncoder.GetRate())});
+      units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
+      units::meters_per_second_t{m_rearLeftEncoder.GetRate()},
+      units::meters_per_second_t{m_frontRightEncoder.GetRate()},
+      units::meters_per_second_t{m_rearRightEncoder.GetRate()}});
+}
+
+frc::MecanumDriveWheelPositions DriveSubsystem::getCurrentWheelDistances() {
+  return (frc::MecanumDriveWheelPositions{
+      units::meter_t{m_frontLeftEncoder.GetDistance()},
+      units::meter_t{m_rearLeftEncoder.GetDistance()},
+      units::meter_t{m_frontRightEncoder.GetDistance()},
+      units::meter_t{m_rearRightEncoder.GetDistance()}});
 }
 
 void DriveSubsystem::SetMaxOutput(double maxOutput) {
@@ -123,5 +126,6 @@
 }
 
 void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
-  m_odometry.ResetPosition(pose, m_gyro.GetRotation2d());
+  m_odometry.ResetPosition(m_gyro.GetRotation2d(), getCurrentWheelDistances(),
+                           pose);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
index 8d59a2c..527504a 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
@@ -2,17 +2,19 @@
 // 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 <numbers>
+
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/MecanumDriveKinematics.h>
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <units/acceleration.h>
 #include <units/angle.h>
+#include <units/angular_acceleration.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 #pragma once
 
@@ -51,7 +53,7 @@
 constexpr double kWheelDiameterMeters = 0.15;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::numbers::pi) /
+    (kWheelDiameterMeters * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
@@ -70,15 +72,10 @@
 }  // namespace DriveConstants
 
 namespace AutoConstants {
-using radians_per_second_squared_t =
-    units::compound_unit<units::radians,
-                         units::inverse<units::squared<units::second>>>;
-
-constexpr auto kMaxSpeed = units::meters_per_second_t(3);
-constexpr auto kMaxAcceleration = units::meters_per_second_squared_t(3);
-constexpr auto kMaxAngularSpeed = units::radians_per_second_t(3);
-constexpr auto kMaxAngularAcceleration =
-    units::unit_t<radians_per_second_squared_t>(3);
+constexpr auto kMaxSpeed = 3_mps;
+constexpr auto kMaxAcceleration = 3_mps_sq;
+constexpr auto kMaxAngularSpeed = 3_rad_per_s;
+constexpr auto kMaxAngularAcceleration = 3_rad_per_s_sq;
 
 constexpr double kPXController = 0.5;
 constexpr double kPYController = 0.5;
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
index 95b08b6..579a395 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
@@ -82,6 +82,13 @@
   frc::MecanumDriveWheelSpeeds getCurrentWheelSpeeds();
 
   /**
+   * Gets the distances travelled by each wheel.
+   *
+   * @return the distances travelled by each wheel.
+   */
+  frc::MecanumDriveWheelPositions getCurrentWheelDistances();
+
+  /**
    * Sets the drive MotorControllers to a desired voltage.
    */
   void SetMotorControllersVolts(units::volt_t frontLeftPower,
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
index f8d95ac..2b57f3c 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -21,11 +21,11 @@
   }
 
   void TeleopPeriodic() override {
-    /* Use the joystick X axis for lateral movement, Y axis for forward
+    /* Use the joystick X axis for forward movement, Y axis for lateral
      * movement, and Z axis for rotation.
      */
-    m_robotDrive.DriveCartesian(-m_stick.GetY(), m_stick.GetX(),
-                                m_stick.GetZ());
+    m_robotDrive.DriveCartesian(-m_stick.GetY(), -m_stick.GetX(),
+                                -m_stick.GetZ());
   }
 
  private:
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
index daa4b42..c1046dd 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -9,10 +9,17 @@
 #include "ExampleGlobalMeasurementSensor.h"
 
 frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
-  return {units::meters_per_second_t(m_frontLeftEncoder.GetRate()),
-          units::meters_per_second_t(m_frontRightEncoder.GetRate()),
-          units::meters_per_second_t(m_backLeftEncoder.GetRate()),
-          units::meters_per_second_t(m_backRightEncoder.GetRate())};
+  return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
+          units::meters_per_second_t{m_frontRightEncoder.GetRate()},
+          units::meters_per_second_t{m_backLeftEncoder.GetRate()},
+          units::meters_per_second_t{m_backRightEncoder.GetRate()}};
+}
+
+frc::MecanumDriveWheelPositions Drivetrain::GetCurrentDistances() const {
+  return {units::meter_t{m_frontLeftEncoder.GetDistance()},
+          units::meter_t{m_frontRightEncoder.GetDistance()},
+          units::meter_t{m_backLeftEncoder.GetDistance()},
+          units::meter_t{m_backRightEncoder.GetDistance()}};
 }
 
 void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
@@ -49,7 +56,7 @@
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_poseEstimator.Update(m_gyro.GetRotation2d(), GetCurrentState());
+  m_poseEstimator.Update(m_gyro.GetRotation2d(), GetCurrentDistances());
 
   // Also apply vision measurements. We use 0.3 seconds in the past as an
   // example -- on a real robot, this must be calculated based either on latency
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
index 3eea4a2..eeaf7af 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -14,7 +16,6 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <wpi/numbers>
 
 /**
  * Represents a mecanum drive style drivetrain.
@@ -31,6 +32,7 @@
   }
 
   frc::MecanumDriveWheelSpeeds GetCurrentState() const;
+  frc::MecanumDriveWheelPositions GetCurrentDistances() const;
   void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
   void Drive(units::meters_per_second_t xSpeed,
              units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
@@ -39,7 +41,7 @@
 
   static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::PWMSparkMax m_frontLeftMotor{1};
@@ -75,6 +77,6 @@
   // Gains are for example purposes only - must be determined for your own
   // robot!
   frc::MecanumDrivePoseEstimator m_poseEstimator{
-      frc::Rotation2d(), frc::Pose2d(), m_kinematics,
-      {0.1, 0.1, 0.1},   {0.05},        {0.1, 0.1, 0.1}};
+      m_kinematics,  m_gyro.GetRotation2d(), GetCurrentDistances(),
+      frc::Pose2d{}, {0.1, 0.1, 0.1},        {0.1, 0.1, 0.1}};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
index a4caff4..b9e2ba4 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
@@ -16,9 +16,9 @@
   static frc::Pose2d GetEstimatedGlobalPose(
       const frc::Pose2d& estimatedRobotPose) {
     auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
-    return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
-                       estimatedRobotPose.Y() + units::meter_t(randVec(1)),
+    return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
+                       estimatedRobotPose.Y() + units::meter_t{randVec(1)},
                        estimatedRobotPose.Rotation() +
-                           frc::Rotation2d(units::radian_t(randVec(3))));
+                           frc::Rotation2d{units::radian_t{randVec(2)}}};
   }
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
index 551dc78..6d1967f 100644
--- a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
@@ -41,7 +41,7 @@
     // update the dashboard mechanism's state
     m_elevator->SetLength(kElevatorMinimumLength +
                           m_elevatorEncoder.GetDistance());
-    m_wrist->SetAngle(units::degree_t(m_wristPotentiometer.Get()));
+    m_wrist->SetAngle(units::degree_t{m_wristPotentiometer.Get()});
   }
 
   void TeleopPeriodic() override {
diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
index 0092ec3..7a4325f 100644
--- a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
@@ -2,25 +2,47 @@
 // 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 <numbers>
+
+#include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/TimedRobot.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc/smartdashboard/SmartDashboard.h>
 
 /**
  * This sample program shows how to control a motor using a joystick. In the
  * operator control part of the program, the joystick is read and the value is
  * written to the motor.
  *
- * Joystick analog values range from -1 to 1 and speed controller inputs as
+ * Joystick analog values range from -1 to 1 and motor controller inputs as
  * range from -1 to 1 making it easy to work together.
+ *
+ * In addition, the encoder value of an encoder connected to ports 0 and 1 is
+ * consistently sent to the Dashboard.
  */
 class Robot : public frc::TimedRobot {
  public:
   void TeleopPeriodic() override { m_motor.Set(m_stick.GetY()); }
 
+  /*
+   * The RobotPeriodic function is called every control packet no matter the
+   * robot mode.
+   */
+  void RobotPeriodic() override {
+    frc::SmartDashboard::PutNumber("Encoder", m_encoder.GetDistance());
+  }
+
+  void RobotInit() override {
+    // Use SetDistancePerPulse to set the multiplier for GetDistance
+    // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
+    m_encoder.SetDistancePerPulse((std::numbers::pi * 6) / 360.0);
+  }
+
  private:
   frc::Joystick m_stick{0};
   frc::PWMSparkMax m_motor{0};
+  frc::Encoder m_encoder{0, 1};
 };
 
 #ifndef RUNNING_FRC_TESTS
diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
deleted file mode 100644
index 7d0e9ba..0000000
--- a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-// 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/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/numbers>
-
-/**
- * This sample program shows how to control a motor using a joystick. In the
- * operator control part of the program, the joystick is read and the value is
- * written to the motor.
- *
- * Joystick analog values range from -1 to 1 and speed controller inputs as
- * range from -1 to 1 making it easy to work together.
- *
- * In addition, the encoder value of an encoder connected to ports 0 and 1 is
- * consistently sent to the Dashboard.
- */
-class Robot : public frc::TimedRobot {
- public:
-  void TeleopPeriodic() override { m_motor.Set(m_stick.GetY()); }
-
-  /*
-   * The RobotPeriodic function is called every control packet no matter the
-   * robot mode.
-   */
-  void RobotPeriodic() override {
-    frc::SmartDashboard::PutNumber("Encoder", m_encoder.GetDistance());
-  }
-
-  void RobotInit() override {
-    // Use SetDistancePerPulse to set the multiplier for GetDistance
-    // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
-    m_encoder.SetDistancePerPulse((wpi::numbers::pi * 6) / 360.0);
-  }
-
- private:
-  frc::Joystick m_stick{0};
-  frc::PWMSparkMax m_motor{0};
-  frc::Encoder m_encoder{0, 1};
-};
-
-#ifndef RUNNING_FRC_TESTS
-int main() {
-  return frc::StartRobot<Robot>();
-}
-#endif
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
index 49ee31b..a72b129 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
@@ -28,8 +28,8 @@
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
+                            -m_driverController.GetRightX());
       },
       {&m_drive}));
 }
@@ -38,21 +38,21 @@
   // Configure your button bindings here
 
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController, 6)
-      .WhenPressed(&m_driveHalfSpeed)
-      .WhenReleased(&m_driveFullSpeed);
+  frc2::JoystickButton{&m_driverController, 6}
+      .OnTrue(&m_driveHalfSpeed)
+      .OnFalse(&m_driveFullSpeed);
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
   // Create a voltage constraint to ensure we don't accelerate too fast
-  frc::DifferentialDriveVoltageConstraint autoVoltageConstraint(
-      frc::SimpleMotorFeedforward<units::meters>(
-          DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
-      DriveConstants::kDriveKinematics, 10_V);
+  frc::DifferentialDriveVoltageConstraint autoVoltageConstraint{
+      frc::SimpleMotorFeedforward<units::meters>{
+          DriveConstants::ks, DriveConstants::kv, DriveConstants::ka},
+      DriveConstants::kDriveKinematics, 10_V};
 
   // Set up config for trajectory
-  frc::TrajectoryConfig config(AutoConstants::kMaxSpeed,
-                               AutoConstants::kMaxAcceleration);
+  frc::TrajectoryConfig config{AutoConstants::kMaxSpeed,
+                               AutoConstants::kMaxAcceleration};
   // Add kinematics to ensure max speed is actually obeyed
   config.SetKinematics(DriveConstants::kDriveKinematics);
   // Apply the voltage constraint
@@ -61,26 +61,27 @@
   // An example trajectory to follow.  All units in meters.
   auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(
       // Start at the origin facing the +X direction
-      frc::Pose2d(0_m, 0_m, frc::Rotation2d(0_deg)),
+      frc::Pose2d{0_m, 0_m, 0_deg},
       // Pass through these two interior waypoints, making an 's' curve path
-      {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
+      {frc::Translation2d{1_m, 1_m}, frc::Translation2d{2_m, -1_m}},
       // End 3 meters straight ahead of where we started, facing forward
-      frc::Pose2d(3_m, 0_m, frc::Rotation2d(0_deg)),
+      frc::Pose2d{3_m, 0_m, 0_deg},
       // Pass the config
       config);
 
-  frc2::RamseteCommand ramseteCommand(
-      exampleTrajectory, [this]() { return m_drive.GetPose(); },
-      frc::RamseteController(AutoConstants::kRamseteB,
-                             AutoConstants::kRamseteZeta),
-      frc::SimpleMotorFeedforward<units::meters>(
-          DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
+  frc2::RamseteCommand ramseteCommand{
+      exampleTrajectory,
+      [this]() { return m_drive.GetPose(); },
+      frc::RamseteController{AutoConstants::kRamseteB,
+                             AutoConstants::kRamseteZeta},
+      frc::SimpleMotorFeedforward<units::meters>{
+          DriveConstants::ks, DriveConstants::kv, DriveConstants::ka},
       DriveConstants::kDriveKinematics,
       [this] { return m_drive.GetWheelSpeeds(); },
-      frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
-      frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
+      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
+      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
       [this](auto left, auto right) { m_drive.TankDriveVolts(left, right); },
-      {&m_drive});
+      {&m_drive}};
 
   // Reset odometry to the starting pose of the trajectory.
   m_drive.ResetOdometry(exampleTrajectory.InitialPose());
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
index a5b853e..f8ec1db 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -16,7 +16,7 @@
       m_right2{kRightMotor2Port},
       m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
       m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]},
-      m_odometry{m_gyro.GetRotation2d()} {
+      m_odometry{m_gyro.GetRotation2d(), units::meter_t{0}, units::meter_t{0}} {
   // We need to invert one side of the drivetrain so that positive voltages
   // result in both sides moving forward. Depending on how your robot's
   // gearbox is constructed, you might have to invert the left side instead.
@@ -32,8 +32,8 @@
 void DriveSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
   m_odometry.Update(m_gyro.GetRotation2d(),
-                    units::meter_t(m_leftEncoder.GetDistance()),
-                    units::meter_t(m_rightEncoder.GetDistance()));
+                    units::meter_t{m_leftEncoder.GetDistance()},
+                    units::meter_t{m_rightEncoder.GetDistance()});
 }
 
 void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
@@ -80,11 +80,13 @@
 }
 
 frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
-  return {units::meters_per_second_t(m_leftEncoder.GetRate()),
-          units::meters_per_second_t(m_rightEncoder.GetRate())};
+  return {units::meters_per_second_t{m_leftEncoder.GetRate()},
+          units::meters_per_second_t{m_rightEncoder.GetRate()}};
 }
 
 void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
   ResetEncoders();
-  m_odometry.ResetPosition(pose, m_gyro.GetRotation2d());
+  m_odometry.ResetPosition(m_gyro.GetRotation2d(),
+                           units::meter_t{m_leftEncoder.GetDistance()},
+                           units::meter_t{m_rightEncoder.GetDistance()}, pose);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
index 174a028..18747d4 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
 #include <units/acceleration.h>
@@ -10,7 +12,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 #pragma once
 
@@ -41,7 +42,7 @@
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * wpi::numbers::pi) /
+    (kWheelDiameterInches * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
@@ -59,7 +60,7 @@
 
 namespace AutoConstants {
 constexpr auto kMaxSpeed = 3_mps;
-constexpr auto kMaxAcceleration = 3_mps_sq;
+constexpr auto kMaxAcceleration = 1_mps_sq;
 
 // Reasonable baseline values for a RAMSETE follower in units of meters and
 // seconds
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Drivetrain.cpp
index 1871688..8c1e632 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Drivetrain.cpp
@@ -23,12 +23,14 @@
 
 void Drivetrain::UpdateOdometry() {
   m_odometry.Update(m_gyro.GetRotation2d(),
-                    units::meter_t(m_leftEncoder.GetDistance()),
-                    units::meter_t(m_rightEncoder.GetDistance()));
+                    units::meter_t{m_leftEncoder.GetDistance()},
+                    units::meter_t{m_rightEncoder.GetDistance()});
 }
 
 void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
-  m_odometry.ResetPosition(pose, m_gyro.GetRotation2d());
+  m_odometry.ResetPosition(m_gyro.GetRotation2d(),
+                           units::meter_t{m_leftEncoder.GetDistance()},
+                           units::meter_t{m_rightEncoder.GetDistance()}, pose);
 }
 
 frc::Pose2d Drivetrain::GetPose() const {
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
index f47da51..d7902f1 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
@@ -79,9 +79,9 @@
 
   // An example trajectory to follow.
   frc::Trajectory m_trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      frc::Pose2d(0_m, 0_m, 0_rad),
-      {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
-      frc::Pose2d(3_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
+      frc::Pose2d{0_m, 0_m, 0_rad},
+      {frc::Translation2d{1_m, 1_m}, frc::Translation2d{2_m, -1_m}},
+      frc::Pose2d{3_m, 0_m, 0_rad}, frc::TrajectoryConfig(3_fps, 3_fps_sq));
 
   // The Ramsete Controller to follow the trajectory.
   frc::RamseteController m_ramseteController;
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
index 11fa523..40cc715 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -14,7 +16,6 @@
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
-#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -32,9 +33,9 @@
     // Set the distance per pulse for the drive encoders. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                       kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                        kEncoderResolution);
 
     m_leftEncoder.Reset();
@@ -44,7 +45,7 @@
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
@@ -75,7 +76,9 @@
   frc::AnalogGyro m_gyro{0};
 
   frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
-  frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
+  frc::DifferentialDriveOdometry m_odometry{
+      m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
+      units::meter_t{m_rightEncoder.GetDistance()}};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
new file mode 100644
index 0000000..c25f0e8
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
@@ -0,0 +1,50 @@
+// 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 "RapidReactCommandBot.h"
+
+#include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/button/Trigger.h>
+
+#include "Constants.h"
+
+void RapidReactCommandBot::ConfigureBindings() {
+  // Automatically run the storage motor whenever the ball storage is not full,
+  // and turn it off whenever it fills.
+  frc2::Trigger([this] {
+    return m_storage.IsFull();
+  }).WhileFalse(m_storage.RunCommand());
+
+  // Automatically disable and retract the intake whenever the ball storage is
+  // full.
+  frc2::Trigger([this] {
+    return m_storage.IsFull();
+  }).OnTrue(m_intake.RetractCommand());
+
+  // Control the drive with split-stick arcade controls
+  m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(
+      [this] { return -m_driverController.GetLeftY(); },
+      [this] { return -m_driverController.GetRightX(); }));
+
+  // Deploy the intake with the X button
+  m_driverController.X().OnTrue(m_intake.IntakeCommand());
+  // Retract the intake with the Y button
+  m_driverController.Y().OnTrue(m_intake.RetractCommand());
+
+  // Fire the shooter with the A button
+  m_driverController.A().OnTrue(
+      frc2::cmd::Parallel(
+          m_shooter.ShootCommand(ShooterConstants::kShooterTarget),
+          m_storage.RunCommand())
+          // Since we composed this inline we should give it a name
+          .WithName("Shoot"));
+}
+
+frc2::CommandPtr RapidReactCommandBot::GetAutonomousCommand() {
+  return m_drive
+      .DriveDistanceCommand(AutoConstants::kDriveDistance,
+                            AutoConstants::kDriveSpeed)
+      .WithTimeout(AutoConstants::kTimeout);
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
new file mode 100644
index 0000000..06bbe40
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
@@ -0,0 +1,58 @@
+// 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 "Robot.h"
+
+void Robot::RobotInit() {
+  // Configure default commands and condition bindings on robot startup
+  m_robot.ConfigureBindings();
+}
+
+void Robot::RobotPeriodic() {
+  // Runs the Scheduler.  This is responsible for polling buttons, adding
+  // newly-scheduled commands, running already-scheduled commands, removing
+  // finished or interrupted commands, and running subsystem Periodic() methods.
+  // This must be called from the robot's periodic block in order for anything
+  // in the Command-based framework to work.
+  frc2::CommandScheduler::GetInstance().Run();
+}
+
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_robot.GetAutonomousCommand();
+
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Cancel();
+  }
+}
+
+void Robot::TeleopPeriodic() {}
+
+void Robot::TestInit() {
+  // Cancels all running commands at the start of test mode.
+  frc2::CommandScheduler::GetInstance().CancelAll();
+}
+
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
new file mode 100644
index 0000000..98ff0ca
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
@@ -0,0 +1,46 @@
+// 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 "subsystems/Drive.h"
+
+#include <utility>
+
+#include <frc2/command/Commands.h>
+
+Drive::Drive() {
+  // We need to invert one side of the drivetrain so that positive voltages
+  // result in both sides moving forward. Depending on how your robot's
+  // gearbox is constructed, you might have to invert the left side instead.
+  m_rightMotors.SetInverted(true);
+
+  // Sets the distance per pulse for the encoders
+  m_leftEncoder.SetDistancePerPulse(DriveConstants::kEncoderDistancePerPulse);
+  m_rightEncoder.SetDistancePerPulse(DriveConstants::kEncoderDistancePerPulse);
+}
+
+frc2::CommandPtr Drive::ArcadeDriveCommand(std::function<double()> fwd,
+                                           std::function<double()> rot) {
+  return Run([this, fwd = std::move(fwd), rot = std::move(rot)] {
+           m_drive.ArcadeDrive(fwd(), rot());
+         })
+      .WithName("ArcadeDrive");
+}
+
+frc2::CommandPtr Drive::DriveDistanceCommand(units::meter_t distance,
+                                             double speed) {
+  return RunOnce([this] {
+           // Reset encoders at the start of the command
+           m_leftEncoder.Reset();
+           m_rightEncoder.Reset();
+         })
+      // Drive forward at specified speed
+      .AndThen(Run([this, speed] { m_drive.ArcadeDrive(speed, 0.0); }))
+      .Until([this, distance] {
+        return units::math::max(units::meter_t(m_leftEncoder.GetDistance()),
+                                units::meter_t(m_rightEncoder.GetDistance())) >=
+               distance;
+      })
+      // Stop the drive when the command ends
+      .FinallyDo([this](bool interrupted) { m_drive.StopMotor(); });
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
new file mode 100644
index 0000000..2069185
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
@@ -0,0 +1,19 @@
+// 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 "subsystems/Intake.h"
+
+frc2::CommandPtr Intake::IntakeCommand() {
+  return RunOnce([this] { m_piston.Set(frc::DoubleSolenoid::kForward); })
+      .AndThen(Run([this] { m_motor.Set(1.0); }))
+      .WithName("Intake");
+}
+
+frc2::CommandPtr Intake::RetractCommand() {
+  return RunOnce([this] {
+           m_motor.Disable();
+           m_piston.Set(frc::DoubleSolenoid::kReverse);
+         })
+      .WithName("Retract");
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
new file mode 100644
index 0000000..e8950ee
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
@@ -0,0 +1,38 @@
+// 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 "subsystems/Shooter.h"
+
+#include <frc2/command/Commands.h>
+
+Shooter::Shooter() {
+  m_shooterFeedback.SetTolerance(ShooterConstants::kShooterTolerance.value());
+  m_shooterEncoder.SetDistancePerPulse(
+      ShooterConstants::kEncoderDistancePerPulse);
+
+  SetDefaultCommand(RunOnce([this] {
+                      m_shooterMotor.Disable();
+                      m_feederMotor.Disable();
+                    })
+                        .AndThen(Run([] {}))
+                        .WithName("Idle"));
+}
+
+frc2::CommandPtr Shooter::ShootCommand(units::turns_per_second_t setpoint) {
+  return frc2::cmd::Parallel(
+             // Run the shooter flywheel at the desired setpoint using
+             // feedforward and feedback
+             Run([this, setpoint] {
+               m_shooterMotor.SetVoltage(
+                   m_shooterFeedforward.Calculate(setpoint) +
+                   units::volt_t(m_shooterFeedback.Calculate(
+                       m_shooterEncoder.GetRate(), setpoint.value())));
+             }),
+             // Wait until the shooter has reached the setpoint, and then
+             // run the feeder
+             frc2::cmd::WaitUntil([this] {
+               return m_shooterFeedback.AtSetpoint();
+             }).AndThen([this] { m_feederMotor.Set(1.0); }))
+      .WithName("Shoot");
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
new file mode 100644
index 0000000..3e9dc62
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
@@ -0,0 +1,18 @@
+// 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 "subsystems/Storage.h"
+
+Storage::Storage() {
+  SetDefaultCommand(
+      RunOnce([this] { m_motor.Disable(); }).AndThen([] {}).WithName("Idle"));
+}
+
+frc2::CommandPtr Storage::RunCommand() {
+  return Run([this] { m_motor.Set(1.0); }).WithName("Run");
+}
+
+bool Storage::IsFull() const {
+  return m_ballSensor.Get();
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h
new file mode 100644
index 0000000..330eeba
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h
@@ -0,0 +1,79 @@
+// 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 <numbers>
+
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/voltage.h>
+
+namespace DriveConstants {
+constexpr int kLeftMotor1Port = 0;
+constexpr int kLeftMotor2Port = 1;
+constexpr int kRightMotor1Port = 2;
+constexpr int kRightMotor2Port = 3;
+
+constexpr int kLeftEncoderPorts[]{0, 1};
+constexpr int kRightEncoderPorts[]{2, 3};
+constexpr bool kLeftEncoderReversed = false;
+constexpr bool kRightEncoderReversed = true;
+
+constexpr double kEncoderCPR = 1024;
+constexpr units::meter_t kWheelDiameter = 6.0_in;
+constexpr double kEncoderDistancePerPulse =
+    // Assumes the encoders are directly mounted on the wheel shafts
+    ((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
+
+}  // namespace DriveConstants
+
+namespace IntakeConstants {
+constexpr int kMotorPort = 6;
+constexpr int kSolenoidPorts[]{0, 1};
+}  // namespace IntakeConstants
+
+namespace StorageConstants {
+constexpr int kMotorPort = 7;
+constexpr int kBallSensorPort = 6;
+}  // namespace StorageConstants
+
+namespace ShooterConstants {
+constexpr int kEncoderPorts[]{4, 5};
+constexpr bool kEncoderReversed = false;
+constexpr double kEncoderCPR = 1024;
+constexpr double kEncoderDistancePerPulse =
+    // Distance units will be rotations
+    1.0 / kEncoderCPR;
+
+constexpr int kShooterMotorPort = 4;
+constexpr int kFeederMotorPort = 5;
+
+constexpr auto kShooterFree = 5300_tps;
+constexpr auto kShooterTarget = 4000_tps;
+constexpr auto kShooterTolerance = 50_tps;
+
+// These are not real PID gains, and will have to be tuned for your specific
+// robot.
+constexpr double kP = 1;
+
+constexpr units::volt_t kS = 0.05_V;
+constexpr auto kV =
+    // Should have value 12V at free speed...
+    12.0_V / kShooterFree;
+
+constexpr double kFeederSpeed = 0.5;
+}  // namespace ShooterConstants
+
+namespace OIConstants {
+constexpr int kDriverControllerPort = 0;
+}  // namespace OIConstants
+
+namespace AutoConstants {
+constexpr units::second_t kTimeout = 3.0_s;
+constexpr units::meter_t kDriveDistance = 2.0_m;
+constexpr double kDriveSpeed = 0.5;
+}  // namespace AutoConstants
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.h
new file mode 100644
index 0000000..4f733b7
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.h
@@ -0,0 +1,52 @@
+// 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 <frc2/command/CommandPtr.h>
+#include <frc2/command/button/CommandXboxController.h>
+
+#include "Constants.h"
+#include "subsystems/Drive.h"
+#include "subsystems/Intake.h"
+#include "subsystems/Shooter.h"
+#include "subsystems/Storage.h"
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RapidReactCommandBot {
+ public:
+  /**
+   * Use this method to define bindings between conditions and commands. These
+   * are useful for automating robot behaviors based on button and sensor input.
+   *
+   * <p>Should be called during Robot::RobotInit().
+   *
+   * <p>Event binding methods are available on the frc2::Trigger class.
+   */
+  void ConfigureBindings();
+
+  /**
+   * Use this to define the command that runs during autonomous.
+   *
+   * <p>Scheduled during Robot::AutonomousInit().
+   */
+  frc2::CommandPtr GetAutonomousCommand();
+
+ private:
+  // The robot's subsystems
+  Drive m_drive;
+  Intake m_intake;
+  Shooter m_shooter;
+  Storage m_storage;
+
+  // The driver's controller
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.h
new file mode 100644
index 0000000..bab80f7
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.h
@@ -0,0 +1,30 @@
+// 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 <optional>
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/CommandPtr.h>
+
+#include "RapidReactCommandBot.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestInit() override;
+  void TestPeriodic() override;
+
+ private:
+  RapidReactCommandBot m_robot;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
new file mode 100644
index 0000000..9a39a14
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
@@ -0,0 +1,58 @@
+// 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 <frc/Encoder.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/length.h>
+
+#include "Constants.h"
+
+class Drive : public frc2::SubsystemBase {
+ public:
+  Drive();
+  /**
+   * Returns a command that drives the robot with arcade controls.
+   *
+   * @param fwd the commanded forward movement
+   * @param rot the commanded rotation
+   */
+  [[nodiscard]] frc2::CommandPtr ArcadeDriveCommand(
+      std::function<double()> fwd, std::function<double()> rot);
+
+  /**
+   * Returns a command that drives the robot forward a specified distance at a
+   * specified speed.
+   *
+   * @param distance The distance to drive forward in meters
+   * @param speed The fraction of max speed at which to drive
+   */
+  [[nodiscard]] frc2::CommandPtr DriveDistanceCommand(units::meter_t distance,
+                                                      double speed);
+
+ private:
+  frc::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};
+  frc::PWMSparkMax m_leftFollower{DriveConstants::kLeftMotor2Port};
+  frc::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
+  frc::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
+
+  frc::MotorControllerGroup m_leftMotors{m_leftLeader, m_leftFollower};
+  frc::MotorControllerGroup m_rightMotors{m_rightLeader, m_rightFollower};
+
+  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+  frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
+                             DriveConstants::kLeftEncoderPorts[1],
+                             DriveConstants::kLeftEncoderReversed};
+  frc::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
+                              DriveConstants::kRightEncoderPorts[1],
+                              DriveConstants::kRightEncoderReversed};
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h
new file mode 100644
index 0000000..af8d39a
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h
@@ -0,0 +1,32 @@
+// 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 <frc/DoubleSolenoid.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class Intake : public frc2::SubsystemBase {
+ public:
+  Intake() = default;
+
+  /** Returns a command that deploys the intake, and then runs the intake motor
+   * indefinitely. */
+  [[nodiscard]] frc2::CommandPtr IntakeCommand();
+
+  /** Returns a command that turns off and retracts the intake. */
+  [[nodiscard]] frc2::CommandPtr RetractCommand();
+
+ private:
+  frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
+  frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::REVPH,
+                               IntakeConstants::kSolenoidPorts[0],
+                               IntakeConstants::kSolenoidPorts[1]};
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
new file mode 100644
index 0000000..5ab2a63
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
@@ -0,0 +1,44 @@
+// 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 <frc/Encoder.h>
+#include <frc/controller/PIDController.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+
+#include "Constants.h"
+
+class Shooter : public frc2::SubsystemBase {
+ public:
+  Shooter();
+
+  /**
+   * Returns a command to shoot the balls currently stored in the robot. Spins
+   * the shooter flywheel up to the specified setpoint, and then runs the feeder
+   * motor.
+   *
+   * @param setpointRotationsPerSecond The desired shooter velocity
+   */
+  [[nodiscard]] frc2::CommandPtr ShootCommand(
+      units::turns_per_second_t setpoint);
+
+ private:
+  frc::PWMSparkMax m_shooterMotor{ShooterConstants::kShooterMotorPort};
+  frc::PWMSparkMax m_feederMotor{ShooterConstants::kFeederMotorPort};
+
+  frc::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
+                                ShooterConstants::kEncoderPorts[1],
+                                ShooterConstants::kEncoderReversed};
+  frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward{
+      ShooterConstants::kS, ShooterConstants::kV};
+  frc::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
new file mode 100644
index 0000000..eab6da4
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
@@ -0,0 +1,26 @@
+// 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/DigitalInput.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class Storage : frc2::SubsystemBase {
+ public:
+  Storage();
+  /** Returns a command that runs the storage motor indefinitely. */
+  [[nodiscard]] frc2::CommandPtr RunCommand();
+
+  /** Whether the ball storage is full. */
+  bool IsFull() const;
+
+ private:
+  frc::PWMSparkMax m_motor{StorageConstants::kMotorPort};
+  frc::DigitalInput m_ballSensor{StorageConstants::kBallSensorPort};
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
index 3cbad01..f6e1fa4 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
@@ -5,7 +5,7 @@
 #include "RobotContainer.h"
 
 #include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/PrintCommand.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/button/Button.h>
 
 #include "commands/TeleopArcadeDrive.h"
@@ -19,11 +19,11 @@
   // Also set default commands here
   m_drive.SetDefaultCommand(TeleopArcadeDrive(
       &m_drive, [this] { return -m_controller.GetRawAxis(1); },
-      [this] { return m_controller.GetRawAxis(2); }));
+      [this] { return -m_controller.GetRawAxis(2); }));
 
   // Example of how to use the onboard IO
-  m_onboardButtonA.WhenPressed(frc2::PrintCommand("Button A Pressed"))
-      .WhenReleased(frc2::PrintCommand("Button A Released"));
+  m_onboardButtonA.OnTrue(frc2::cmd::Print("Button A Pressed"))
+      .OnFalse(frc2::cmd::Print("Button A Released"));
 
   // Setup SmartDashboard options.
   m_chooser.SetDefaultOption("Auto Routine Distance", &m_autoDistance);
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
index 2d6c148..8c1f29e 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
@@ -4,8 +4,9 @@
 
 #include "commands/TurnDegrees.h"
 
+#include <numbers>
+
 #include <units/math.h>
-#include <wpi/numbers>
 
 void TurnDegrees::Initialize() {
   // Set motors to stop, read encoder values for starting point
@@ -26,7 +27,7 @@
   // found here https://www.pololu.com/category/203/romi-chassis-kits, has a
   // wheel placement diameter (149 mm) - width of the wheel (8 mm) = 141 mm
   // or 5.551 inches. We then take into consideration the width of the tires.
-  static auto inchPerDegree = (5.551_in * wpi::numbers::pi) / 360_deg;
+  static auto inchPerDegree = (5.551_in * std::numbers::pi) / 360_deg;
 
   // Compare distance traveled from start to distance based on degree turn.
   return GetAverageTurningDistance() >= inchPerDegree * m_angle;
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
index 13ec2d8..979f8a0 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
@@ -4,7 +4,7 @@
 
 #include "subsystems/Drivetrain.h"
 
-#include <wpi/numbers>
+#include <numbers>
 
 #include "Constants.h"
 
@@ -20,9 +20,9 @@
   // gearbox is constructed, you might have to invert the left side instead.
   m_rightMotor.SetInverted(true);
 
-  m_leftEncoder.SetDistancePerPulse(wpi::numbers::pi * kWheelDiameter.value() /
+  m_leftEncoder.SetDistancePerPulse(std::numbers::pi * kWheelDiameter.value() /
                                     kCountsPerRevolution);
-  m_rightEncoder.SetDistancePerPulse(wpi::numbers::pi * kWheelDiameter.value() /
+  m_rightEncoder.SetDistancePerPulse(std::numbers::pi * kWheelDiameter.value() /
                                      kCountsPerRevolution);
   ResetEncoders();
 }
@@ -49,11 +49,11 @@
 }
 
 units::meter_t Drivetrain::GetLeftDistance() {
-  return units::meter_t(m_leftEncoder.GetDistance());
+  return units::meter_t{m_leftEncoder.GetDistance()};
 }
 
 units::meter_t Drivetrain::GetRightDistance() {
-  return units::meter_t(m_rightEncoder.GetDistance());
+  return units::meter_t{m_rightEncoder.GetDistance()};
 }
 
 units::meter_t Drivetrain::GetAverageDistance() {
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.h
index 821542c..ab88b15 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.h
@@ -7,6 +7,7 @@
 #include <frc/Joystick.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/button/Button.h>
 
 #include "Constants.h"
@@ -50,7 +51,7 @@
                         OnBoardIO::ChannelMode::INPUT};
 
   // Example button
-  frc2::Button m_onboardButtonA{
+  frc2::Trigger m_onboardButtonA{
       [this] { return m_onboardIO.GetButtonAPressed(); }};
 
   // Autonomous commands.
diff --git a/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp
index 0c2e79c..e54c42f 100644
--- a/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp
@@ -46,14 +46,14 @@
 
   // Run instant command 1 when the 'A' button is pressed
   frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .WhenPressed(&m_instantCommand1);
+      .OnTrue(&m_instantCommand1);
   // Run instant command 2 when the 'X' button is pressed
   frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kX)
-      .WhenPressed(&m_instantCommand2);
+      .OnTrue(&m_instantCommand2);
   // Run instant command 3 when the 'Y' button is held; release early to
   // interrupt
   frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kY)
-      .WhenHeld(&m_waitCommand);
+      .OnTrue(&m_waitCommand);
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
diff --git a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
index a114b92..1417801 100644
--- a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
@@ -11,7 +11,7 @@
 #include <frc/shuffleboard/Shuffleboard.h>
 #include <frc/shuffleboard/ShuffleboardLayout.h>
 #include <frc/shuffleboard/ShuffleboardTab.h>
-#include <networktables/NetworkTableEntry.h>
+#include <networktables/GenericEntry.h>
 #include <networktables/NetworkTableInstance.h>
 
 /**
@@ -57,7 +57,7 @@
 
   void AutonomousInit() override {
     // Update the Max Output for the drivetrain.
-    m_robotDrive.SetMaxOutput(m_maxSpeed.GetDouble(1.0));
+    m_robotDrive.SetMaxOutput(m_maxSpeed->GetDouble(1.0));
   }
 
  private:
@@ -73,7 +73,7 @@
   frc::Encoder m_rightEncoder{2, 3};
   frc::AnalogPotentiometer m_ElevatorPot{0};
 
-  nt::NetworkTableEntry m_maxSpeed;
+  nt::GenericEntry* m_maxSpeed;
 };
 
 #ifndef RUNNING_FRC_TESTS
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index 098b997..93d0889 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -25,15 +25,17 @@
 
 void Drivetrain::UpdateOdometry() {
   m_odometry.Update(m_gyro.GetRotation2d(),
-                    units::meter_t(m_leftEncoder.GetDistance()),
-                    units::meter_t(m_rightEncoder.GetDistance()));
+                    units::meter_t{m_leftEncoder.GetDistance()},
+                    units::meter_t{m_rightEncoder.GetDistance()});
 }
 
 void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
   m_leftEncoder.Reset();
   m_rightEncoder.Reset();
   m_drivetrainSimulator.SetPose(pose);
-  m_odometry.ResetPosition(pose, m_gyro.GetRotation2d());
+  m_odometry.ResetPosition(m_gyro.GetRotation2d(),
+                           units::meter_t{m_leftEncoder.GetDistance()},
+                           units::meter_t{m_rightEncoder.GetDistance()}, pose);
 }
 
 void Drivetrain::SimulationPeriodic() {
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
index a6eeef4..7ea7b09 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
@@ -14,12 +14,8 @@
 class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
-    // Flush NetworkTables every loop. This ensures that robot pose and other
-    // values are sent during every iteration.
-    SetNetworkTablesFlushEnabled(true);
-
     m_trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-        frc::Pose2d(2_m, 2_m, 0_rad), {}, frc::Pose2d(6_m, 4_m, 0_rad),
+        frc::Pose2d{2_m, 2_m, 0_rad}, {}, frc::Pose2d{6_m, 4_m, 0_rad},
         frc::TrajectoryConfig(2_mps, 2_mps_sq));
   }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
index d8c58c2..80363b5 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
@@ -22,7 +24,6 @@
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/velocity.h>
-#include <wpi/numbers>
 
 /**
  * Represents a differential drive style drivetrain.
@@ -40,9 +41,9 @@
     // Set the distance per pulse for the drive encoders. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
-    m_leftEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                       kEncoderResolution);
-    m_rightEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+    m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                        kEncoderResolution);
 
     m_leftEncoder.Reset();
@@ -56,7 +57,7 @@
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
   void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
   void Drive(units::meters_per_second_t xSpeed,
@@ -91,7 +92,9 @@
   frc::AnalogGyro m_gyro{0};
 
   frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
-  frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
+  frc::DifferentialDriveOdometry m_odometry{
+      m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
+      units::meter_t{m_rightEncoder.GetDistance()}};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
index 0f03d37..aec9738 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -2,10 +2,11 @@
 // 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 <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
-#include <frc/controller/LinearPlantInversionFeedforward.h>
 #include <frc/controller/LinearQuadraticRegulator.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/estimator/KalmanFilter.h>
@@ -16,7 +17,6 @@
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <units/angle.h>
 #include <units/moment_of_inertia.h>
-#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -64,8 +64,8 @@
       // qelms. Velocity error tolerance, in radians and radians per second.
       // Decrease this to more heavily penalize state excursion, or make the
       // controller behave more aggressively.
-      {1.0 * 2.0 * wpi::numbers::pi / 360.0,
-       10.0 * 2.0 * wpi::numbers::pi / 360.0},
+      {1.0 * 2.0 * std::numbers::pi / 360.0,
+       10.0 * 2.0 * std::numbers::pi / 360.0},
       // relms. Control effort (voltage) tolerance. Decrease this to more
       // heavily penalize control effort, or make the controller less
       // aggressive. 12 is a good starting point because that is the
@@ -94,16 +94,15 @@
  public:
   void RobotInit() override {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
   }
 
   void TeleopInit() override {
-    m_loop.Reset(
-        Eigen::Vector<double, 2>{m_encoder.GetDistance(), m_encoder.GetRate()});
+    m_loop.Reset(frc::Vectord<2>{m_encoder.GetDistance(), m_encoder.GetRate()});
 
     m_lastProfiledReference = {
-        units::radian_t(m_encoder.GetDistance()),
-        units::radians_per_second_t(m_encoder.GetRate())};
+        units::radian_t{m_encoder.GetDistance()},
+        units::radians_per_second_t{m_encoder.GetRate()}};
   }
 
   void TeleopPeriodic() override {
@@ -122,12 +121,11 @@
                                                m_lastProfiledReference))
             .Calculate(20_ms);
 
-    m_loop.SetNextR(
-        Eigen::Vector<double, 2>{m_lastProfiledReference.position.value(),
-                                 m_lastProfiledReference.velocity.value()});
+    m_loop.SetNextR(frc::Vectord<2>{m_lastProfiledReference.position.value(),
+                                    m_lastProfiledReference.velocity.value()});
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetDistance()});
+    m_loop.Correct(frc::Vectord<1>{m_encoder.GetDistance()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -136,7 +134,7 @@
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t(m_loop.U(0)));
+    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp
index 318dc61..fce5aec 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp
@@ -9,11 +9,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {
-  // Flush NetworkTables every loop. This ensures that robot pose and other
-  // values are sent during every iteration.
-  SetNetworkTablesFlushEnabled(true);
-}
+void Robot::RobotInit() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
index a4245d6..fec6de3 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
@@ -26,10 +26,15 @@
   ConfigureButtonBindings();
 
   // Set up default drive command
+  // A split-stick arcade command, with forward/backward controlled by the left
+  // hand, and turning controlled by the right.
+  // If you are using the keyboard as a joystick, it is recommended that you go
+  // to the following link to read about editing the keyboard settings.
+  // https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/simulation-gui.html#using-the-keyboard-as-a-joystick
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            m_driverController.GetRightX());
+                            -m_driverController.GetLeftX());
       },
       {&m_drive}));
 }
@@ -48,8 +53,8 @@
   // While holding the shoulder button, drive at half speed
   frc2::JoystickButton(&m_driverController,
                        frc::XboxController::Button::kRightBumper)
-      .WhenPressed(&m_driveHalfSpeed)
-      .WhenReleased(&m_driveFullSpeed);
+      .OnTrue(&m_driveHalfSpeed)
+      .OnFalse(&m_driveFullSpeed);
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
@@ -70,24 +75,24 @@
   // An example trajectory to follow.  All units in meters.
   auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(
       // Start at (1, 2) facing the +X direction
-      frc::Pose2d(1_m, 2_m, 0_deg),
+      frc::Pose2d{1_m, 2_m, 0_deg},
       // Pass through these two interior waypoints, making an 's' curve path
-      {frc::Translation2d(2_m, 3_m), frc::Translation2d(3_m, 1_m)},
+      {frc::Translation2d{2_m, 3_m}, frc::Translation2d{3_m, 1_m}},
       // End 3 meters straight ahead of where we started, facing forward
-      frc::Pose2d(4_m, 2_m, 0_deg),
+      frc::Pose2d{4_m, 2_m, 0_deg},
       // Pass the config
       config);
 
   frc2::RamseteCommand ramseteCommand(
       exampleTrajectory, [this] { return m_drive.GetPose(); },
-      frc::RamseteController(AutoConstants::kRamseteB,
-                             AutoConstants::kRamseteZeta),
+      frc::RamseteController{AutoConstants::kRamseteB,
+                             AutoConstants::kRamseteZeta},
       frc::SimpleMotorFeedforward<units::meters>(
           DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
       DriveConstants::kDriveKinematics,
       [this] { return m_drive.GetWheelSpeeds(); },
-      frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
-      frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
+      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
+      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
       [this](auto left, auto right) { m_drive.TankDriveVolts(left, right); },
       {&m_drive});
 
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
index 0971549..15d8596 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
@@ -30,8 +30,8 @@
 void DriveSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
   m_odometry.Update(m_gyro.GetRotation2d(),
-                    units::meter_t(m_leftEncoder.GetDistance()),
-                    units::meter_t(m_rightEncoder.GetDistance()));
+                    units::meter_t{m_leftEncoder.GetDistance()},
+                    units::meter_t{m_rightEncoder.GetDistance()});
   m_fieldSim.SetRobotPose(m_odometry.GetPose());
 }
 
@@ -102,12 +102,14 @@
 }
 
 frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
-  return {units::meters_per_second_t(m_leftEncoder.GetRate()),
-          units::meters_per_second_t(m_rightEncoder.GetRate())};
+  return {units::meters_per_second_t{m_leftEncoder.GetRate()},
+          units::meters_per_second_t{m_rightEncoder.GetRate()}};
 }
 
 void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
   ResetEncoders();
   m_drivetrainSimulator.SetPose(pose);
-  m_odometry.ResetPosition(pose, m_gyro.GetRotation2d());
+  m_odometry.ResetPosition(m_gyro.GetRotation2d(),
+                           units::meter_t{m_leftEncoder.GetDistance()},
+                           units::meter_t{m_rightEncoder.GetDistance()}, pose);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
index b12eef1..d8080ca 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
@@ -12,7 +14,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 #pragma once
 
@@ -43,7 +44,7 @@
 constexpr auto kWheelDiameter = 6_in;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameter.value() * wpi::numbers::pi) /
+    (kWheelDiameter.value() * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
index 395133c..57392c7 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
@@ -144,17 +144,21 @@
 
   // The left-side drive encoder
   frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
-                             DriveConstants::kLeftEncoderPorts[1]};
+                             DriveConstants::kLeftEncoderPorts[1],
+                             DriveConstants::kLeftEncoderReversed};
 
   // The right-side drive encoder
   frc::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
-                              DriveConstants::kRightEncoderPorts[1]};
+                              DriveConstants::kRightEncoderPorts[1],
+                              DriveConstants::kRightEncoderReversed};
 
   // The gyro sensor
   frc::ADXRS450_Gyro m_gyro;
 
   // Odometry class for tracking robot pose
-  frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
+  frc::DifferentialDriveOdometry m_odometry{
+      m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
+      units::meter_t{m_rightEncoder.GetDistance()}};
 
   // These classes help simulate our drivetrain.
   frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
index 4c9d65e..7decddd 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
@@ -17,7 +19,6 @@
 #include <units/length.h>
 #include <units/mass.h>
 #include <units/velocity.h>
-#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -90,17 +91,16 @@
  public:
   void RobotInit() override {
     // Circumference = pi * d, so distance per click = pi * d / counts
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi * kDrumRadius.value() /
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi * kDrumRadius.value() /
                                   4096.0);
   }
 
   void TeleopInit() override {
     // Reset our loop to make sure it's in a known state.
-    m_loop.Reset(
-        Eigen::Vector<double, 2>{m_encoder.GetDistance(), m_encoder.GetRate()});
+    m_loop.Reset(frc::Vectord<2>{m_encoder.GetDistance(), m_encoder.GetRate()});
 
-    m_lastProfiledReference = {units::meter_t(m_encoder.GetDistance()),
-                               units::meters_per_second_t(m_encoder.GetRate())};
+    m_lastProfiledReference = {units::meter_t{m_encoder.GetDistance()},
+                               units::meters_per_second_t{m_encoder.GetRate()}};
   }
 
   void TeleopPeriodic() override {
@@ -119,12 +119,11 @@
                                               m_lastProfiledReference))
             .Calculate(20_ms);
 
-    m_loop.SetNextR(
-        Eigen::Vector<double, 2>{m_lastProfiledReference.position.value(),
-                                 m_lastProfiledReference.velocity.value()});
+    m_loop.SetNextR(frc::Vectord<2>{m_lastProfiledReference.position.value(),
+                                    m_lastProfiledReference.velocity.value()});
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetDistance()});
+    m_loop.Correct(frc::Vectord<1>{m_encoder.GetDistance()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -133,7 +132,7 @@
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t(m_loop.U(0)));
+    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
index 636916f..5d413ab 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
@@ -14,7 +16,6 @@
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
 #include <units/angular_velocity.h>
-#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -81,11 +82,11 @@
  public:
   void RobotInit() override {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
   }
 
   void TeleopInit() override {
-    m_loop.Reset(Eigen::Vector<double, 1>{m_encoder.GetRate()});
+    m_loop.Reset(frc::Vectord<1>{m_encoder.GetRate()});
   }
 
   void TeleopPeriodic() override {
@@ -93,14 +94,14 @@
     // setpoint of a PID controller.
     if (m_joystick.GetRightBumper()) {
       // We pressed the bumper, so let's set our next reference
-      m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.value()});
+      m_loop.SetNextR(frc::Vectord<1>{kSpinup.value()});
     } else {
       // We released the bumper, so let's spin down
-      m_loop.SetNextR(Eigen::Vector<double, 1>{0.0});
+      m_loop.SetNextR(frc::Vectord<1>{0.0});
     }
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetRate()});
+    m_loop.Correct(frc::Vectord<1>{m_encoder.GetRate()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -109,7 +110,7 @@
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t(m_loop.U(0)));
+    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
index 69d1953..d3bab6e 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -2,11 +2,12 @@
 // 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 <numbers>
+
 #include <frc/DriverStation.h>
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
-#include <frc/controller/LinearPlantInversionFeedforward.h>
 #include <frc/controller/LinearQuadraticRegulator.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/estimator/KalmanFilter.h>
@@ -14,7 +15,6 @@
 #include <frc/system/LinearSystemLoop.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
-#include <wpi/numbers>
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
@@ -82,11 +82,11 @@
  public:
   void RobotInit() override {
     // We go 2 pi radians per 4096 clicks.
-    m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi / 4096.0);
+    m_encoder.SetDistancePerPulse(2.0 * std::numbers::pi / 4096.0);
   }
 
   void TeleopInit() override {
-    m_loop.Reset(Eigen::Vector<double, 1>{m_encoder.GetRate()});
+    m_loop.Reset(frc::Vectord<1>{m_encoder.GetRate()});
   }
 
   void TeleopPeriodic() override {
@@ -94,14 +94,14 @@
     // setpoint of a PID controller.
     if (m_joystick.GetRightBumper()) {
       // We pressed the bumper, so let's set our next reference
-      m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.value()});
+      m_loop.SetNextR(frc::Vectord<1>{kSpinup.value()});
     } else {
       // We released the bumper, so let's spin down
-      m_loop.SetNextR(Eigen::Vector<double, 1>{0.0});
+      m_loop.SetNextR(frc::Vectord<1>{0.0});
     }
 
     // Correct our Kalman filter's state vector estimate with encoder data.
-    m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetRate()});
+    m_loop.Correct(frc::Vectord<1>{m_encoder.GetRate()});
 
     // Update our LQR to generate new voltage commands and use the voltages to
     // predict the next state with out Kalman filter.
@@ -110,7 +110,7 @@
     // Send the new calculated voltage to the motors.
     // voltage = duty cycle * battery voltage, so
     // duty cycle = voltage / battery voltage
-    m_motor.SetVoltage(units::volt_t(m_loop.U(0)));
+    m_motor.SetVoltage(units::volt_t{m_loop.U(0)});
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
index 709f403..537da53 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
@@ -23,7 +23,7 @@
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_odometry.Update(m_gyro.GetRotation2d(), m_frontLeft.GetState(),
-                    m_frontRight.GetState(), m_backLeft.GetState(),
-                    m_backRight.GetState());
+  m_odometry.Update(m_gyro.GetRotation2d(),
+                    {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+                     m_backLeft.GetPosition(), m_backRight.GetPosition()});
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
index 24a6527..0f9e27e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -4,8 +4,9 @@
 
 #include "SwerveModule.h"
 
+#include <numbers>
+
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/numbers>
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
                            const int turningMotorChannel,
@@ -20,31 +21,36 @@
   // Set the distance per pulse for the drive encoder. We can simply use the
   // distance traveled for one rotation of the wheel divided by the encoder
   // resolution.
-  m_driveEncoder.SetDistancePerPulse(2 * wpi::numbers::pi * kWheelRadius /
+  m_driveEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
                                      kEncoderResolution);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
+  // This is the the angle through an entire rotation (2 * std::numbers::pi)
   // divided by the encoder resolution.
-  m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
+  m_turningEncoder.SetDistancePerPulse(2 * std::numbers::pi /
                                        kEncoderResolution);
 
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
   m_turningPIDController.EnableContinuousInput(
-      -units::radian_t(wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
+      -units::radian_t{std::numbers::pi}, units::radian_t{std::numbers::pi});
 }
 
 frc::SwerveModuleState SwerveModule::GetState() const {
   return {units::meters_per_second_t{m_driveEncoder.GetRate()},
-          frc::Rotation2d(units::radian_t(m_turningEncoder.Get()))};
+          units::radian_t{m_turningEncoder.GetDistance()}};
+}
+
+frc::SwerveModulePosition SwerveModule::GetPosition() const {
+  return {units::meter_t{m_driveEncoder.GetDistance()},
+          units::radian_t{m_turningEncoder.GetDistance()}};
 }
 
 void SwerveModule::SetDesiredState(
     const frc::SwerveModuleState& referenceState) {
   // Optimize the reference state to avoid spinning further than 90 degrees
   const auto state = frc::SwerveModuleState::Optimize(
-      referenceState, units::radian_t(m_turningEncoder.Get()));
+      referenceState, units::radian_t{m_turningEncoder.GetDistance()});
 
   // Calculate the drive output from the drive PID controller.
   const auto driveOutput = m_drivePIDController.Calculate(
@@ -54,7 +60,7 @@
 
   // Calculate the turning motor output from the turning PID controller.
   const auto turnOutput = m_turningPIDController.Calculate(
-      units::radian_t(m_turningEncoder.Get()), state.angle.Radians());
+      units::radian_t{m_turningEncoder.GetDistance()}, state.angle.Radians());
 
   const auto turnFeedforward = m_turnFeedforward.Calculate(
       m_turningPIDController.GetSetpoint().velocity);
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
index 2b3cc0e..87233d2 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
@@ -4,11 +4,12 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
-#include <wpi/numbers>
 
 #include "SwerveModule.h"
 
@@ -27,7 +28,7 @@
   static constexpr units::meters_per_second_t kMaxSpeed =
       3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
@@ -46,5 +47,9 @@
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
       m_backRightLocation};
 
-  frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, m_gyro.GetRotation2d()};
+  frc::SwerveDriveOdometry<4> m_odometry{
+      m_kinematics,
+      m_gyro.GetRotation2d(),
+      {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+       m_backLeft.GetPosition(), m_backRight.GetPosition()}};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
index 00a938b..1861498 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -4,17 +4,19 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/kinematics/SwerveModulePosition.h>
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 class SwerveModule {
  public:
@@ -22,6 +24,7 @@
                int driveEncoderChannelA, int driveEncoderChannelB,
                int turningEncoderChannelA, int turningEncoderChannelB);
   frc::SwerveModuleState GetState() const;
+  frc::SwerveModulePosition GetPosition() const;
   void SetDesiredState(const frc::SwerveModuleState& state);
 
  private:
@@ -29,9 +32,9 @@
   static constexpr int kEncoderResolution = 4096;
 
   static constexpr auto kModuleMaxAngularVelocity =
-      wpi::numbers::pi * 1_rad_per_s;  // radians per second
+      std::numbers::pi * 1_rad_per_s;  // radians per second
   static constexpr auto kModuleMaxAngularAcceleration =
-      wpi::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
+      std::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
   frc::PWMSparkMax m_driveMotor;
   frc::PWMSparkMax m_turningMotor;
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index a35314e..52b25b9 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -35,9 +35,9 @@
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.Drive(
-            units::meters_per_second_t(m_driverController.GetLeftY()),
-            units::meters_per_second_t(m_driverController.GetLeftX()),
-            units::radians_per_second_t(m_driverController.GetRightX()), false);
+            units::meters_per_second_t{m_driverController.GetLeftY()},
+            units::meters_per_second_t{m_driverController.GetLeftX()},
+            units::radians_per_second_t{m_driverController.GetRightX()}, false);
       },
       {&m_drive}));
 }
@@ -54,11 +54,11 @@
   // An example trajectory to follow.  All units in meters.
   auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(
       // Start at the origin facing the +X direction
-      frc::Pose2d(0_m, 0_m, frc::Rotation2d(0_deg)),
+      frc::Pose2d{0_m, 0_m, 0_deg},
       // Pass through these two interior waypoints, making an 's' curve path
-      {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
+      {frc::Translation2d{1_m, 1_m}, frc::Translation2d{2_m, -1_m}},
       // End 3 meters straight ahead of where we started, facing forward
-      frc::Pose2d(3_m, 0_m, frc::Rotation2d(0_deg)),
+      frc::Pose2d{3_m, 0_m, 0_deg},
       // Pass the config
       config);
 
@@ -66,16 +66,16 @@
       AutoConstants::kPThetaController, 0, 0,
       AutoConstants::kThetaControllerConstraints};
 
-  thetaController.EnableContinuousInput(units::radian_t(-wpi::numbers::pi),
-                                        units::radian_t(wpi::numbers::pi));
+  thetaController.EnableContinuousInput(units::radian_t{-std::numbers::pi},
+                                        units::radian_t{std::numbers::pi});
 
   frc2::SwerveControllerCommand<4> swerveControllerCommand(
       exampleTrajectory, [this]() { return m_drive.GetPose(); },
 
       m_drive.kDriveKinematics,
 
-      frc2::PIDController(AutoConstants::kPXController, 0, 0),
-      frc2::PIDController(AutoConstants::kPYController, 0, 0), thetaController,
+      frc2::PIDController{AutoConstants::kPXController, 0, 0},
+      frc2::PIDController{AutoConstants::kPYController, 0, 0}, thetaController,
 
       [this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },
 
@@ -88,10 +88,5 @@
   return new frc2::SequentialCommandGroup(
       std::move(swerveControllerCommand),
       frc2::InstantCommand(
-          [this]() {
-            m_drive.Drive(units::meters_per_second_t(0),
-                          units::meters_per_second_t(0),
-                          units::radians_per_second_t(0), false);
-          },
-          {}));
+          [this]() { m_drive.Drive(0_mps, 0_mps, 0_rad_per_s, false); }, {}));
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
index fd15100..4b60372 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -36,13 +36,17 @@
           kRearRightDriveEncoderPorts,    kRearRightTurningEncoderPorts,
           kRearRightDriveEncoderReversed, kRearRightTurningEncoderReversed},
 
-      m_odometry{kDriveKinematics, m_gyro.GetRotation2d(), frc::Pose2d()} {}
+      m_odometry{kDriveKinematics,
+                 m_gyro.GetRotation2d(),
+                 {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+                  m_rearLeft.GetPosition(), m_rearRight.GetPosition()},
+                 frc::Pose2d{}} {}
 
 void DriveSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
-  m_odometry.Update(m_gyro.GetRotation2d(), m_frontLeft.GetState(),
-                    m_rearLeft.GetState(), m_frontRight.GetState(),
-                    m_rearRight.GetState());
+  m_odometry.Update(m_gyro.GetRotation2d(),
+                    {m_frontLeft.GetPosition(), m_rearLeft.GetPosition(),
+                     m_frontRight.GetPosition(), m_rearRight.GetPosition()});
 }
 
 void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
@@ -98,6 +102,9 @@
 }
 
 void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
-  m_odometry.ResetPosition(pose,
-                           frc::Rotation2d(units::degree_t(GetHeading())));
+  m_odometry.ResetPosition(
+      GetHeading(),
+      {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+       m_rearLeft.GetPosition(), m_rearRight.GetPosition()},
+      pose);
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
index 4d20ec8..bb0362e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
@@ -4,8 +4,9 @@
 
 #include "subsystems/SwerveModule.h"
 
+#include <numbers>
+
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -27,7 +28,7 @@
       ModuleConstants::kDriveEncoderDistancePerPulse);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
+  // This is the the angle through an entire rotation (2 * std::numbers::pi)
   // divided by the encoder resolution.
   m_turningEncoder.SetDistancePerPulse(
       ModuleConstants::kTurningEncoderDistancePerPulse);
@@ -35,19 +36,24 @@
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
   m_turningPIDController.EnableContinuousInput(
-      units::radian_t(-wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
+      units::radian_t{-std::numbers::pi}, units::radian_t{std::numbers::pi});
 }
 
 frc::SwerveModuleState SwerveModule::GetState() {
   return {units::meters_per_second_t{m_driveEncoder.GetRate()},
-          frc::Rotation2d(units::radian_t(m_turningEncoder.Get()))};
+          units::radian_t{m_turningEncoder.GetDistance()}};
+}
+
+frc::SwerveModulePosition SwerveModule::GetPosition() {
+  return {units::meter_t{m_driveEncoder.GetDistance()},
+          units::radian_t{m_turningEncoder.GetDistance()}};
 }
 
 void SwerveModule::SetDesiredState(
     const frc::SwerveModuleState& referenceState) {
   // Optimize the reference state to avoid spinning further than 90 degrees
   const auto state = frc::SwerveModuleState::Optimize(
-      referenceState, units::radian_t(m_turningEncoder.Get()));
+      referenceState, units::radian_t{m_turningEncoder.GetDistance()});
 
   // Calculate the drive output from the drive PID controller.
   const auto driveOutput = m_drivePIDController.Calculate(
@@ -55,7 +61,7 @@
 
   // Calculate the turning motor output from the turning PID controller.
   auto turnOutput = m_turningPIDController.Calculate(
-      units::radian_t(m_turningEncoder.Get()), state.angle.Radians());
+      units::radian_t{m_turningEncoder.GetDistance()}, state.angle.Radians());
 
   // Set the motor outputs.
   m_driveMotor.Set(driveOutput);
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
index e6fa136..cacab87 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
@@ -2,17 +2,19 @@
 // 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 <numbers>
+
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <units/acceleration.h>
 #include <units/angle.h>
+#include <units/angular_acceleration.h>
 #include <units/angular_velocity.h>
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 #pragma once
 
@@ -76,27 +78,22 @@
 constexpr double kWheelDiameterMeters = 0.15;
 constexpr double kDriveEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::numbers::pi) /
+    (kWheelDiameterMeters * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 constexpr double kTurningEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (wpi::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
+    (std::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
 
 constexpr double kPModuleTurningController = 1;
 constexpr double kPModuleDriveController = 1;
 }  // namespace ModuleConstants
 
 namespace AutoConstants {
-using radians_per_second_squared_t =
-    units::compound_unit<units::radians,
-                         units::inverse<units::squared<units::second>>>;
-
-constexpr auto kMaxSpeed = units::meters_per_second_t(3);
-constexpr auto kMaxAcceleration = units::meters_per_second_squared_t(3);
-constexpr auto kMaxAngularSpeed = units::radians_per_second_t(3.142);
-constexpr auto kMaxAngularAcceleration =
-    units::unit_t<radians_per_second_squared_t>(3.142);
+constexpr auto kMaxSpeed = 3_mps;
+constexpr auto kMaxAcceleration = 3_mps_sq;
+constexpr auto kMaxAngularSpeed = 3.142_rad_per_s;
+constexpr auto kMaxAngularAcceleration = 3.142_rad_per_s_sq;
 
 constexpr double kPXController = 0.5;
 constexpr double kPYController = 0.5;
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
index 5233f3f..e9ed17b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
@@ -94,10 +94,10 @@
       0.7_m;  // Distance between centers of front and back wheels on robot
 
   frc::SwerveDriveKinematics<4> kDriveKinematics{
-      frc::Translation2d(kWheelBase / 2, kTrackWidth / 2),
-      frc::Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-      frc::Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-      frc::Translation2d(-kWheelBase / 2, -kTrackWidth / 2)};
+      frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
+      frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
+      frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
+      frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
 
  private:
   // Components (e.g. motor controllers and sensors) should generally be
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
index 4208b35..f0d5ede 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
@@ -4,22 +4,20 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/geometry/Rotation2d.h>
+#include <frc/kinematics/SwerveModulePosition.h>
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/motorcontrol/Spark.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <wpi/numbers>
 
 #include "Constants.h"
 
 class SwerveModule {
-  using radians_per_second_squared_t =
-      units::compound_unit<units::radians,
-                           units::inverse<units::squared<units::second>>>;
-
  public:
   SwerveModule(int driveMotorChannel, int turningMotorChannel,
                const int driveEncoderPorts[2], const int turningEncoderPorts[2],
@@ -27,6 +25,8 @@
 
   frc::SwerveModuleState GetState();
 
+  frc::SwerveModulePosition GetPosition();
+
   void SetDesiredState(const frc::SwerveModuleState& state);
 
   void ResetEncoders();
@@ -36,12 +36,10 @@
   // ProfiledPIDController's constraints only take in meters per second and
   // meters per second squared.
 
-  static constexpr units::radians_per_second_t kModuleMaxAngularVelocity =
-      units::radians_per_second_t(wpi::numbers::pi);  // radians per second
-  static constexpr units::unit_t<radians_per_second_squared_t>
-      kModuleMaxAngularAcceleration =
-          units::unit_t<radians_per_second_squared_t>(
-              wpi::numbers::pi * 2.0);  // radians per second squared
+  static constexpr auto kModuleMaxAngularVelocity =
+      units::radians_per_second_t{std::numbers::pi};
+  static constexpr auto kModuleMaxAngularAcceleration =
+      units::radians_per_second_squared_t{std::numbers::pi * 2.0};
 
   frc::Spark m_driveMotor;
   frc::Spark m_turningMotor;
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
index 33a3233..5402e87 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -27,9 +27,9 @@
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_poseEstimator.Update(m_gyro.GetRotation2d(), m_frontLeft.GetState(),
-                         m_frontRight.GetState(), m_backLeft.GetState(),
-                         m_backRight.GetState());
+  m_poseEstimator.Update(m_gyro.GetRotation2d(),
+                         {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+                          m_backLeft.GetPosition(), m_backRight.GetPosition()});
 
   // Also apply vision measurements. We use 0.3 seconds in the past as an
   // example -- on a real robot, this must be calculated based either on latency
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
index 968ccad..c5a0839 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
@@ -4,8 +4,9 @@
 
 #include "SwerveModule.h"
 
+#include <numbers>
+
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/numbers>
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
                            const int turningMotorChannel,
@@ -20,31 +21,36 @@
   // Set the distance per pulse for the drive encoder. We can simply use the
   // distance traveled for one rotation of the wheel divided by the encoder
   // resolution.
-  m_driveEncoder.SetDistancePerPulse(2 * wpi::numbers::pi *
+  m_driveEncoder.SetDistancePerPulse(2 * std::numbers::pi *
                                      kWheelRadius.value() / kEncoderResolution);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
+  // This is the the angle through an entire rotation (2 * std::numbers::pi)
   // divided by the encoder resolution.
-  m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
+  m_turningEncoder.SetDistancePerPulse(2 * std::numbers::pi /
                                        kEncoderResolution);
 
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
   m_turningPIDController.EnableContinuousInput(
-      -units::radian_t(wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
+      -units::radian_t{std::numbers::pi}, units::radian_t{std::numbers::pi});
 }
 
 frc::SwerveModuleState SwerveModule::GetState() const {
   return {units::meters_per_second_t{m_driveEncoder.GetRate()},
-          frc::Rotation2d(units::radian_t(m_turningEncoder.Get()))};
+          units::radian_t{m_turningEncoder.GetDistance()}};
+}
+
+frc::SwerveModulePosition SwerveModule::GetPosition() const {
+  return {units::meter_t{m_driveEncoder.GetDistance()},
+          units::radian_t{m_turningEncoder.GetDistance()}};
 }
 
 void SwerveModule::SetDesiredState(
     const frc::SwerveModuleState& referenceState) {
   // Optimize the reference state to avoid spinning further than 90 degrees
   const auto state = frc::SwerveModuleState::Optimize(
-      referenceState, units::radian_t(m_turningEncoder.Get()));
+      referenceState, units::radian_t{m_turningEncoder.GetDistance()});
 
   // Calculate the drive output from the drive PID controller.
   const auto driveOutput = m_drivePIDController.Calculate(
@@ -54,7 +60,7 @@
 
   // Calculate the turning motor output from the turning PID controller.
   const auto turnOutput = m_turningPIDController.Calculate(
-      units::radian_t(m_turningEncoder.Get()), state.angle.Radians());
+      units::radian_t{m_turningEncoder.GetDistance()}, state.angle.Radians());
 
   const auto turnFeedforward = m_turnFeedforward.Calculate(
       m_turningPIDController.GetSetpoint().velocity);
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
index f525729..e042291 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
@@ -4,12 +4,13 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/AnalogGyro.h>
 #include <frc/estimator/SwerveDrivePoseEstimator.h>
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
-#include <wpi/numbers>
 
 #include "SwerveModule.h"
 
@@ -27,7 +28,7 @@
 
   static constexpr auto kMaxSpeed = 3.0_mps;  // 3 meters per second
   static constexpr units::radians_per_second_t kMaxAngularSpeed{
-      wpi::numbers::pi};  // 1/2 rotation per second
+      std::numbers::pi};  // 1/2 rotation per second
 
  private:
   frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
@@ -49,6 +50,11 @@
   // Gains are for example purposes only - must be determined for your own
   // robot!
   frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
-      frc::Rotation2d(), frc::Pose2d(), m_kinematics,
-      {0.1, 0.1, 0.1},   {0.05},        {0.1, 0.1, 0.1}};
+      m_kinematics,
+      frc::Rotation2d{},
+      {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+       m_backLeft.GetPosition(), m_backRight.GetPosition()},
+      frc::Pose2d{},
+      {0.1, 0.1, 0.1},
+      {0.1, 0.1, 0.1}};
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
index a4caff4..b9e2ba4 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
@@ -16,9 +16,9 @@
   static frc::Pose2d GetEstimatedGlobalPose(
       const frc::Pose2d& estimatedRobotPose) {
     auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
-    return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
-                       estimatedRobotPose.Y() + units::meter_t(randVec(1)),
+    return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
+                       estimatedRobotPose.Y() + units::meter_t{randVec(1)},
                        estimatedRobotPose.Rotation() +
-                           frc::Rotation2d(units::radian_t(randVec(3))));
+                           frc::Rotation2d{units::radian_t{randVec(2)}}};
   }
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
index 7456584..049d507 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
@@ -4,17 +4,19 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/kinematics/SwerveModulePosition.h>
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <units/angular_velocity.h>
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 class SwerveModule {
  public:
@@ -22,6 +24,7 @@
                int driveEncoderChannelA, int driveEncoderChannelB,
                int turningEncoderChannelA, int turningEncoderChannelB);
   frc::SwerveModuleState GetState() const;
+  frc::SwerveModulePosition GetPosition() const;
   void SetDesiredState(const frc::SwerveModuleState& state);
 
  private:
@@ -29,9 +32,9 @@
   static constexpr int kEncoderResolution = 4096;
 
   static constexpr auto kModuleMaxAngularVelocity =
-      wpi::numbers::pi * 1_rad_per_s;  // radians per second
+      std::numbers::pi * 1_rad_per_s;  // radians per second
   static constexpr auto kModuleMaxAngularAcceleration =
-      wpi::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
+      std::numbers::pi * 2_rad_per_s / 1_s;  // radians per second^2
 
   frc::PWMSparkMax m_driveMotor;
   frc::PWMSparkMax m_turningMotor;
diff --git a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
index c003762..4e48d47 100644
--- a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
@@ -28,7 +28,7 @@
 
   void TeleopPeriodic() override {
     // Drive with tank style
-    m_robotDrive.TankDrive(m_leftStick.GetY(), m_rightStick.GetY());
+    m_robotDrive.TankDrive(-m_leftStick.GetY(), -m_rightStick.GetY());
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
new file mode 100644
index 0000000..9434b46
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
@@ -0,0 +1,32 @@
+// 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 "Robot.h"
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {
+  // Activate the intake while the trigger is held
+  if (m_joystick.GetTrigger()) {
+    m_intake.Activate(IntakeConstants::kIntakeSpeed);
+  } else {
+    m_intake.Activate(0);
+  }
+
+  // Toggle deploying the intake when the top button is pressed
+  if (m_joystick.GetTop()) {
+    if (m_intake.IsDeployed()) {
+      m_intake.Retract();
+    } else {
+      m_intake.Deploy();
+    }
+  }
+}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
new file mode 100644
index 0000000..5a878e7
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
@@ -0,0 +1,26 @@
+// 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 "subsystems/Intake.h"
+
+void Intake::Deploy() {
+  m_piston.Set(frc::DoubleSolenoid::Value::kForward);
+}
+
+void Intake::Retract() {
+  m_piston.Set(frc::DoubleSolenoid::Value::kReverse);
+  m_motor.Set(0);  // turn off the motor
+}
+
+void Intake::Activate(double speed) {
+  if (IsDeployed()) {
+    m_motor.Set(speed);
+  } else {  // if piston isn't open, do nothing
+    m_motor.Set(0);
+  }
+}
+
+bool Intake::IsDeployed() const {
+  return m_piston.Get() == frc::DoubleSolenoid::Value::kForward;
+}
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Constants.h
new file mode 100644
index 0000000..2ad9b07
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Constants.h
@@ -0,0 +1,26 @@
+// 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
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants.  This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace IntakeConstants {
+constexpr int kMotorPort = 1;
+
+constexpr int kPistonFwdChannel = 0;
+constexpr int kPistonRevChannel = 1;
+constexpr double kIntakeSpeed = 0.5;
+}  // namespace IntakeConstants
+
+namespace OperatorConstants {
+constexpr int kJoystickIndex = 0;
+}  // namespace OperatorConstants
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.h
new file mode 100644
index 0000000..492dded
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.h
@@ -0,0 +1,20 @@
+// 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/Joystick.h>
+#include <frc/TimedRobot.h>
+
+#include "Constants.h"
+#include "subsystems/Intake.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void TeleopPeriodic() override;
+
+ private:
+  Intake m_intake;
+  frc::Joystick m_joystick{OperatorConstants::kJoystickIndex};
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h
new file mode 100644
index 0000000..20cf1b6
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h
@@ -0,0 +1,24 @@
+// 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/DoubleSolenoid.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+
+#include "Constants.h"
+
+class Intake {
+ public:
+  void Deploy();
+  void Retract();
+  void Activate(double speed);
+  bool IsDeployed() const;
+
+ private:
+  frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
+  frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::CTREPCM,
+                               IntakeConstants::kPistonFwdChannel,
+                               IntakeConstants::kPistonRevChannel};
+};
diff --git a/wpilibcExamples/src/main/cpp/examples/examples.json b/wpilibcExamples/src/main/cpp/examples/examples.json
index 9eb5b6b..aaec45d 100644
--- a/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -1,19 +1,6 @@
 [
   {
-    "name": "Motor Controller",
-    "description": "Demonstrate controlling a single motor with a Joystick.",
-    "tags": [
-      "Robot and Motor",
-      "Actuators",
-      "Joystick",
-      "Complete List"
-    ],
-    "foldername": "MotorControl",
-    "gradlebase": "cpp",
-    "commandversion": 2
-  },
-  {
-    "name": "Motor Control With Encoder",
+    "name": "Motor Control",
     "description": "Demonstrate controlling a single motor with a Joystick and displaying the net movement of the motor using an encoder.",
     "tags": [
       "Robot and Motor",
@@ -23,7 +10,7 @@
       "Joystick",
       "Complete List"
     ],
-    "foldername": "MotorControlEncoder",
+    "foldername": "MotorControl",
     "gradlebase": "cpp",
     "commandversion": 2
   },
@@ -85,6 +72,16 @@
     "commandversion": 2
   },
   {
+    "name": "EventLoop",
+    "description": "Demonstrate managing a ball system using EventLoop and BooleanEvent.",
+    "tags": [
+      "EventLoop"
+    ],
+    "foldername": "EventLoop",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
+  {
     "name": "Arcade Drive",
     "description": "An example program which demonstrates the use of Arcade Drive with the DifferentialDrive class",
     "tags": [
@@ -347,6 +344,18 @@
     "commandversion": 2
   },
   {
+    "name": "Rapid React Command Bot",
+    "description": "A fully-functional command-based fender bot for the 2022 game using the new command framework.",
+    "tags": [
+      "Complete robot",
+      "Command-based",
+      "Lambdas"
+    ],
+    "foldername": "RapidReactCommandBot",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
+  {
     "name": "Select Command Example",
     "description": "An example showing how to use the SelectCommand class from the new command framework.",
     "tags": [
@@ -600,7 +609,6 @@
     ],
     "foldername": "StateSpaceFlywheel",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -619,7 +627,6 @@
     ],
     "foldername": "StateSpaceFlywheelSysId",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -635,7 +642,6 @@
     ],
     "foldername": "StateSpaceElevator",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -651,7 +657,6 @@
     ],
     "foldername": "StateSpaceArm",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -668,7 +673,6 @@
     ],
     "foldername": "ElevatorSimulation",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -684,7 +688,6 @@
     ],
     "foldername": "DifferentialDrivePoseEstimator",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -700,7 +703,6 @@
     ],
     "foldername": "MecanumDrivePoseEstimator",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -718,7 +720,16 @@
     ],
     "foldername": "ArmSimulation",
     "gradlebase": "cpp",
-    "mainclass": "Main",
+    "commandversion": 2
+  },
+  {
+    "name": "UnitTesting",
+    "description": "Demonstrates basic unit testing for a robot project.",
+    "tags": [
+      "Testing"
+    ],
+    "foldername": "UnitTest",
+    "gradlebase": "cpp",
     "commandversion": 2
   },
   {
@@ -736,7 +747,6 @@
     ],
     "foldername": "SimpleDifferentialDriveSimulation",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -754,7 +764,6 @@
     ],
     "foldername": "StateSpaceDifferentialDriveSimulation",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   },
   {
@@ -771,7 +780,6 @@
     ],
     "foldername": "SwerveDrivePoseEstimator",
     "gradlebase": "cpp",
-    "mainclass": "Main",
     "commandversion": 2
   }
 ]
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index 426b989..c1c1ae6 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -4,7 +4,6 @@
 
 #include "Robot.h"
 
-#include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
 void Robot::RobotInit() {}
@@ -37,7 +36,7 @@
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();
   }
 }
@@ -49,9 +48,8 @@
   // teleop starts running. If you want the autonomous to
   // continue until interrupted by another command, remove
   // this line or comment it out.
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
index 8ba2094..4300501 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
@@ -4,18 +4,32 @@
 
 #include "RobotContainer.h"
 
-RobotContainer::RobotContainer() : m_autonomousCommand(&m_subsystem) {
+#include <frc2/command/button/Trigger.h>
+
+#include "commands/Autos.h"
+#include "commands/ExampleCommand.h"
+
+RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
 
   // Configure the button bindings
-  ConfigureButtonBindings();
+  ConfigureBindings();
 }
 
-void RobotContainer::ConfigureButtonBindings() {
-  // Configure your button bindings here
+void RobotContainer::ConfigureBindings() {
+  // Configure your trigger bindings here
+
+  // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
+  frc2::Trigger([this] {
+    return m_subsystem.ExampleCondition();
+  }).OnTrue(ExampleCommand(&m_subsystem).ToPtr());
+
+  // Schedule `ExampleMethodCommand` when the Xbox controller's B button is
+  // pressed, cancelling on release.
+  m_driverController.B().WhileTrue(m_subsystem.ExampleMethodCommand());
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // An example command will be run in autonomous
-  return &m_autonomousCommand;
+  return autos::ExampleAuto(&m_subsystem);
 }
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
new file mode 100644
index 0000000..3eb0958
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
@@ -0,0 +1,14 @@
+// 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 "commands/Autos.h"
+
+#include <frc2/command/Commands.h>
+
+#include "commands/ExampleCommand.h"
+
+frc2::CommandPtr autos::ExampleAuto(ExampleSubsystem* subsystem) {
+  return frc2::cmd::Sequence(subsystem->ExampleMethodCommand(),
+                             ExampleCommand(subsystem).ToPtr());
+}
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
index e551aa1..f7ab3e2 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
@@ -5,4 +5,7 @@
 #include "commands/ExampleCommand.h"
 
 ExampleCommand::ExampleCommand(ExampleSubsystem* subsystem)
-    : m_subsystem{subsystem} {}
+    : m_subsystem{subsystem} {
+  // Register that this command requires the subsystem.
+  AddRequirements(m_subsystem);
+}
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
index 4a31aee..1660de7 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
@@ -8,6 +8,17 @@
   // Implementation of subsystem constructor goes here.
 }
 
+frc2::CommandPtr ExampleSubsystem::ExampleMethodCommand() {
+  // Inline construction of command goes here.
+  // Subsystem::RunOnce implicitly requires `this` subsystem.
+  return RunOnce([/* this */] { /* one-time action goes here */ });
+}
+
+bool ExampleSubsystem::ExampleCondition() {
+  // Query some boolean state, such as a digital sensor.
+  return false;
+}
+
 void ExampleSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
 }
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h
index 20cc88a..963b31c 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h
@@ -13,3 +13,9 @@
  * command-specific namespaces within this header, which can then be used where
  * they are needed.
  */
+
+namespace OperatorConstants {
+
+constexpr int kDriverControllerPort = 0;
+
+}  // namespace OperatorConstants
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
index 25e3229..e9d45e7 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
@@ -4,8 +4,10 @@
 
 #pragma once
 
+#include <optional>
+
 #include <frc/TimedRobot.h>
-#include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 
 #include "RobotContainer.h"
 
@@ -24,9 +26,9 @@
   void SimulationPeriodic() override;
 
  private:
-  // Have it null by default so that if testing teleop it
+  // Have it empty by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  frc2::Command* m_autonomousCommand = nullptr;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
index 2988968..697b9a2 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
@@ -4,9 +4,10 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/button/CommandXboxController.h>
 
-#include "commands/ExampleCommand.h"
+#include "Constants.h"
 #include "subsystems/ExampleSubsystem.h"
 
 /**
@@ -14,18 +15,21 @@
  * Command-based is a "declarative" paradigm, very little robot logic should
  * actually be handled in the {@link Robot} periodic methods (other than the
  * scheduler calls).  Instead, the structure of the robot (including subsystems,
- * commands, and button mappings) should be declared here.
+ * commands, and trigger mappings) should be declared here.
  */
 class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
-  // The robot's subsystems and commands are defined here...
-  ExampleSubsystem m_subsystem;
-  ExampleCommand m_autonomousCommand;
+  // Replace with CommandPS4Controller or CommandJoystick if needed
+  frc2::CommandXboxController m_driverController{
+      OperatorConstants::kDriverControllerPort};
 
-  void ConfigureButtonBindings();
+  // The robot's subsystems are defined here...
+  ExampleSubsystem m_subsystem;
+
+  void ConfigureBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.h
new file mode 100644
index 0000000..62e2b56
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.h
@@ -0,0 +1,16 @@
+// 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 <frc2/command/CommandPtr.h>
+
+#include "subsystems/ExampleSubsystem.h"
+
+namespace autos {
+/**
+ * Example static factory for an autonomous command.
+ */
+frc2::CommandPtr ExampleAuto(ExampleSubsystem* subsystem);
+}  // namespace autos
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
index a805151..669f2ed 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/SubsystemBase.h>
 
 class ExampleSubsystem : public frc2::SubsystemBase {
@@ -11,6 +12,19 @@
   ExampleSubsystem();
 
   /**
+   * Example command factory method.
+   */
+  frc2::CommandPtr ExampleMethodCommand();
+
+  /**
+   * An example method querying a boolean state of the subsystem (for example, a
+   * digital sensor).
+   *
+   * @return value of some boolean subsystem state, such as a digital sensor.
+   */
+  bool ExampleCondition();
+
+  /**
    * Will be called periodically whenever the CommandScheduler runs.
    */
   void Periodic() override;
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
new file mode 100644
index 0000000..32782b2
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
@@ -0,0 +1,55 @@
+// 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 "Robot.h"
+
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+void Robot::RobotPeriodic() {
+  frc2::CommandScheduler::GetInstance().Run();
+}
+
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+void Robot::DisabledExit() {}
+
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_container.GetAutonomousCommand();
+
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::AutonomousExit() {}
+
+void Robot::TeleopInit() {
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Cancel();
+  }
+}
+
+void Robot::TeleopPeriodic() {}
+
+void Robot::TeleopExit() {}
+
+void Robot::TestInit() {
+  frc2::CommandScheduler::GetInstance().CancelAll();
+}
+
+void Robot::TestPeriodic() {}
+
+void Robot::TestExit() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..e63532a
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
@@ -0,0 +1,17 @@
+// 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 "RobotContainer.h"
+
+#include <frc2/command/Commands.h>
+
+RobotContainer::RobotContainer() {
+  ConfigureBindings();
+}
+
+void RobotContainer::ConfigureBindings() {}
+
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
+  return frc2::cmd::Print("No autonomous command configured");
+}
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.h
new file mode 100644
index 0000000..6bdb217
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.h
@@ -0,0 +1,35 @@
+// 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 <optional>
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/CommandPtr.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void DisabledExit() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void AutonomousExit() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TeleopExit() override;
+  void TestInit() override;
+  void TestPeriodic() override;
+  void TestExit() override;
+
+ private:
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
+
+  RobotContainer m_container;
+};
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.h
new file mode 100644
index 0000000..a66653c
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.h
@@ -0,0 +1,17 @@
+// 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 <frc2/command/CommandPtr.h>
+
+class RobotContainer {
+ public:
+  RobotContainer();
+
+  frc2::CommandPtr GetAutonomousCommand();
+
+ private:
+  void ConfigureBindings();
+};
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
index 29bae0b..0c67d6d 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
@@ -5,6 +5,7 @@
 #include "Robot.h"
 
 #include <frc/DriverStation.h>
+#include <frc/internal/DriverStationModeThread.h>
 #include <frc/livewindow/LiveWindow.h>
 #include <frc/shuffleboard/Shuffleboard.h>
 #include <hal/DriverStation.h>
@@ -23,41 +24,46 @@
 void Robot::StartCompetition() {
   RobotInit();
 
+  frc::internal::DriverStationModeThread modeThread;
+
+  wpi::Event event{false, false};
+  frc::DriverStation::ProvideRefreshedDataEventHandle(event.GetHandle());
+
   // Tell the DS that the robot is ready to be enabled
   HAL_ObserveUserProgramStarting();
 
   while (!m_exit) {
     if (IsDisabled()) {
-      frc::DriverStation::InDisabled(true);
+      modeThread.InDisabled(true);
       Disabled();
-      frc::DriverStation::InDisabled(false);
+      modeThread.InDisabled(false);
       while (IsDisabled()) {
-        frc::DriverStation::WaitForData();
+        wpi::WaitForObject(event.GetHandle());
       }
     } else if (IsAutonomous()) {
-      frc::DriverStation::InAutonomous(true);
+      modeThread.InAutonomous(true);
       Autonomous();
-      frc::DriverStation::InAutonomous(false);
+      modeThread.InAutonomous(false);
       while (IsAutonomousEnabled()) {
-        frc::DriverStation::WaitForData();
+        wpi::WaitForObject(event.GetHandle());
       }
     } else if (IsTest()) {
       frc::LiveWindow::SetEnabled(true);
       frc::Shuffleboard::EnableActuatorWidgets();
-      frc::DriverStation::InTest(true);
+      modeThread.InTest(true);
       Test();
-      frc::DriverStation::InTest(false);
+      modeThread.InTest(false);
       while (IsTest() && IsEnabled()) {
-        frc::DriverStation::WaitForData();
+        wpi::WaitForObject(event.GetHandle());
       }
       frc::LiveWindow::SetEnabled(false);
       frc::Shuffleboard::DisableActuatorWidgets();
     } else {
-      frc::DriverStation::InTeleop(true);
+      modeThread.InTeleop(true);
       Teleop();
-      frc::DriverStation::InTeleop(false);
+      modeThread.InTeleop(false);
       while (IsTeleopEnabled()) {
-        frc::DriverStation::WaitForData();
+        wpi::WaitForObject(event.GetHandle());
       }
     }
   }
diff --git a/wpilibcExamples/src/main/cpp/templates/templates.json b/wpilibcExamples/src/main/cpp/templates/templates.json
index 83260a0..67e4438 100644
--- a/wpilibcExamples/src/main/cpp/templates/templates.json
+++ b/wpilibcExamples/src/main/cpp/templates/templates.json
@@ -10,6 +10,16 @@
     "commandversion": 2
   },
   {
+    "name": "Command Robot Skeleton (Advanced)",
+    "description": "Skeleton (stub) code for Command Robot",
+    "tags": [
+      "Command", "Skeleton"
+    ],
+    "foldername": "commandbasedskeleton",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
+  {
     "name": "Timed Robot",
     "description": "Timed style",
     "tags": [
diff --git a/wpilibcExamples/src/test/cpp/examples/AddressableLED/cpp/RainbowTest.cpp b/wpilibcExamples/src/test/cpp/examples/AddressableLED/cpp/RainbowTest.cpp
new file mode 100644
index 0000000..553a2bb
--- /dev/null
+++ b/wpilibcExamples/src/test/cpp/examples/AddressableLED/cpp/RainbowTest.cpp
@@ -0,0 +1,53 @@
+// 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 <fmt/format.h>
+#include <gtest/gtest.h>
+
+#include <array>
+
+#include <frc/AddressableLED.h>
+#include <frc/simulation/AddressableLEDSim.h>
+#include <frc/util/Color.h>
+#include <frc/util/Color8Bit.h>
+#include <hal/AddressableLEDTypes.h>
+
+#include "Robot.h"
+
+void AssertIndexColor(std::array<frc::AddressableLED::LEDData, 60> data,
+                      int index, int hue, int saturation, int value);
+
+TEST(RainbowTest, RainbowPattern) {
+  Robot robot;
+  robot.RobotInit();
+  frc::sim::AddressableLEDSim ledSim =
+      frc::sim::AddressableLEDSim::CreateForChannel(9);
+  EXPECT_TRUE(ledSim.GetRunning());
+  EXPECT_EQ(60, ledSim.GetLength());
+
+  auto rainbowFirstPixelHue = 0;
+  std::array<frc::AddressableLED::LEDData, 60> data;
+  for (int iteration = 0; iteration < 100; iteration++) {
+    SCOPED_TRACE(fmt::format("Iteration {} of 100", iteration));
+    robot.RobotPeriodic();
+    ledSim.GetData(data.data());
+    for (int i = 0; i < 60; i++) {
+      SCOPED_TRACE(fmt::format("LED {} of 60", i));
+      auto hue = (rainbowFirstPixelHue + (i * 180 / 60)) % 180;
+      AssertIndexColor(data, i, hue, 255, 128);
+    }
+    rainbowFirstPixelHue += 3;
+    rainbowFirstPixelHue %= 180;
+  }
+}
+
+void AssertIndexColor(std::array<frc::AddressableLED::LEDData, 60> data,
+                      int index, int hue, int saturation, int value) {
+  frc::Color8Bit color{frc::Color::FromHSV(hue, saturation, value)};
+
+  EXPECT_EQ(0, data[index].padding);
+  EXPECT_EQ(color.red, data[index].r & 0xFF);
+  EXPECT_EQ(color.green, data[index].g & 0xFF);
+  EXPECT_EQ(color.blue, data[index].b & 0xFF);
+}
diff --git a/wpilibcExamples/src/test/cpp/examples/AddressableLED/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/AddressableLED/cpp/main.cpp
new file mode 100644
index 0000000..285c1d5
--- /dev/null
+++ b/wpilibcExamples/src/test/cpp/examples/AddressableLED/cpp/main.cpp
@@ -0,0 +1,17 @@
+// 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>
+
+#include "gtest/gtest.h"
+
+/**
+ * Runs all unit tests.
+ */
+int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  return ret;
+}
diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/main.cpp
new file mode 100644
index 0000000..285c1d5
--- /dev/null
+++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/main.cpp
@@ -0,0 +1,17 @@
+// 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>
+
+#include "gtest/gtest.h"
+
+/**
+ * Runs all unit tests.
+ */
+int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  return ret;
+}
diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
new file mode 100644
index 0000000..ae1d786
--- /dev/null
+++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
@@ -0,0 +1,46 @@
+// 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 <gtest/gtest.h>
+
+#include <frc/DoubleSolenoid.h>
+#include <frc/simulation/DoubleSolenoidSim.h>
+#include <frc/simulation/PWMSim.h>
+
+#include "Constants.h"
+#include "subsystems/Intake.h"
+
+class IntakeTest : public testing::Test {
+ protected:
+  Intake intake;  // create our intake
+  frc::sim::PWMSim simMotor{
+      IntakeConstants::kMotorPort};  // create our simulation PWM
+  frc::sim::DoubleSolenoidSim simPiston{
+      frc::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel,
+      IntakeConstants::kPistonRevChannel};  // create our simulation solenoid
+};
+
+TEST_F(IntakeTest, DoesntWorkWhenClosed) {
+  intake.Retract();      // close the intake
+  intake.Activate(0.5);  // try to activate the motor
+  EXPECT_DOUBLE_EQ(
+      0.0,
+      simMotor.GetSpeed());  // make sure that the value set to the motor is 0
+}
+
+TEST_F(IntakeTest, WorksWhenOpen) {
+  intake.Deploy();
+  intake.Activate(0.5);
+  EXPECT_DOUBLE_EQ(0.5, simMotor.GetSpeed());
+}
+
+TEST_F(IntakeTest, Retract) {
+  intake.Retract();
+  EXPECT_EQ(frc::DoubleSolenoid::Value::kReverse, simPiston.Get());
+}
+
+TEST_F(IntakeTest, Deploy) {
+  intake.Deploy();
+  EXPECT_EQ(frc::DoubleSolenoid::Value::kForward, simPiston.Get());
+}