diff --git a/wpilibc/src/main/native/cpp/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
index 9520559684..d6784ab730 100644
--- a/wpilibc/src/main/native/cpp/PneumaticHub.cpp
+++ b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/PneumaticHub.h"
 
+#include <fmt/format.h>
 #include <hal/REVPH.h>
 #include <wpi/NullDeleter.h>
 #include <wpi/StackTrace.h>
@@ -11,6 +12,7 @@
 #include "frc/Compressor.h"
 #include "frc/DoubleSolenoid.h"
 #include "frc/Errors.h"
+#include "frc/RobotBase.h"
 #include "frc/SensorUtil.h"
 #include "frc/Solenoid.h"
 #include "frc/fmt/Units.h"
@@ -56,6 +58,29 @@ class PneumaticHub::DataStore {
         std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
 
     auto version = m_moduleObject.GetVersion();
+
+    if (version.FirmwareMajor > 0 && RobotBase::IsReal()) {
+      // Write PH firmware version to roboRIO
+      std::FILE* file = nullptr;
+      file = std::fopen(
+          fmt::format("/tmp/frc_versions/REV_PH_{:0>2}_WPILib_Version.ini",
+                      module)
+              .c_str(),
+          "w");
+      if (file != nullptr) {
+        std::fputs("[Version]\n", file);
+        std::fputs(fmt::format("model=REV PH\n").c_str(), file);
+        std::fputs(fmt::format("deviceID={:x}\n", (0x9052600 | module)).c_str(),
+                   file);
+        std::fputs(fmt::format("currentVersion={}.{}.{}", version.FirmwareMajor,
+                               version.FirmwareMinor, version.FirmwareFix)
+                       .c_str(),
+                   file);
+        std::fclose(file);
+      }
+    }
+
+    // Check PH firmware version
     if (version.FirmwareMajor > 0 && version.FirmwareMajor < 22) {
       throw FRC_MakeError(
           err::AssertionFailure,
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
index b109180741..7b077a8fb0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
@@ -9,6 +9,11 @@ import edu.wpi.first.hal.REVPHFaults;
 import edu.wpi.first.hal.REVPHJNI;
 import edu.wpi.first.hal.REVPHStickyFaults;
 import edu.wpi.first.hal.REVPHVersion;
+import java.io.File;
+import java.io.IOException;
+import java.io.OutputStream;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
 import java.util.HashMap;
 import java.util.Map;
 
@@ -29,9 +34,38 @@ public class PneumaticHub implements PneumaticsBase {
       m_handleMap.put(module, this);
 
       final REVPHVersion version = REVPHJNI.getVersion(m_handle);
+      final String fwVersion =
+          version.firmwareMajor + "." + version.firmwareMinor + "." + version.firmwareFix;
+
+      if (version.firmwareMajor > 0 && RobotBase.isReal()) {
+        // Write PH firmware version to roboRIO
+        final String fileName = "REV_PH_" + String.format("%02d", module) + "_WPILib_Version.ini";
+        final File file = new File("/tmp/frc_versions/" + fileName);
+        try {
+          if (file.exists() && !file.delete()) {
+            throw new IOException("Failed to delete " + fileName);
+          }
+
+          if (!file.createNewFile()) {
+            throw new IOException("Failed to create new " + fileName);
+          }
+
+          try (OutputStream output = Files.newOutputStream(file.toPath())) {
+            output.write("[Version]\n".getBytes(StandardCharsets.UTF_8));
+            output.write("model=REV PH\n".getBytes(StandardCharsets.UTF_8));
+            output.write(
+                ("deviceID=" + Integer.toHexString(0x9052600 | module) + "\n")
+                    .getBytes(StandardCharsets.UTF_8));
+            output.write(("currentVersion=" + fwVersion).getBytes(StandardCharsets.UTF_8));
+          }
+        } catch (IOException ex) {
+          DriverStation.reportError(
+              "Could not write " + fileName + ": " + ex.toString(), ex.getStackTrace());
+        }
+      }
+
+      // Check PH firmware version
       if (version.firmwareMajor > 0 && version.firmwareMajor < 22) {
-        final String fwVersion =
-            version.firmwareMajor + "." + version.firmwareMinor + "." + version.firmwareFix;
         throw new IllegalStateException(
             "The Pneumatic Hub has firmware version "
                 + fwVersion