diff --git a/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h b/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
index 6f6e08604b..6d0784a676 100644
--- a/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -16,6 +16,7 @@ namespace frc {
  * a motor acting against the force of gravity on a beam suspended at an angle).
  */
 class ArmFeedforward {
+ public:
   using Angle = units::radians;
   using Velocity = units::radians_per_second;
   using Acceleration = units::compound_unit<units::radians_per_second,
@@ -26,7 +27,6 @@ class ArmFeedforward {
   using ka_unit =
       units::compound_unit<units::volts, units::inverse<Acceleration>>;
 
- public:
   constexpr ArmFeedforward() = default;
 
   /**
diff --git a/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h b/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h
index c664fc40b6..26d1e7cbf6 100644
--- a/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -17,6 +17,7 @@ namespace frc {
  */
 template <class Distance>
 class ElevatorFeedforward {
+ public:
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;
   using Acceleration =
@@ -25,7 +26,6 @@ class ElevatorFeedforward {
   using ka_unit =
       units::compound_unit<units::volts, units::inverse<Acceleration>>;
 
- public:
   ElevatorFeedforward() = default;
 
   /**
diff --git a/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h b/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
index 079d96eda1..3e42ed147a 100644
--- a/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
+++ b/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -33,6 +33,7 @@ template <class Distance>
 class ProfiledPIDController
     : public Sendable,
       public SendableHelper<ProfiledPIDController<Distance>> {
+ public:
   using Distance_t = units::unit_t<Distance>;
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;
@@ -43,7 +44,6 @@ class ProfiledPIDController
   using State = typename TrapezoidProfile<Distance>::State;
   using Constraints = typename TrapezoidProfile<Distance>::Constraints;
 
- public:
   /**
    * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and
    * Kd. Users should call reset() when they first start running the controller
diff --git a/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h b/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
index 8f82cb9ba6..3fcdebf008 100644
--- a/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -17,6 +17,7 @@ namespace frc {
  */
 template <class Distance>
 class SimpleMotorFeedforward {
+ public:
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;
   using Acceleration =
@@ -25,7 +26,6 @@ class SimpleMotorFeedforward {
   using ka_unit =
       units::compound_unit<units::volts, units::inverse<Acceleration>>;
 
- public:
   constexpr SimpleMotorFeedforward() = default;
 
   /**