diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index a31473062c..9584b7ffbb 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -336,6 +336,12 @@ bool DriverStation::IsDisabled() const {
   return !(controlWord.enabled && controlWord.dsAttached);
 }
 
+bool DriverStation::IsEStopped() const {
+  HAL_ControlWord controlWord;
+  HAL_GetControlWord(&controlWord);
+  return controlWord.eStop;
+}
+
 bool DriverStation::IsAutonomous() const {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
diff --git a/wpilibc/src/main/native/cpp/RobotState.cpp b/wpilibc/src/main/native/cpp/RobotState.cpp
index f5da5c1201..530cee34a0 100644
--- a/wpilibc/src/main/native/cpp/RobotState.cpp
+++ b/wpilibc/src/main/native/cpp/RobotState.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -19,6 +19,10 @@ bool RobotState::IsEnabled() {
   return DriverStation::GetInstance().IsEnabled();
 }
 
+bool RobotState::IsEStopped() {
+  return DriverStation::GetInstance().IsEStopped();
+}
+
 bool RobotState::IsOperatorControl() {
   return DriverStation::GetInstance().IsOperatorControl();
 }
diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h
index 9a87af8cde..8abffde766 100644
--- a/wpilibc/src/main/native/include/frc/DriverStation.h
+++ b/wpilibc/src/main/native/include/frc/DriverStation.h
@@ -197,6 +197,13 @@ class DriverStation : public ErrorBase {
    */
   bool IsDisabled() const;
 
+  /**
+   * Check if the robot is e-stopped.
+   *
+   * @return True if the robot is e-stopped
+   */
+  bool IsEStopped() const;
+
   /**
    * Check if the DS is commanding autonomous mode.
    *
diff --git a/wpilibc/src/main/native/include/frc/RobotState.h b/wpilibc/src/main/native/include/frc/RobotState.h
index 6b916929ec..c6b6b875cd 100644
--- a/wpilibc/src/main/native/include/frc/RobotState.h
+++ b/wpilibc/src/main/native/include/frc/RobotState.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -15,6 +15,7 @@ class RobotState {
  public:
   static bool IsDisabled();
   static bool IsEnabled();
+  static bool IsEStopped();
   static bool IsOperatorControl();
   static bool IsAutonomous();
   static bool IsTest();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index ac78d54f2a..1bd261c819 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -625,6 +625,18 @@ public class DriverStation {
     return !isEnabled();
   }
 
+  /**
+   * Gets a value indicating whether the Robot is e-stopped.
+   *
+   * @return True if the robot is e-stopped, false otherwise.
+   */
+  public boolean isEStopped() {
+    synchronized (m_controlWordMutex) {
+      updateControlWord(false);
+      return m_controlWordCache.getEStop();
+    }
+  }
+
   /**
    * Gets a value indicating whether the Driver Station requires the robot to be running in
    * autonomous mode.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
index 0f384ee288..58004d51f0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -17,6 +17,10 @@ public final class RobotState {
     return DriverStation.getInstance().isEnabled();
   }
 
+  public static boolean isEStopped() {
+    return DriverStation.getInstance().isEStopped();
+  }
+
   public static boolean isOperatorControl() {
     return DriverStation.getInstance().isOperatorControl();
   }