diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/simple/Robot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/sample/Robot.cpp
similarity index 68%
rename from eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/simple/Robot.cpp
rename to eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/sample/Robot.cpp
index 171a27225a..84a279f086 100644
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/simple/Robot.cpp
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/sample/Robot.cpp
@@ -1,12 +1,16 @@
 #include "WPILib.h"
 
 /**
- * This is a demo program showing the use of the RobotBase class.
- * The SimpleRobot class is the base of a robot application that will automatically call your
+ * This is a demo program showing the use of the RobotDrive class.
+ * The SampleRobot class is the base of a robot application that will automatically call your
  * Autonomous and OperatorControl methods at the right time as controlled by the switches on
  * the driver station or the field controls.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
  */
-class Robot: public SimpleRobot
+class Robot: public SampleRobot
 {
 	RobotDrive myRobot; // robot drive system
 	Joystick stick; // only joystick
@@ -31,7 +35,7 @@ public:
 	}
 
 	/**
-	 * Runs the motors with arcade steering. 
+	 * Runs the motors with arcade steering.
 	 */
 	void OperatorControl()
 	{
@@ -48,7 +52,6 @@ public:
 	 */
 	void Test()
 	{
-
 	}
 };
 
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/sample/Robot.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/sample/Robot.java
new file mode 100644
index 0000000000..d67a17ec45
--- /dev/null
+++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/sample/Robot.java
@@ -0,0 +1,59 @@
+
+package $package;
+
+
+import edu.wpi.first.wpilibj.SampleRobot;
+
+/**
+ * This is a demo program showing the use of the RobotDrive class.
+ * The SampleRobot class is the base of a robot application that will automatically call your
+ * Autonomous and OperatorControl methods at the right time as controlled by the switches on
+ * the driver station or the field controls.
+ *
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the SampleRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
+ */
+public class Robot extends SampleRobot {
+    RobotDrive myRobot;
+    Joystick stick;
+
+    public Robot() {
+        myRobot = new RobotDrive(1, 2);
+        myRobot.setExpiration(0.1);
+        stick = new Joystick(1);
+    }
+
+    /**
+     * Drive left & right motors for 2 seconds then stop
+     */
+    public void autonomous() {
+        myRobot.setSafetyEnabled(false);
+        myRobot.drive(-0.5, 0.0);	// drive forwards half speed
+        Timer.delay(2.0);		//    for 2 seconds
+        myRobot.drive(0.0, 0.0);	// stop robot
+    }
+
+    /**
+     * Runs the motors with arcade steering.
+     */
+    public void operatorControl() {
+        myRobot.setSafetyEnabled(true);
+        while (isOperatorControl()) {
+            myRobot.arcadeDrive(stick); // drive with arcade style (use right stick)
+            Timer.delay(0.005);		// wait for a motor update time
+        }
+    }
+
+    /**
+     * Runs during test mode
+     */
+    public void test() {
+    }
+}
diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/simple/Robot.java b/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/simple/Robot.java
deleted file mode 100644
index efb45cb0d3..0000000000
--- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/simple/Robot.java
+++ /dev/null
@@ -1,35 +0,0 @@
-
-package $package;
-
-
-import edu.wpi.first.wpilibj.SimpleRobot;
-
-/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the SimpleRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
- */
-public class Robot extends SimpleRobot {
-    /**
-     * This function is called once each time the robot enters autonomous mode.
-     */
-    public void autonomous() {
-        
-    }
-
-    /**
-     * This function is called once each time the robot enters operator control.
-     */
-    public void operatorControl() {
-
-    }
-    
-    /**
-     * This function is called once each time the robot enters test mode.
-     */
-    public void test() {
-    
-    }
-}
diff --git a/wpilibc/wpilibC++/include/SimpleRobot.h b/wpilibc/wpilibC++/include/SampleRobot.h
similarity index 80%
rename from wpilibc/wpilibC++/include/SimpleRobot.h
rename to wpilibc/wpilibC++/include/SampleRobot.h
index 6b96523cb4..66842b6cf1 100644
--- a/wpilibc/wpilibC++/include/SimpleRobot.h
+++ b/wpilibc/wpilibC++/include/SampleRobot.h
@@ -7,14 +7,11 @@
 
 #include "RobotBase.h"
 
-/**
- * @todo If this is going to last until release, it needs a better name.
- */
-class SimpleRobot : public RobotBase
+class SampleRobot : public RobotBase
 {
 public:
-	SimpleRobot();
-	virtual ~SimpleRobot() {}
+	SampleRobot();
+	virtual ~SampleRobot() {}
 	virtual void RobotInit();
 	virtual void Disabled();
 	virtual void Autonomous();
diff --git a/wpilibc/wpilibC++/include/WPILib.h b/wpilibc/wpilibC++/include/WPILib.h
index 8acf35b2fc..f7c7ecea9f 100644
--- a/wpilibc/wpilibC++/include/WPILib.h
+++ b/wpilibc/wpilibC++/include/WPILib.h
@@ -67,7 +67,7 @@
 #include "SensorBase.h"
 #include "SerialPort.h"
 #include "Servo.h"
-#include "SimpleRobot.h"
+#include "SampleRobot.h"
 #include "SmartDashboard/SendableChooser.h"
 #include "SmartDashboard/SmartDashboard.h"
 #include "Solenoid.h"
diff --git a/wpilibc/wpilibC++/lib/SimpleRobot.cpp b/wpilibc/wpilibC++/lib/SampleRobot.cpp
similarity index 94%
rename from wpilibc/wpilibC++/lib/SimpleRobot.cpp
rename to wpilibc/wpilibC++/lib/SampleRobot.cpp
index 09f59d6b71..3cb0602fed 100644
--- a/wpilibc/wpilibC++/lib/SimpleRobot.cpp
+++ b/wpilibc/wpilibC++/lib/SampleRobot.cpp
@@ -4,7 +4,7 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 
-#include "SimpleRobot.h"
+#include "SampleRobot.h"
 
 #include "DriverStation.h"
 //#include "NetworkCommunication/UsageReporting.h"
@@ -13,7 +13,7 @@
 #include "LiveWindow/LiveWindow.h"
 #include "networktables/NetworkTable.h"
 
-SimpleRobot::SimpleRobot()
+SampleRobot::SampleRobot()
 	: m_robotMainOverridden (true)
 {
 }
@@ -24,7 +24,7 @@ SimpleRobot::SimpleRobot()
  * Programmers should override this method for default Robot-wide initialization which will
  * be called each time the robot enters the disabled state.
  */
-void SimpleRobot::RobotInit()
+void SampleRobot::RobotInit()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -34,7 +34,7 @@ void SimpleRobot::RobotInit()
  * Programmers should override this method to run code that should run while the field is
  * disabled.
  */
-void SimpleRobot::Disabled()
+void SampleRobot::Disabled()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -45,7 +45,7 @@ void SimpleRobot::Disabled()
  * in the autonomous period. This will be called once each time the robot enters the
  * autonomous state.
  */
-void SimpleRobot::Autonomous()
+void SampleRobot::Autonomous()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -56,7 +56,7 @@ void SimpleRobot::Autonomous()
  * in the Operator Control (tele-operated) period. This is called once each time the robot
  * enters the teleop state.
  */
-void SimpleRobot::OperatorControl()
+void SampleRobot::OperatorControl()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -66,7 +66,7 @@ void SimpleRobot::OperatorControl()
  * Programmers should override this method to run code that executes while the robot is
  * in test mode. This will be called once whenever the robot enters test mode
  */
-void SimpleRobot::Test()
+void SampleRobot::Test()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -82,7 +82,7 @@ void SimpleRobot::Test()
  * overridden by a user subclass (i.e. the default version runs), then the Autonomous() and
  * OperatorControl() methods will be called.
  */
-void SimpleRobot::RobotMain()
+void SampleRobot::RobotMain()
 {
 	m_robotMainOverridden = false;
 }
@@ -95,7 +95,7 @@ void SimpleRobot::RobotMain()
  * change, either the other mode starts or the robot is disabled. Then go back and wait for the
  * robot to be enabled again.
  */
-void SimpleRobot::StartCompetition()
+void SampleRobot::StartCompetition()
 {
 	LiveWindow *lw = LiveWindow::GetInstance();
 
diff --git a/wpilibc/wpilibC++Sim/include/SimpleRobot.h b/wpilibc/wpilibC++Sim/include/SampleRobot.h
similarity index 80%
rename from wpilibc/wpilibC++Sim/include/SimpleRobot.h
rename to wpilibc/wpilibC++Sim/include/SampleRobot.h
index 6b96523cb4..66842b6cf1 100644
--- a/wpilibc/wpilibC++Sim/include/SimpleRobot.h
+++ b/wpilibc/wpilibC++Sim/include/SampleRobot.h
@@ -7,14 +7,11 @@
 
 #include "RobotBase.h"
 
-/**
- * @todo If this is going to last until release, it needs a better name.
- */
-class SimpleRobot : public RobotBase
+class SampleRobot : public RobotBase
 {
 public:
-	SimpleRobot();
-	virtual ~SimpleRobot() {}
+	SampleRobot();
+	virtual ~SampleRobot() {}
 	virtual void RobotInit();
 	virtual void Disabled();
 	virtual void Autonomous();
diff --git a/wpilibc/wpilibC++Sim/include/WPILib.h b/wpilibc/wpilibC++Sim/include/WPILib.h
index 1890ab4af9..b3477d441f 100644
--- a/wpilibc/wpilibC++Sim/include/WPILib.h
+++ b/wpilibc/wpilibC++Sim/include/WPILib.h
@@ -33,7 +33,7 @@
 #include "SmartDashboard/SmartDashboard.h"
 
 #include "RobotBase.h"
-#include "SimpleRobot.h"
+#include "SampleRobot.h"
 #include "IterativeRobot.h"
 #include "SpeedController.h"
 #include "Talon.h"
diff --git a/wpilibc/wpilibC++Sim/src/SimpleRobot.cpp b/wpilibc/wpilibC++Sim/src/SampleRobot.cpp
similarity index 93%
rename from wpilibc/wpilibC++Sim/src/SimpleRobot.cpp
rename to wpilibc/wpilibC++Sim/src/SampleRobot.cpp
index 2667d7db68..345617f811 100644
--- a/wpilibc/wpilibC++Sim/src/SimpleRobot.cpp
+++ b/wpilibc/wpilibC++Sim/src/SampleRobot.cpp
@@ -4,7 +4,7 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 
-#include "SimpleRobot.h"
+#include "SampleRobot.h"
 
 #include <stdio.h>
 #include <unistd.h>
@@ -13,7 +13,7 @@
 #include "LiveWindow/LiveWindow.h"
 #include "networktables/NetworkTable.h"
 
-SimpleRobot::SimpleRobot()
+SampleRobot::SampleRobot()
 	: m_robotMainOverridden (true)
 {
 }
@@ -24,7 +24,7 @@ SimpleRobot::SimpleRobot()
  * Programmers should override this method for default Robot-wide initialization which will
  * be called each time the robot enters the disabled state.
  */
-void SimpleRobot::RobotInit()
+void SampleRobot::RobotInit()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -34,7 +34,7 @@ void SimpleRobot::RobotInit()
  * Programmers should override this method to run code that should run while the field is
  * disabled.
  */
-void SimpleRobot::Disabled()
+void SampleRobot::Disabled()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -45,7 +45,7 @@ void SimpleRobot::Disabled()
  * in the autonomous period. This will be called once each time the robot enters the
  * autonomous state.
  */
-void SimpleRobot::Autonomous()
+void SampleRobot::Autonomous()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -56,7 +56,7 @@ void SimpleRobot::Autonomous()
  * in the Operator Control (tele-operated) period. This is called once each time the robot
  * enters the teleop state.
  */
-void SimpleRobot::OperatorControl()
+void SampleRobot::OperatorControl()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -66,7 +66,7 @@ void SimpleRobot::OperatorControl()
  * Programmers should override this method to run code that executes while the robot is
  * in test mode. This will be called once whenever the robot enters test mode
  */
-void SimpleRobot::Test()
+void SampleRobot::Test()
 {
 	printf("Default %s() method... Override me!\n", __FUNCTION__);
 }
@@ -82,7 +82,7 @@ void SimpleRobot::Test()
  * overridden by a user subclass (i.e. the default version runs), then the Autonomous() and
  * OperatorControl() methods will be called.
  */
-void SimpleRobot::RobotMain()
+void SampleRobot::RobotMain()
 {
 	m_robotMainOverridden = false;
 }
@@ -95,7 +95,7 @@ void SimpleRobot::RobotMain()
  * change, either the other mode starts or the robot is disabled. Then go back and wait for the
  * robot to be enabled again.
  */
-void SimpleRobot::StartCompetition()
+void SampleRobot::StartCompetition()
 {
 	LiveWindow *lw = LiveWindow::GetInstance();
 
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SimpleRobot.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
similarity index 98%
rename from wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SimpleRobot.java
rename to wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
index 265c0641e1..433d8fda8c 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SimpleRobot.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
@@ -23,14 +23,14 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  *
  * Alternatively you can override the robotMain() method and manage all aspects of the robot yourself.
  */
-public class SimpleRobot extends RobotBase {
+public class SampleRobot extends RobotBase {
 
     private boolean m_robotMainOverridden;
 
     /**
-     * Create a new SimpleRobot
+     * Create a new SampleRobot
      */
-    public SimpleRobot() {
+    public SampleRobot() {
         super();
         m_robotMainOverridden = true;
     }
diff --git a/wpilibj/wpilibJavaSim/missing.txt b/wpilibj/wpilibJavaSim/missing.txt
index 88c798141d..74dc1171a2 100644
--- a/wpilibj/wpilibJavaSim/missing.txt
+++ b/wpilibj/wpilibJavaSim/missing.txt
@@ -1,7 +1,7 @@
 Specific Issues
 ===============
 
-- SimpleRobot.java (support for telling the DriverStation the current mode)
+- SampleRobot.java (support for telling the DriverStation the current mode)
 - Iterative.java (support for telling the DriverStation the current mode and nextPeriodReady())
 - command/WaitUntilCommand.java (Needs DriverStation)
 - command/Command.java (XXX Issue with DriverStation)
diff --git a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SimpleRobot.java b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
similarity index 98%
rename from wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SimpleRobot.java
rename to wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
index 6fafbdd32f..399a5f4278 100644
--- a/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SimpleRobot.java
+++ b/wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
@@ -20,14 +20,14 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  *
  * Alternatively you can override the robotMain() method and manage all aspects of the robot yourself.
  */
-public class SimpleRobot extends RobotBase {
+public class SampleRobot extends RobotBase {
 
     private boolean m_robotMainOverridden;
 
     /**
-     * Create a new SimpleRobot
+     * Create a new SampleRobot
      */
-    public SimpleRobot() {
+    public SampleRobot() {
         super();
         m_robotMainOverridden = true;
     }