diff --git a/.bazelignore b/.bazelignore
index 792570baee..02c49272f0 100644
--- a/.bazelignore
+++ b/.bazelignore
@@ -6,12 +6,12 @@ apriltag/bin
 cameraserver/bin
 cameraserver/multiCameraServer/bin
 cscore/bin
-fieldImages/bin
+fields/bin
 hal/bin
 developerRobot/bin
 ntcore/bin
 romiVendordep/bin
-wpilibNewCommands/bin
+commandsv2/bin
 wpilibj/bin
 wpimath/bin
 wpinet/bin
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 3413dae59f..54a219d5e1 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -27,7 +27,7 @@
 
 /simulation/  @wpilibsuite/simulation
 
-/wpilibNewCommands/  @wpilibsuite/commandbased
+/commandsv2/  @wpilibsuite/commandbased
 
 /wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
 
diff --git a/.github/actions/pregen/action.yml b/.github/actions/pregen/action.yml
index e05e19e1ba..e406a70705 100644
--- a/.github/actions/pregen/action.yml
+++ b/.github/actions/pregen/action.yml
@@ -33,7 +33,7 @@ runs:
       run: |
         ./wpilibc/generate_hids.py
         ./wpilibj/generate_hids.py
-        ./wpilibNewCommands/generate_hids.py
+        ./commandsv2/generate_hids.py
       shell: bash
 
     - name: Regenerate PWM motor controllers
diff --git a/.github/labeler.yml b/.github/labeler.yml
index 9a1881e4d3..e96a2660ed 100644
--- a/.github/labeler.yml
+++ b/.github/labeler.yml
@@ -5,7 +5,7 @@
   - any-glob-to-any-file: apriltag/**
 'component: command-based':
 - changed-files:
-  - any-glob-to-any-file: wpilibNewCommands/**
+  - any-glob-to-any-file: commandsv2/**
 'component: cscore':
 - changed-files:
   - any-glob-to-any-file: cscore/**
diff --git a/.github/workflows/command-robotpy-pr.yml b/.github/workflows/command-robotpy-pr.yml
index 06864f5cbf..08e97d0055 100644
--- a/.github/workflows/command-robotpy-pr.yml
+++ b/.github/workflows/command-robotpy-pr.yml
@@ -5,7 +5,7 @@ on:
     types:
       - opened
     paths:
-      - 'wpilibNewCommands/src/**/*.java'
+      - 'commandsv2/src/**/*.java'
 
 jobs:
   comment:
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
index f4e5f00b10..d9b726a6da 100644
--- a/.github/workflows/sanitizers.yml
+++ b/.github/workflows/sanitizers.yml
@@ -23,7 +23,7 @@ jobs:
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
             ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
-            ctest-flags: "-E 'cscore|cameraserver|wpilibc|wpilibNewCommands'"
+            ctest-flags: "-E 'cscore|cameraserver|wpilibc|commandsv2'"
           - name: ubsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
             ctest-env: ""
diff --git a/.styleguide b/.styleguide
index 5349f31ae7..18dc8e9ca6 100644
--- a/.styleguide
+++ b/.styleguide
@@ -20,7 +20,7 @@ modifiableFileExclude {
 generatedFileExclude {
   FRCNetComm\.java$
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
-  fieldImages/src/main/native/resources/
+  fields/src/main/native/resources/
   apriltag/src/test/resources/
   wpilibc/src/generated/
 
diff --git a/BUILD.bazel b/BUILD.bazel
index 157474099b..58d9728113 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -50,7 +50,7 @@ write_source_files(
         "//wpilibcExamples:write_example_project_list",
         "//wpilibj:write_wpilibj",
         "//wpilibjExamples:write_example_project_list",
-        "//wpilibNewCommands:write_wpilib_new_commands",
+        "//commandsv2:write_wpilib_new_commands",
         "//commandsv3:write_commandsv3",
         "//wpimath:write_wpimath",
         "//wpiunits:write_wpiunits",
@@ -74,8 +74,8 @@ publish_all(
         "//docs:wpilibj_publish.publish",
         "//epilogue-processor:processor-java_publish.publish",
         "//epilogue-runtime:epilogue-java_publish.publish",
-        "//fieldImages:fieldImages-cpp_publish.publish",
-        "//fieldImages:fieldImages-java_publish.publish",
+        "//fields:fields-cpp_publish.publish",
+        "//fields:fields-java_publish.publish",
         "//glass:glass-cpp_publish.publish",
         "//glass:glassapp_publish.publish",
         "//glass:glassnt-cpp_publish.publish",
@@ -99,8 +99,8 @@ publish_all(
         "//thirdparty/imgui_suite:imguiSuite-cpp_publish.publish",
         "//wpical:wpical_publish.publish",
         "//wpigui:wpigui-cpp_publish.publish",
-        "//wpilibNewCommands:wpilibNewCommands-cpp_publish.publish",
-        "//wpilibNewCommands:wpilibNewCommands-java_publish.publish",
+        "//commandsv2:commandsv2-cpp_publish.publish",
+        "//commandsv2:commandsv2-java_publish.publish",
         "//commandsv3:commandsv3-java_publish.publish",
         "//wpilibc:wpilibc-cpp_publish.publish",
         "//wpilibcExamples:commands_publish.publish",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6d6d4c80c8..10960e5129 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -317,7 +317,7 @@ if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
 endif()
 
 if(WITH_GUI)
-    add_subdirectory(fieldImages)
+    add_subdirectory(fields)
     add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
@@ -349,12 +349,12 @@ if(WITH_WPILIB)
     set(COMMANDSV3_DEP_REPLACE "find_dependency(commandsv3)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
     set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
-    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
+    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(commandsv2)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(commandsv3) # must be after wpilibj
-    add_subdirectory(wpilibNewCommands)
+    add_subdirectory(commandsv2)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)
     if(WITH_EXAMPLES)
diff --git a/MavenArtifacts.md b/MavenArtifacts.md
index aaceb9a0e8..ae955e1b00 100644
--- a/MavenArtifacts.md
+++ b/MavenArtifacts.md
@@ -108,7 +108,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * wpinet
   * wpiutil
 
-* wpilibNewCommands
+* commandsv2
   * wpilibc
   * hal
   * cameraserver
diff --git a/README-CMake.md b/README-CMake.md
index a91885f19a..b986f699c4 100644
--- a/README-CMake.md
+++ b/README-CMake.md
@@ -7,14 +7,14 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * cameraserver
 * commandsv3
 * cscore
-* fieldImages
+* fields
 * hal (simulation HAL only)
 * ntcore
 * romiVendordep
 * simulation extensions
 * wpigui
 * wpilib (wpilibc, wpilibj, and myRobot)
-* wpilibNewCommands
+* commandsv2
 * wpimath
 * wpinet
 * wpiunits
@@ -162,7 +162,7 @@ file(GLOB_RECURSE JAVA_SOURCES *.java)
 # If you want Gradle compatibility or you are using one of the templates/examples, comment out the above line and uncomment this line instead:
 # file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
 add_jar(robot ${JAVA_SOURCES}
-    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar wpilibNewCommands_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
+    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar commandsv2_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
 export_jars(TARGETS robot FILE robot.jar)
 ```
 This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
@@ -176,7 +176,7 @@ After that, run `cmake --build .` to create your JAR file. To execute the JAR fi
 
 ## Using vendordeps
 
-Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that commandsv2, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
 
 ## Troubleshooting
 Below are some common issues that are run into when building.
diff --git a/README.md b/README.md
index 58ffb7fb6d..be812467fe 100644
--- a/README.md
+++ b/README.md
@@ -105,7 +105,7 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 - `cscore`
 - `hal`
 - `ntcore`
-- `wpilibNewCommands`
+- `commandsv2`
 - `wpimath`
 - `wpinet`
 - `wpiunits`
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 1542955155..dfadd80f4e 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -15,7 +15,7 @@ target_link_libraries(
     PUBLIC
         $<TARGET_NAME_IF_EXISTS:apriltag>
         $<TARGET_NAME_IF_EXISTS:wpilibc>
-        $<TARGET_NAME_IF_EXISTS:wpilibNewCommands>
+        $<TARGET_NAME_IF_EXISTS:commandsv2>
         $<TARGET_NAME_IF_EXISTS:wpimath>
         $<TARGET_NAME_IF_EXISTS:wpiutil>
 )
diff --git a/benchmark/build.gradle b/benchmark/build.gradle
index 7bc565d35c..3540da64ca 100644
--- a/benchmark/build.gradle
+++ b/benchmark/build.gradle
@@ -51,7 +51,7 @@ dependencies {
     implementation project(':hal')
     implementation project(':ntcore')
     implementation project(':wpilibj')
-    implementation project(':wpilibNewCommands')
+    implementation project(':commandsv2')
     implementation project(':wpimath')
     implementation project(':wpinet')
     implementation project(':wpiunits')
@@ -221,7 +221,7 @@ model {
                 project(':ntcore').addNtcoreDependency(binary, 'shared')
                 project(':ntcore').addNtcoreJniDependency(binary)
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
-                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+                lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
                 lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
@@ -276,7 +276,7 @@ model {
                 project(':hal').addHalDependency(binary, 'static')
                 project(':ntcore').addNtcoreDependency(binary, 'static')
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
-                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
+                lib project: ':commandsv2', library: 'commandsv2', linkage: 'static'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
diff --git a/cmake/modules/AddDoxygenDocs.cmake b/cmake/modules/AddDoxygenDocs.cmake
index 1df4f4d99d..627a41176d 100644
--- a/cmake/modules/AddDoxygenDocs.cmake
+++ b/cmake/modules/AddDoxygenDocs.cmake
@@ -3,12 +3,12 @@ macro(add_doxygen_docs)
         apriltag
         cameraserver
         cscore
-        fieldImages
+        fields
         hal
         ntcore
         romiVendordep
         wpilibc
-        wpilibNewCommands
+        commandsv2
         wpimath
         wpinet
         wpiutil
diff --git a/commandsv2/.styleguide b/commandsv2/.styleguide
index feafd15406..7dde46fc2b 100644
--- a/commandsv2/.styleguide
+++ b/commandsv2/.styleguide
@@ -13,7 +13,7 @@ repoRootNameOverride {
 }
 
 generatedFileExclude {
-  wpilibNewCommands/src/generated/
+  commandsv2/src/generated/
 }
 
 includeOtherLibs {
diff --git a/commandsv2/BUILD.bazel b/commandsv2/BUILD.bazel
index 0378855d48..6da2bbeaaa 100644
--- a/commandsv2/BUILD.bazel
+++ b/commandsv2/BUILD.bazel
@@ -6,7 +6,7 @@ load("@rules_python//python:defs.bzl", "py_binary")
 load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test", "wpilib_java_library")
 load("//shared/bazel/rules:packaging.bzl", "package_minimal_cc_project")
-load("//wpilibNewCommands:generate.bzl", "generate_wpilib_new_commands")
+load("//commandsv2:generate.bzl", "generate_wpilib_new_commands")
 
 filegroup(
     name = "doxygen-files",
@@ -60,7 +60,7 @@ filegroup(
 )
 
 wpilib_cc_library(
-    name = "wpilibNewCommands",
+    name = "commandsv2",
     srcs = glob(["src/main/native/cpp/**"]),
     hdrs = glob(["src/main/native/include/**"]),
     includes = ["src/main/native/include"],
@@ -77,7 +77,7 @@ wpilib_cc_library(
 )
 
 wpilib_cc_shared_library(
-    name = "shared/wpilibNewCommands",
+    name = "shared/commandsv2",
     dynamic_deps = [
         "//hal:shared/wpiHal",
         "//ntcore:shared/ntcore",
@@ -87,26 +87,26 @@ wpilib_cc_shared_library(
         "//wpiutil:shared/wpiutil",
     ],
     visibility = ["//visibility:public"],
-    deps = [":wpilibNewCommands"],
+    deps = [":commandsv2"],
 )
 
 wpilib_cc_static_library(
-    name = "static/wpilibNewCommands",
+    name = "static/commandsv2",
     static_deps = [
         "//ntcore:static/ntcore",
         "//wpilibc:static/wpilibc",
         "//wpinet:static/wpinet",
     ],
     visibility = ["//visibility:public"],
-    deps = [":wpilibNewCommands"],
+    deps = [":commandsv2"],
 )
 
 wpilib_java_library(
-    name = "wpilibNewCommands-java",
+    name = "commandsv2-java",
     srcs = glob(["src/main/java/**/*.java"]) + [":generated_java"],
     exported_plugins = ["//javacPlugin:plugin"],
-    maven_artifact_name = "wpilibNewCommands-java",
-    maven_group_id = "edu.wpi.first.wpilibNewCommands",
+    maven_artifact_name = "commandsv2-java",
+    maven_group_id = "edu.wpi.first.commandsv2",
     plugins = ["//javacPlugin:plugin"],
     visibility = ["//visibility:public"],
     deps = [
@@ -123,7 +123,7 @@ wpilib_java_library(
 )
 
 cc_test(
-    name = "wpilibNewCommands-cpp-test",
+    name = "commandsv2-cpp-test",
     size = "small",
     srcs = glob([
         "src/test/native/**/*.cpp",
@@ -134,18 +134,18 @@ cc_test(
         "no-ubsan",
     ],
     deps = [
-        ":wpilibNewCommands",
+        ":commandsv2",
         "//thirdparty/googletest",
     ],
 )
 
 wpilib_java_junit5_test(
-    name = "wpilibNewCommands-java-test",
+    name = "commandsv2-java-test",
     srcs = glob(["**/*.java"]),
-    resource_strip_prefix = "wpilibNewCommands/src/test/resources",
+    resource_strip_prefix = "commandsv2/src/test/resources",
     resources = glob(["src/test/resources/**"]),
     deps = [
-        ":wpilibNewCommands-java",
+        ":commandsv2-java",
         "//hal:hal-java",
         "//ntcore:ntcore-java",
         "//wpiannotations",
@@ -169,7 +169,7 @@ java_binary(
     srcs = ["src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java"],
     main_class = "edu.wpi.first.wpilibj2.commands.DevMain",
     deps = [
-        ":wpilibNewCommands-java",
+        ":commandsv2-java",
         "//hal:hal-java",
         "//ntcore:ntcore-java",
         "//wpiannotations",
@@ -179,7 +179,7 @@ java_binary(
 )
 
 package_minimal_cc_project(
-    name = "wpilibNewCommands",
-    maven_artifact_name = "wpilibNewCommands-cpp",
-    maven_group_id = "edu.wpi.first.wpilibNewCommands",
+    name = "commandsv2",
+    maven_artifact_name = "commandsv2-cpp",
+    maven_group_id = "edu.wpi.first.commandsv2",
 )
diff --git a/commandsv2/CMakeLists.txt b/commandsv2/CMakeLists.txt
index 2c12f11afe..53e5bd1fe8 100644
--- a/commandsv2/CMakeLists.txt
+++ b/commandsv2/CMakeLists.txt
@@ -1,4 +1,4 @@
-project(wpilibNewCommands)
+project(commandsv2)
 
 include(SubDirList)
 include(CompileWarnings)
@@ -10,7 +10,7 @@ if(WITH_JAVA)
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
     file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
     add_jar(
-        wpilibNewCommands_jar
+        commandsv2_jar
         ${JAVA_SOURCES}
         INCLUDE_JARS
             hal_jar
@@ -24,16 +24,16 @@ if(WITH_JAVA)
             wpilibj_jar
             datalog_jar
             wpiannotations_jar
-        OUTPUT_NAME wpilibNewCommands
+        OUTPUT_NAME commandsv2
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-    set_property(TARGET wpilibNewCommands_jar PROPERTY FOLDER "java")
+    set_property(TARGET commandsv2_jar PROPERTY FOLDER "java")
 
-    install_jar(wpilibNewCommands_jar DESTINATION ${java_lib_dest})
+    install_jar(commandsv2_jar DESTINATION ${java_lib_dest})
     install_jar_exports(
-        TARGETS wpilibNewCommands_jar
-        FILE wpilibNewCommands_jar.cmake
-        DESTINATION share/wpilibNewCommands
+        TARGETS commandsv2_jar
+        FILE commandsv2_jar.cmake
+        DESTINATION share/commandsv2
     )
 endif()
 
@@ -41,59 +41,59 @@ if(WITH_JAVA_SOURCE)
     include(UseJava)
     include(CreateSourceJar)
     add_source_jar(
-        wpilibNewCommands_src_jar
+        commandsv2_src_jar
         BASE_DIRECTORIES
             ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
             ${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/java
-        OUTPUT_NAME wpilibNewCommands-sources
+        OUTPUT_NAME commandsv2-sources
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-    set_property(TARGET wpilibNewCommands_src_jar PROPERTY FOLDER "java")
+    set_property(TARGET commandsv2_src_jar PROPERTY FOLDER "java")
 
-    install_jar(wpilibNewCommands_src_jar DESTINATION ${java_lib_dest})
+    install_jar(commandsv2_src_jar DESTINATION ${java_lib_dest})
 endif()
 
 file(
-    GLOB_RECURSE wpilibNewCommands_native_src
+    GLOB_RECURSE commandsv2_native_src
     src/main/native/cpp/*.cpp
     src/generated/main/native/cpp/*.cpp
 )
-add_library(wpilibNewCommands ${wpilibNewCommands_native_src})
-set_target_properties(wpilibNewCommands PROPERTIES DEBUG_POSTFIX "d")
-set_property(TARGET wpilibNewCommands PROPERTY FOLDER "libraries")
+add_library(commandsv2 ${commandsv2_native_src})
+set_target_properties(commandsv2 PROPERTIES DEBUG_POSTFIX "d")
+set_property(TARGET commandsv2 PROPERTY FOLDER "libraries")
 
-target_compile_features(wpilibNewCommands PUBLIC cxx_std_20)
-wpilib_target_warnings(wpilibNewCommands)
-target_link_libraries(wpilibNewCommands wpilibc)
+target_compile_features(commandsv2 PUBLIC cxx_std_20)
+wpilib_target_warnings(commandsv2)
+target_link_libraries(commandsv2 wpilibc)
 
 target_include_directories(
-    wpilibNewCommands
+    commandsv2
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpilibNewCommands>
+        $<INSTALL_INTERFACE:${include_dest}/commandsv2>
 )
 
-install(TARGETS wpilibNewCommands EXPORT wpilibnewcommands)
-export(TARGETS wpilibNewCommands FILE wpilibnewcommands.cmake NAMESPACE wpilibnewcommands::)
-install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpilibNewCommands")
+install(TARGETS commandsv2 EXPORT commandsv2)
+export(TARGETS commandsv2 FILE commandsv2.cmake NAMESPACE commandsv2::)
+install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/commandsv2")
 install(
     DIRECTORY src/generated/main/native/include/
-    DESTINATION "${include_dest}/wpilibNewCommands"
+    DESTINATION "${include_dest}/commandsv2"
 )
 
 configure_file(
-    wpilibnewcommands-config.cmake.in
-    ${WPILIB_BINARY_DIR}/wpilibnewcommands-config.cmake
+    commandsv2-config.cmake.in
+    ${WPILIB_BINARY_DIR}/commandsv2-config.cmake
 )
 install(
-    FILES ${WPILIB_BINARY_DIR}/wpilibnewcommands-config.cmake
-    DESTINATION share/wpilibNewCommands
+    FILES ${WPILIB_BINARY_DIR}/commandsv2-config.cmake
+    DESTINATION share/commandsv2
 )
-install(EXPORT wpilibnewcommands DESTINATION share/wpilibNewCommands)
+install(EXPORT commandsv2 DESTINATION share/commandsv2)
 
 if(WITH_TESTS)
-    wpilib_add_test(wpilibNewCommands src/test/native/cpp)
-    target_include_directories(wpilibNewCommands_test PRIVATE src/test/native/include)
-    target_link_libraries(wpilibNewCommands_test wpilibNewCommands googletest)
+    wpilib_add_test(commandsv2 src/test/native/cpp)
+    target_include_directories(commandsv2_test PRIVATE src/test/native/include)
+    target_link_libraries(commandsv2_test commandsv2 googletest)
 endif()
diff --git a/commandsv2/WPILibNewCommands.json b/commandsv2/WPILibNewCommands.json
index fb7b37e413..070a597d64 100644
--- a/commandsv2/WPILibNewCommands.json
+++ b/commandsv2/WPILibNewCommands.json
@@ -8,18 +8,18 @@
   "jsonUrl": "",
   "javaDependencies": [
     {
-      "groupId": "edu.wpi.first.wpilibNewCommands",
-      "artifactId": "wpilibNewCommands-java",
+      "groupId": "edu.wpi.first.commandsv2",
+      "artifactId": "commandsv2-java",
       "version": "wpilib"
     }
   ],
   "jniDependencies": [],
   "cppDependencies": [
     {
-      "groupId": "edu.wpi.first.wpilibNewCommands",
-      "artifactId": "wpilibNewCommands-cpp",
+      "groupId": "edu.wpi.first.commandsv2",
+      "artifactId": "commandsv2-cpp",
       "version": "wpilib",
-      "libName": "wpilibNewCommands",
+      "libName": "commandsv2",
       "headerClassifier": "headers",
       "sourcesClassifier": "sources",
       "sharedLibrary": true,
diff --git a/commandsv2/build.gradle b/commandsv2/build.gradle
index a8b83b34cf..0d137721b4 100644
--- a/commandsv2/build.gradle
+++ b/commandsv2/build.gradle
@@ -1,5 +1,5 @@
 ext {
-    nativeName = 'wpilibNewCommands'
+    nativeName = 'commandsv2'
     devMain = 'edu.wpi.first.wpilibj2.commands.DevMain'
 }
 
@@ -31,7 +31,7 @@ dependencies {
 sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
 
 nativeUtils.exportsConfigs {
-    wpilibNewCommands {
+    commandsv2 {
     }
 }
 
diff --git a/commandsv2/generate.bzl b/commandsv2/generate.bzl
index ab3598c13c..0265610ac3 100644
--- a/commandsv2/generate.bzl
+++ b/commandsv2/generate.bzl
@@ -1,12 +1,12 @@
 def __generate_wpilib_new_commands_impl(ctx):
     """
-    Custom rule used to create the wpilibNewCommands pre-generated files. See `./README-Bazel.md` for the reasoning.
+    Custom rule used to create the commandsv2 pre-generated files. See `./README-Bazel.md` for the reasoning.
     """
     output_dir = ctx.actions.declare_directory("_gendir")
 
     args = ctx.actions.args()
     args.add("--output_directory", output_dir.path)
-    args.add("--template_root", "wpilibNewCommands/src/generate")
+    args.add("--template_root", "commandsv2/src/generate")
 
     ctx.actions.run(
         inputs = ctx.attr._templates.files,
@@ -21,10 +21,10 @@ generate_wpilib_new_commands = rule(
     implementation = __generate_wpilib_new_commands_impl,
     attrs = {
         "_templates": attr.label(
-            default = Label("//wpilibNewCommands:templates"),
+            default = Label("//commandsv2:templates"),
         ),
         "_tool": attr.label(
-            default = Label("//wpilibNewCommands:generate_hids"),
+            default = Label("//commandsv2:generate_hids"),
             cfg = "exec",
             executable = True,
         ),
diff --git a/commandsv2/src/generate/main/java/commandhid.java.jinja b/commandsv2/src/generate/main/java/commandhid.java.jinja
index 1198f6ae08..54a6c1f72f 100644
--- a/commandsv2/src/generate/main/java/commandhid.java.jinja
+++ b/commandsv2/src/generate/main/java/commandhid.java.jinja
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 {% macro capitalize_first(string) -%}
 {{ string[0]|capitalize + string[1:] }}
 {%- endmacro %}
diff --git a/commandsv2/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja b/commandsv2/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
index 38878f9b33..4316a49939 100644
--- a/commandsv2/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
+++ b/commandsv2/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 {% macro capitalize_first(string) -%}
 {{ string[0]|capitalize + string[1:] }}
 {%- endmacro %}
diff --git a/commandsv2/src/generate/main/native/include/frc2/command/button/commandhid.h.jinja b/commandsv2/src/generate/main/native/include/frc2/command/button/commandhid.h.jinja
index 0a0242cc27..00cf3267d3 100644
--- a/commandsv2/src/generate/main/native/include/frc2/command/button/commandhid.h.jinja
+++ b/commandsv2/src/generate/main/native/include/frc2/command/button/commandhid.h.jinja
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 {% macro capitalize_first(string) -%}
 {{ string[0]|capitalize + string[1:] }}
 {%- endmacro %}
diff --git a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
index a65dbaea72..79faec3fba 100644
--- a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
+++ b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 package edu.wpi.first.wpilibj2.command.button;
 
diff --git a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
index 17f775a1ee..708f5a8b4d 100644
--- a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
+++ b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 package edu.wpi.first.wpilibj2.command.button;
 
diff --git a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
index a67fc877de..dc6c6f1658 100644
--- a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
+++ b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 package edu.wpi.first.wpilibj2.command.button;
 
diff --git a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
index a6de3c3e39..1b8104a6d4 100644
--- a/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
+++ b/commandsv2/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 package edu.wpi.first.wpilibj2.command.button;
 
diff --git a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
index 78d77b8fa4..ce18ffc048 100644
--- a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
+++ b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #include "frc2/command/button/CommandPS4Controller.h"
 
diff --git a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
index 667c58b9af..df64ecc834 100644
--- a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
+++ b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #include "frc2/command/button/CommandPS5Controller.h"
 
diff --git a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
index 72088defe8..9fb68f26db 100644
--- a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
+++ b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #include "frc2/command/button/CommandStadiaController.h"
 
diff --git a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
index 9f4ad960b8..e35e016376 100644
--- a/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
+++ b/commandsv2/src/generated/main/native/cpp/frc2/command/button/CommandXboxController.cpp
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #include "frc2/command/button/CommandXboxController.h"
 
diff --git a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS4Controller.h b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS4Controller.h
index 5e650aef29..0067efcc13 100644
--- a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS4Controller.h
+++ b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS4Controller.h
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
 #include <frc/PS4Controller.h>
diff --git a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS5Controller.h b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS5Controller.h
index 7aa66be6b8..f2de3f4e50 100644
--- a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS5Controller.h
+++ b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandPS5Controller.h
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
 #include <frc/PS5Controller.h>
diff --git a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandStadiaController.h b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandStadiaController.h
index 727b9a434f..6aff78acec 100644
--- a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandStadiaController.h
+++ b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandStadiaController.h
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
 #include <frc/StadiaController.h>
diff --git a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandXboxController.h b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandXboxController.h
index f23d0a096a..9edcf96e24 100644
--- a/commandsv2/src/generated/main/native/include/frc2/command/button/CommandXboxController.h
+++ b/commandsv2/src/generated/main/native/include/frc2/command/button/CommandXboxController.h
@@ -2,7 +2,7 @@
 // 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.
 
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+// THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
 #include <frc/XboxController.h>
diff --git a/commandsv2/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension b/commandsv2/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
index daaab59dba..3a4908fd20 100644
--- a/commandsv2/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
+++ b/commandsv2/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
@@ -1 +1 @@
-edu.wpi.first.wpilibj2.MockHardwareExtension
+edu.wpi.first.wpilibj2.MockHardwareExtension
diff --git a/commandsv2/wpilibnewcommands-config.cmake.in b/commandsv2/wpilibnewcommands-config.cmake.in
index 52dfac957b..5def1d9d0f 100644
--- a/commandsv2/wpilibnewcommands-config.cmake.in
+++ b/commandsv2/wpilibnewcommands-config.cmake.in
@@ -9,7 +9,7 @@ include(CMakeFindDependencyMacro)
 @WPIMATH_DEP_REPLACE@
 
 @FILENAME_DEP_REPLACE@
-include(${SELF_DIR}/wpilibnewcommands.cmake)
+include(${SELF_DIR}/commandsv2.cmake)
 if(@WITH_JAVA@)
-    include(${SELF_DIR}/wpilibNewCommands_jar.cmake)
+    include(${SELF_DIR}/commandsv2_jar.cmake)
 endif()
diff --git a/developerRobot/CMakeLists.txt b/developerRobot/CMakeLists.txt
index 3b2b9827a5..d28395bb5c 100644
--- a/developerRobot/CMakeLists.txt
+++ b/developerRobot/CMakeLists.txt
@@ -5,4 +5,4 @@ include(CompileWarnings)
 file(GLOB developerRobotCpp_src src/main/native/cpp/*.cpp)
 
 add_executable(developerRobotCpp ${developerRobotCpp_src})
-target_link_libraries(developerRobotCpp wpilibc wpilibNewCommands apriltag)
+target_link_libraries(developerRobotCpp wpilibc commandsv2 apriltag)
diff --git a/developerRobot/build.gradle b/developerRobot/build.gradle
index 09641358b0..087efd8605 100644
--- a/developerRobot/build.gradle
+++ b/developerRobot/build.gradle
@@ -52,7 +52,7 @@ dependencies {
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
-    implementation project(':wpilibNewCommands')
+    implementation project(':commandsv2')
     implementation project(':apriltag')
     implementation project(':wpiunits')
     implementation project(':epilogue-runtime')
@@ -198,7 +198,7 @@ model {
                     }
                 }
                 lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
-                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+                lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                 lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
@@ -243,7 +243,7 @@ model {
                     }
                 }
                 lib project: ':apriltag', library: 'apriltag', linkage: 'static'
-                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
+                lib project: ':commandsv2', library: 'commandsv2', linkage: 'static'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                 lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
diff --git a/docs/BUILD.bazel b/docs/BUILD.bazel
index 06f5acdcee..618fd79338 100644
--- a/docs/BUILD.bazel
+++ b/docs/BUILD.bazel
@@ -12,8 +12,8 @@ paths = [
     "ntcore/src/main/native/include",
     "romiVendordep/src/generated/main/native/include",
     "romiVendordep/src/main/native/include",
-    "wpilibNewCommands/src/generated/main/native/include",
-    "wpilibNewCommands/src/main/native/include",
+    "commandsv2/src/generated/main/native/include",
+    "commandsv2/src/main/native/include",
     "wpilibc/src/generated/main/native/include",
     "wpilibc/src/main/native/include",
     "wpimath/src/main/native/include",
@@ -64,7 +64,7 @@ doxygen(
         "//hal:doxygen-files",
         "//ntcore:doxygen-files",
         "//romiVendordep:doxygen-files",
-        "//wpilibNewCommands:doxygen-files",
+        "//commandsv2:doxygen-files",
         "//wpilibc:doxygen-files",
         "//wpimath:doxygen-files",
         "//wpinet:doxygen-files",
@@ -112,7 +112,7 @@ javadoc(
         "//hal:hal-java",
         "//ntcore:ntcore-java",
         "//romiVendordep:romiVendordep-java",
-        "//wpilibNewCommands:wpilibNewCommands-java",
+        "//commandsv2:commandsv2-java",
         "//wpilibj:wpilibj-java",
         "//wpimath:wpimath-java",
         "//wpinet:wpinet-java",
diff --git a/docs/build.gradle b/docs/build.gradle
index 89cb8148fd..72bcbd0e43 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -11,7 +11,7 @@ evaluationDependsOn(':epilogue-runtime')
 evaluationDependsOn(':hal')
 evaluationDependsOn(':ntcore')
 evaluationDependsOn(':wpiannotations')
-evaluationDependsOn(':wpilibNewCommands')
+evaluationDependsOn(':commandsv2')
 evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
 evaluationDependsOn(':wpimath')
@@ -39,7 +39,7 @@ cppProjectZips.add(project(':cameraserver').cppHeadersZip)
 cppProjectZips.add(project(':cscore').cppHeadersZip)
 cppProjectZips.add(project(':hal').cppHeadersZip)
 cppProjectZips.add(project(':ntcore').cppHeadersZip)
-cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
+cppProjectZips.add(project(':commandsv2').cppHeadersZip)
 cppProjectZips.add(project(':wpilibc').cppHeadersZip)
 cppProjectZips.add(project(':wpimath').cppHeadersZip)
 cppProjectZips.add(project(':wpinet').cppHeadersZip)
@@ -187,7 +187,7 @@ task generateJavaDocs(type: Javadoc) {
     source project(':hal').sourceSets.main.java
     source project(':ntcore').sourceSets.main.java
     source project(':wpiannotations').sourceSets.main.java
-    source project(':wpilibNewCommands').sourceSets.main.java
+    source project(':commandsv2').sourceSets.main.java
     source project(':wpilibj').sourceSets.main.java
     source project(':wpimath').sourceSets.main.java
     source project(':wpinet').sourceSets.main.java
diff --git a/epilogue-processor/BUILD.bazel b/epilogue-processor/BUILD.bazel
index 1b356f93f7..0a92334a4c 100644
--- a/epilogue-processor/BUILD.bazel
+++ b/epilogue-processor/BUILD.bazel
@@ -12,7 +12,7 @@ wpilib_java_library(
     resources = glob(["src/main/resources/**"]),
     visibility = ["//visibility:public"],
     runtime_deps = [
-        "//wpilibNewCommands:wpilibNewCommands-java",
+        "//commandsv2:commandsv2-java",
     ],
     deps = [
         "//epilogue-runtime:epilogue-java",
diff --git a/epilogue-processor/build.gradle b/epilogue-processor/build.gradle
index 6a67ca3e8a..f2efd47b36 100644
--- a/epilogue-processor/build.gradle
+++ b/epilogue-processor/build.gradle
@@ -11,7 +11,7 @@ apply from: "${rootDir}/shared/java/javacommon.gradle"
 
 dependencies {
     implementation(project(':epilogue-runtime'))
-    api project(':wpilibNewCommands')
+    api project(':commandsv2')
 
     testImplementation 'com.google.testing.compile:compile-testing:+'
 }
diff --git a/fields/BUILD.bazel b/fields/BUILD.bazel
index 67bd59c982..b99c66c8e0 100644
--- a/fields/BUILD.bazel
+++ b/fields/BUILD.bazel
@@ -12,7 +12,7 @@ generate_resources(
 )
 
 wpilib_cc_library(
-    name = "fieldImages",
+    name = "fields",
     srcs = [":generate-resources"] + glob(["src/main/native/cpp/**"]),
     hdrs = glob(["src/main/native/include/**/*"]),
     include_license_files = True,
@@ -21,24 +21,24 @@ wpilib_cc_library(
 )
 
 wpilib_cc_static_library(
-    name = "static/fieldImages",
+    name = "static/fields",
     static_lib_name = select({
-        "@platforms//os:windows": "static/fieldImages.lib",
-        "//conditions:default": "static/libfieldImages.a",
+        "@platforms//os:windows": "static/fields.lib",
+        "//conditions:default": "static/libfields.a",
     }),
     visibility = ["//visibility:public"],
     deps = [
-        ":fieldImages",
+        ":fields",
     ],
 )
 
 wpilib_java_library(
-    name = "fieldImages-java",
+    name = "fields-java",
     srcs = glob(["src/main/java/**/*.java"]),
     extra_source_pkgs = ["resources"],
-    maven_artifact_name = "fieldImages-java",
-    maven_group_id = "edu.wpi.first.fieldImages",
-    resource_strip_prefix = "fieldImages/src/main/native/resources",
+    maven_artifact_name = "fields-java",
+    maven_group_id = "edu.wpi.first.fields",
+    resource_strip_prefix = "fields/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
     visibility = ["//visibility:public"],
     deps = [
@@ -54,15 +54,15 @@ pkg_files(
 )
 
 wpilib_java_junit5_test(
-    name = "fieldImages-test",
+    name = "fields-test",
     srcs = glob(["src/test/java/**/*.java"]),
     deps = [
-        ":fieldImages-java",
+        ":fields-java",
     ],
 )
 
 package_minimal_cc_project(
-    name = "fieldImages",
-    maven_artifact_name = "fieldImages-cpp",
-    maven_group_id = "edu.wpi.first.fieldImages",
+    name = "fields",
+    maven_artifact_name = "fields-cpp",
+    maven_group_id = "edu.wpi.first.fields",
 )
diff --git a/fields/CMakeLists.txt b/fields/CMakeLists.txt
index f1d435c30e..507b3f5668 100644
--- a/fields/CMakeLists.txt
+++ b/fields/CMakeLists.txt
@@ -1,4 +1,4 @@
-project(fieldImages)
+project(fields)
 
 include(CompileWarnings)
 include(GenResources)
@@ -23,14 +23,14 @@ if(WITH_JAVA)
         NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES}
         INCLUDE_JARS ${JACKSON_JARS}
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-        OUTPUT_NAME fieldImages
+        OUTPUT_NAME fields
     )
     set_property(TARGET field_images_jar PROPERTY FOLDER "java")
     install_jar(field_images_jar DESTINATION ${java_lib_dest})
     install_jar_exports(
         TARGETS field_images_jar
-        FILE fieldImages_jar.cmake
-        DESTINATION share/fieldImages
+        FILE fields_jar.cmake
+        DESTINATION share/fields
     )
 endif()
 
@@ -42,27 +42,27 @@ generate_resources(
     field_images_resources_src
 )
 
-add_library(fieldImages ${field_images_resources_src} src/main/native/cpp/fields.cpp)
-set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
+add_library(fields ${field_images_resources_src} src/main/native/cpp/fields.cpp)
+set_target_properties(fields PROPERTIES DEBUG_POSTFIX "d")
 
-set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
-target_compile_features(fieldImages PUBLIC cxx_std_20)
+set_property(TARGET fields PROPERTY FOLDER "libraries")
+target_compile_features(fields PUBLIC cxx_std_20)
 if(MSVC)
-    target_compile_options(fieldImages PUBLIC /bigobj)
+    target_compile_options(fields PUBLIC /bigobj)
 endif()
-wpilib_target_warnings(fieldImages)
+wpilib_target_warnings(fields)
 
-install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/fieldImages")
+install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/fields")
 target_include_directories(
-    fieldImages
+    fields
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-        $<INSTALL_INTERFACE:${include_dest}/fieldImages>
+        $<INSTALL_INTERFACE:${include_dest}/fields>
 )
 
-install(TARGETS fieldImages EXPORT fieldimages)
-export(TARGETS fieldImages FILE fieldimages.cmake NAMESPACE fieldimages::)
+install(TARGETS fields EXPORT fields)
+export(TARGETS fields FILE fields.cmake NAMESPACE fields::)
 
-configure_file(fieldimages-config.cmake.in ${WPILIB_BINARY_DIR}/fieldimages-config.cmake)
-install(FILES ${WPILIB_BINARY_DIR}/fieldimages-config.cmake DESTINATION share/fieldImages)
-install(EXPORT fieldimages DESTINATION share/fieldImages)
+configure_file(fields-config.cmake.in ${WPILIB_BINARY_DIR}/fields-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/fields-config.cmake DESTINATION share/fields)
+install(EXPORT fields DESTINATION share/fields)
diff --git a/fields/build.gradle b/fields/build.gradle
index dd38080dd5..696b35fb44 100644
--- a/fields/build.gradle
+++ b/fields/build.gradle
@@ -20,10 +20,10 @@ dependencies {
 }
 
 ext {
-    nativeName = 'fieldImages'
+    nativeName = 'fields'
     baseId = nativeName
-    groupId = 'edu.wpi.first.fieldImages'
-    devMain = "edu.wpi.first.fieldImages.DevMain"
+    groupId = 'edu.wpi.first.fields'
+    devMain = "edu.wpi.first.fields.DevMain"
 }
 
 apply from: "${rootDir}/shared/resources.gradle"
@@ -44,7 +44,7 @@ sourceSets.main.resources {
 model {
     components {
         "${nativeName}"(NativeLibrarySpec) {
-            baseName = 'fieldImages'
+            baseName = 'fields'
             sources {
                 cpp {
                     source {
diff --git a/fields/fieldimages-config.cmake.in b/fields/fieldimages-config.cmake.in
index 35f453be47..b5d49ea715 100644
--- a/fields/fieldimages-config.cmake.in
+++ b/fields/fieldimages-config.cmake.in
@@ -1,5 +1,5 @@
 @FILENAME_DEP_REPLACE@
-include(${SELF_DIR}/fieldimages.cmake)
+include(${SELF_DIR}/fields.cmake)
 if(@WITH_JAVA@)
-    include(${SELF_DIR}/fieldImages_jar.cmake)
+    include(${SELF_DIR}/fields_jar.cmake)
 endif()
diff --git a/fields/publish.gradle b/fields/publish.gradle
index 1ce268c184..9f6307e35f 100644
--- a/fields/publish.gradle
+++ b/fields/publish.gradle
@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 def baseArtifactId = project.nativeName
 def artifactGroupId = project.groupId
-def cppZipBaseName = "_GROUP_edu_wpi_first_fieldImages_ID_${baseArtifactId}-cpp_CLS"
+def cppZipBaseName = "_GROUP_edu_wpi_first_fields_ID_${baseArtifactId}-cpp_CLS"
 
 def outputsFolder = file("$project.buildDir/outputs")
 
@@ -51,7 +51,7 @@ addTaskToCopyAllOutputs(cppSourcesZip)
 
 model {
     publishing {
-        def wpilibCTaskList = createComponentZipTasks($.components, ['fieldImages'], cppZipBaseName, Zip, project, includeStandardZipFormat)
+        def wpilibCTaskList = createComponentZipTasks($.components, ['fields'], cppZipBaseName, Zip, project, includeStandardZipFormat)
 
         publications {
             cpp(MavenPublication) {
diff --git a/glass/BUILD.bazel b/glass/BUILD.bazel
index fe5ae06a5f..c2e9fa616a 100644
--- a/glass/BUILD.bazel
+++ b/glass/BUILD.bazel
@@ -17,7 +17,7 @@ wpilib_cc_library(
     ],
     visibility = ["//visibility:public"],
     deps = [
-        "//fieldImages",
+        "//fields",
         "//wpigui",
         "//wpimath",
         "//wpiutil",
@@ -30,7 +30,7 @@ wpilib_cc_static_library(
         "//wpigui:static/wpigui",
         "//wpimath:static/wpimath",
         "//wpiutil:static/wpiutil",
-        "//fieldImages:static/fieldImages",
+        "//fields:static/fields",
     ],
     visibility = ["//visibility:public"],
     deps = [
diff --git a/glass/CMakeLists.txt b/glass/CMakeLists.txt
index 1fe76a4ce1..428af951c8 100644
--- a/glass/CMakeLists.txt
+++ b/glass/CMakeLists.txt
@@ -19,7 +19,7 @@ endif()
 set_property(TARGET libglass PROPERTY FOLDER "libraries")
 
 wpilib_target_warnings(libglass)
-target_link_libraries(libglass PUBLIC wpigui wpimath wpiutil fieldImages)
+target_link_libraries(libglass PUBLIC wpigui wpimath wpiutil fields)
 
 target_include_directories(
     libglass
diff --git a/glass/build.gradle b/glass/build.gradle
index 4ef5686b49..51733ffd05 100644
--- a/glass/build.gradle
+++ b/glass/build.gradle
@@ -96,7 +96,7 @@ model {
 
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                 lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
+                lib project: ':fields', library: 'fields', linkage: 'shared'
                 lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             }
@@ -126,7 +126,7 @@ model {
                 lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                 lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
+                lib project: ':fields', library: 'fields', linkage: 'shared'
                 lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             }
@@ -165,7 +165,7 @@ model {
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                 lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
+                lib project: ':fields', library: 'fields', linkage: 'static'
                 nativeUtils.useRequiredLibrary(it, 'opencv_static')
                 lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
diff --git a/javacPlugin/build.gradle b/javacPlugin/build.gradle
index 89adb15320..b625224703 100644
--- a/javacPlugin/build.gradle
+++ b/javacPlugin/build.gradle
@@ -13,5 +13,5 @@ apply from: "${rootDir}/shared/java/javacommon.gradle"
 dependencies {
     implementation project(':wpiannotations')
     testImplementation 'com.google.testing.compile:compile-testing:+'
-    testImplementation project(':wpilibNewCommands')
+    testImplementation project(':commandsv2')
 }
diff --git a/settings.gradle b/settings.gradle
index f78ae8bd11..be9e140212 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -34,7 +34,7 @@ include 'wpilibj'
 include 'javacPlugin'
 include 'wpiannotations'
 include 'wpiunits'
-include 'fieldImages'
+include 'fields'
 include 'glass'
 include 'outlineviewer'
 include 'datalogtool'
@@ -47,7 +47,7 @@ include 'simulation:halsim_ws_server'
 include 'simulation:halsim_xrp'
 include 'cameraserver'
 include 'cameraserver:multiCameraServer'
-include 'wpilibNewCommands'
+include 'commandsv2'
 include 'commandsv3'
 include 'romiVendordep'
 include 'xrpVendordep'
diff --git a/simulation/halsim_gui/build.gradle b/simulation/halsim_gui/build.gradle
index 07bc7ee891..598fd814dc 100644
--- a/simulation/halsim_gui/build.gradle
+++ b/simulation/halsim_gui/build.gradle
@@ -30,7 +30,7 @@ model {
             project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-            lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
+            lib project: ':fields', library: 'fields', linkage: 'static'
             lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
             if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                 it.buildable = false
diff --git a/tools/outlineviewer/build.gradle b/tools/outlineviewer/build.gradle
index 46471504af..cb77cda353 100644
--- a/tools/outlineviewer/build.gradle
+++ b/tools/outlineviewer/build.gradle
@@ -101,7 +101,7 @@ model {
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                 lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
+                lib project: ':fields', library: 'fields', linkage: 'static'
                 lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                 if (it.targetPlatform.operatingSystem.isWindows()) {
                     it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
diff --git a/wpilibcExamples/CMakeLists.txt b/wpilibcExamples/CMakeLists.txt
index 36212ee9ac..74474c846c 100644
--- a/wpilibcExamples/CMakeLists.txt
+++ b/wpilibcExamples/CMakeLists.txt
@@ -24,7 +24,7 @@ foreach(example ${EXAMPLES})
         ${example}
         apriltag
         wpilibc
-        wpilibNewCommands
+        commandsv2
         romiVendordep
         xrpVendordep
     )
@@ -44,7 +44,7 @@ foreach(example ${EXAMPLES})
             Example_${example}_test
             apriltag
             wpilibc
-            wpilibNewCommands
+            commandsv2
             romiVendordep
             xrpVendordep
             googletest
@@ -62,7 +62,7 @@ foreach(template ${TEMPLATES})
     add_executable(${template} ${sources})
     wpilib_target_warnings(${template})
     target_include_directories(${template} PUBLIC src/main/cpp/templates/${template}/include)
-    target_link_libraries(${template} wpilibc wpilibNewCommands romiVendordep xrpVendordep)
+    target_link_libraries(${template} wpilibc commandsv2 romiVendordep xrpVendordep)
     add_dependencies(wpilibcExamples ${template})
 endforeach()
 
@@ -75,6 +75,6 @@ foreach(snippet ${SNIPPETS})
     add_executable(snippet${snippet} ${sources})
     wpilib_target_warnings(snippet${snippet})
     target_include_directories(snippet${snippet} PUBLIC src/main/cpp/snippets/${snippet}/include)
-    target_link_libraries(snippet${snippet} wpilibc wpilibNewCommands romiVendordep xrpVendordep)
+    target_link_libraries(snippet${snippet} wpilibc commandsv2 romiVendordep xrpVendordep)
     add_dependencies(wpilibcExamples_snippets snippet${snippet})
 endforeach()
diff --git a/wpilibcExamples/build.gradle b/wpilibcExamples/build.gradle
index ecab11f694..ba9526e68d 100644
--- a/wpilibcExamples/build.gradle
+++ b/wpilibcExamples/build.gradle
@@ -77,7 +77,7 @@ model {
                     binary.buildable = false
                     return
                 }
-                lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+                lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
                 lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
                 lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
                 lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
@@ -108,7 +108,7 @@ model {
             "${key}"(NativeExecutableSpec) {
                 targetBuildTypes 'debug'
                 binaries.all { binary ->
-                    lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+                    lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
                     lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
                     lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
                     lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
@@ -156,7 +156,7 @@ model {
             "${key}"(NativeExecutableSpec) {
                 targetBuildTypes 'debug'
                 binaries.all { binary ->
-                    lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+                    lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
                     lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
                     lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
                     lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
@@ -187,7 +187,7 @@ model {
             "snippets${key}"(NativeExecutableSpec) {
                 targetBuildTypes 'debug'
                 binaries.all { binary ->
-                    lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+                    lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
                     lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
                     lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
                     lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
@@ -307,7 +307,7 @@ model {
     }
     binaries {
         withType(GoogleTestTestSuiteBinarySpec) {
-            lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+            lib project: ':commandsv2', library: 'commandsv2', linkage: 'shared'
             lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
             lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
             lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
diff --git a/wpilibcExamples/build_cpp_examples.bzl b/wpilibcExamples/build_cpp_examples.bzl
index 09b6111ced..b1a183d20e 100644
--- a/wpilibcExamples/build_cpp_examples.bzl
+++ b/wpilibcExamples/build_cpp_examples.bzl
@@ -40,7 +40,7 @@ def build_examples(halsim_deps = []):
             name = folder + "-example",
             srcs = native.glob(["src/main/cpp/examples/" + folder + "/cpp/**/*.cpp", "src/main/cpp/examples/" + folder + "/c/**/*.c"], allow_empty = True),
             deps = [
-                "//wpilibNewCommands",
+                "//commandsv2",
                 "//apriltag",
                 "//romiVendordep",
                 "//xrpVendordep",
@@ -59,7 +59,7 @@ def build_commands():
             srcs = native.glob(["src/main/cpp/commands/" + folder + "/**/*.cpp"]),
             hdrs = native.glob(["src/main/cpp/commands/" + folder + "/**/*.h"]),
             deps = [
-                "//wpilibNewCommands",
+                "//commandsv2",
             ],
             strip_include_prefix = "src/main/cpp/commands/" + folder,
             tags = ["wpi-example"],
@@ -74,7 +74,7 @@ def build_snippets():
             srcs = native.glob(["src/main/cpp/snippets/" + folder + "/**/*.cpp"]),
             hdrs = native.glob(["src/main/cpp/snippets/" + folder + "/**/*.h"], allow_empty = True),
             deps = [
-                "//wpilibNewCommands",
+                "//commandsv2",
             ],
             strip_include_prefix = "src/main/cpp/snippets/" + folder + "/include",
             tags = ["wpi-example"],
@@ -89,7 +89,7 @@ def build_templates():
             srcs = native.glob(["src/main/cpp/templates/" + folder + "/**/*.cpp"]),
             hdrs = native.glob(["src/main/cpp/templates/" + folder + "/**/*.h"]),
             deps = [
-                "//wpilibNewCommands",
+                "//commandsv2",
             ],
             strip_include_prefix = "src/main/cpp/templates/" + folder + "/include",
             tags = ["wpi-example"],
@@ -104,7 +104,7 @@ def build_tests():
             size = "small",
             srcs = native.glob([example_test_folder + "/**/*.cpp", example_src_folder + "/cpp/**/*.cpp", example_src_folder + "/c/**/*.c"], allow_empty = True),
             deps = [
-                "//wpilibNewCommands",
+                "//commandsv2",
                 ":{}-examples-headers".format(folder),
                 "//thirdparty/googletest",
             ],
diff --git a/wpilibjExamples/build.gradle b/wpilibjExamples/build.gradle
index 05a8bed637..8f5bcab7d7 100644
--- a/wpilibjExamples/build.gradle
+++ b/wpilibjExamples/build.gradle
@@ -21,7 +21,7 @@ dependencies {
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
-    implementation project(':wpilibNewCommands')
+    implementation project(':commandsv2')
     implementation project(':romiVendordep')
     implementation project(':xrpVendordep')
     implementation project(':epilogue-runtime')
diff --git a/wpilibjExamples/build_java_examples.bzl b/wpilibjExamples/build_java_examples.bzl
index daea0d8524..7861038ac6 100644
--- a/wpilibjExamples/build_java_examples.bzl
+++ b/wpilibjExamples/build_java_examples.bzl
@@ -46,7 +46,7 @@ def build_examples(halsim_deps):
                 "//ntcore:ntcore-java",
                 "//wpimath:wpimath-java",
                 "//wpilibj:wpilibj-java",
-                "//wpilibNewCommands:wpilibNewCommands-java",
+                "//commandsv2:commandsv2-java",
                 "//wpiutil:wpiutil-java",
                 "//romiVendordep:romiVendordep-java",
                 "//xrpVendordep:xrpVendordep-java",
@@ -67,7 +67,7 @@ def build_commands():
             deps = [
                 "//hal:hal-java",
                 "//wpilibj:wpilibj-java",
-                "//wpilibNewCommands:wpilibNewCommands-java",
+                "//commandsv2:commandsv2-java",
                 "//wpimath:wpimath-java",
             ],
             tags = ["wpi-example"],
@@ -98,7 +98,7 @@ def build_templates():
             deps = [
                 "//hal:hal-java",
                 "//wpilibj:wpilibj-java",
-                "//wpilibNewCommands:wpilibNewCommands-java",
+                "//commandsv2:commandsv2-java",
                 "//wpimath:wpimath-java",
                 "//wpiutil:wpiutil-java",
                 "//xrpVendordep:xrpVendordep-java",
@@ -116,7 +116,7 @@ def build_tests():
                 "//hal:hal-java",
                 "//ntcore:ntcore-java",
                 "//wpilibj:wpilibj-java",
-                "//wpilibNewCommands:wpilibNewCommands-java",
+                "//commandsv2:commandsv2-java",
                 "//wpimath:wpimath-java",
                 "//wpiutil:wpiutil-java",
             ],