diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
index c868539ff4..c164b08695 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -261,7 +261,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
       if (RobotBase.isSimulation()) {
         subsystem.simulationPeriodic();
       }
-      m_watchdog.addEpoch(subsystem.getClass().getSimpleName() + ".periodic()");
+      m_watchdog.addEpoch(subsystem.getName() + ".periodic()");
     }
 
     // Cache the active instance to avoid concurrency problems if setActiveLoop() is called from
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
index ac89dbdc21..ed9454362a 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
@@ -40,6 +40,15 @@ public interface Subsystem {
    */
   default void simulationPeriodic() {}
 
+  /**
+   * Gets the subsystem name of this Subsystem.
+   *
+   * @return Subsystem name
+   */
+  default String getName() {
+    return this.getClass().getSimpleName();
+  }
+
   /**
    * Sets the default {@link Command} of the subsystem. The default command will be automatically
    * scheduled when no other commands are scheduled that require the subsystem. Default commands
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
index 6cf926ee23..ea7a1ecaf7 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
@@ -28,6 +28,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
    *
    * @return Name
    */
+  @Override
   public String getName() {
     return SendableRegistry.getName(this);
   }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index d61ffbda3e..b424533106 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -183,7 +183,7 @@ void CommandScheduler::Run() {
     if constexpr (frc::RobotBase::IsSimulation()) {
       subsystem.getFirst()->SimulationPeriodic();
     }
-    m_watchdog.AddEpoch("Subsystem Periodic()");
+    m_watchdog.AddEpoch(subsystem.getFirst()->GetName() + ".Periodic()");
   }
 
   // Cache the active instance to avoid concurrency problems if SetActiveLoop()
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
index 4c06f1f4ea..a0241bdd02 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/Subsystem.h"
 
+#include <wpi/Demangle.h>
+
 #include "frc2/command/CommandPtr.h"
 #include "frc2/command/Commands.h"
 
@@ -16,6 +18,10 @@ void Subsystem::Periodic() {}
 
 void Subsystem::SimulationPeriodic() {}
 
+std::string Subsystem::GetName() const {
+  return wpi::GetTypeName(*this);
+}
+
 void Subsystem::SetDefaultCommand(CommandPtr&& defaultCommand) {
   CommandScheduler::GetInstance().SetDefaultCommand(this,
                                                     std::move(defaultCommand));
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index 9a48b2ecc4..a1b5dc170f 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -18,11 +18,6 @@
 
 namespace frc2 {
 
-template <typename T>
-std::string GetTypeName(const T& type) {
-  return wpi::Demangle(typeid(type).name());
-}
-
 /**
  * A state machine representing a complete action to be performed by the robot.
  * Commands are run by the CommandScheduler, and can be composed into
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
index cdac0c0466..b95b837c5f 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
@@ -6,6 +6,7 @@
 
 #include <concepts>
 #include <functional>
+#include <string>
 #include <utility>
 
 #include <wpi/FunctionExtras.h>
@@ -59,6 +60,13 @@ class Subsystem {
    */
   virtual void SimulationPeriodic();
 
+  /**
+   * Gets the name of this Subsystem.
+   *
+   * @return Name
+   */
+  virtual std::string GetName() const;
+
   /**
    * Sets the default Command of the subsystem.  The default command will be
    * automatically scheduled when no other commands are scheduled that require
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h b/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
index 86fb026fc1..cc9eeb35a5 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
@@ -30,7 +30,7 @@ class SubsystemBase : public Subsystem,
    *
    * @return Name
    */
-  std::string GetName() const;
+  std::string GetName() const override;
 
   /**
    * Sets the name of this Subsystem.
diff --git a/wpiutil/src/main/native/include/wpi/Demangle.h b/wpiutil/src/main/native/include/wpi/Demangle.h
index 03a7d3f254..8514be3fe2 100644
--- a/wpiutil/src/main/native/include/wpi/Demangle.h
+++ b/wpiutil/src/main/native/include/wpi/Demangle.h
@@ -7,6 +7,7 @@
 
 #include <string>
 #include <string_view>
+#include <typeinfo>
 
 namespace wpi {
 
@@ -18,6 +19,15 @@ namespace wpi {
  */
 std::string Demangle(std::string_view mangledSymbol);
 
+/**
+ * Returns the type name of an object
+ * @param type The object
+ */
+template <typename T>
+std::string GetTypeName(const T& type) {
+  return Demangle(typeid(type).name());
+}
+
 }  // namespace wpi
 
 #endif  // WPIUTIL_WPI_DEMANGLE_H_