diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
index 518114a0a2..51fc29ed6e 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -7,6 +7,7 @@
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/TimedRobot.h>
+#include <frc/controller/ElevatorFeedforward.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc/trajectory/TrapezoidProfile.h>
@@ -14,6 +15,7 @@
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
+#include <units/voltage.h>
 
 class Robot : public frc::TimedRobot {
  public:
@@ -31,21 +33,34 @@ class Robot : public frc::TimedRobot {
     }
 
     // Run controller and update motor output
-    m_motor.Set(
-        m_controller.Calculate(units::meter_t{m_encoder.GetDistance()}));
+    m_motor.SetVoltage(
+        units::volt_t{
+            m_controller.Calculate(units::meter_t{m_encoder.GetDistance()})} +
+        m_feedforward.Calculate(m_controller.GetSetpoint().velocity));
   }
 
  private:
+  static constexpr units::meters_per_second_t kMaxVelocity = 1.75_mps;
+  static constexpr units::meters_per_second_squared_t kMaxAcceleration =
+      0.75_mps_sq;
+  static constexpr double kP = 1.3;
+  static constexpr double kI = 0.0;
+  static constexpr double kD = 0.7;
+  static constexpr units::volt_t kS = 1.1_V;
+  static constexpr units::volt_t kG = 1.2_V;
+  static constexpr auto kV = 1.3_V / 1_mps;
+
   frc::Joystick m_joystick{1};
   frc::Encoder m_encoder{1, 2};
   frc::PWMSparkMax m_motor{1};
 
   // Create a PID controller whose setpoint's change is subject to maximum
   // velocity and acceleration constraints.
-  frc::TrapezoidProfile<units::meters>::Constraints m_constraints{1.75_mps,
-                                                                  0.75_mps_sq};
-  frc::ProfiledPIDController<units::meters> m_controller{1.3, 0.0, 0.7,
+  frc::TrapezoidProfile<units::meters>::Constraints m_constraints{
+      kMaxVelocity, kMaxAcceleration};
+  frc::ProfiledPIDController<units::meters> m_controller{kP, kI, kD,
                                                          m_constraints, kDt};
+  frc::ElevatorFeedforward m_feedforward{kS, kG, kV};
 };
 
 #ifndef RUNNING_FRC_TESTS
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
index 15d5e2314f..b6228c9c9e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
 
+import edu.wpi.first.math.controller.ElevatorFeedforward;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Encoder;
@@ -12,8 +13,17 @@ import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
+@SuppressWarnings("PMD.RedundantFieldInitializer")
 public class Robot extends TimedRobot {
   private static double kDt = 0.02;
+  private static double kMaxVelocity = 1.75;
+  private static double kMaxAcceleration = 0.75;
+  private static double kP = 1.3;
+  private static double kI = 0.0;
+  private static double kD = 0.7;
+  private static double kS = 1.1;
+  private static double kG = 1.2;
+  private static double kV = 1.3;
 
   private final Joystick m_joystick = new Joystick(1);
   private final Encoder m_encoder = new Encoder(1, 2);
@@ -22,9 +32,10 @@ public class Robot extends TimedRobot {
   // Create a PID controller whose setpoint's change is subject to maximum
   // velocity and acceleration constraints.
   private final TrapezoidProfile.Constraints m_constraints =
-      new TrapezoidProfile.Constraints(1.75, 0.75);
+      new TrapezoidProfile.Constraints(kMaxVelocity, kMaxAcceleration);
   private final ProfiledPIDController m_controller =
-      new ProfiledPIDController(1.3, 0.0, 0.7, m_constraints, kDt);
+      new ProfiledPIDController(kP, kI, kD, m_constraints, kDt);
+  private final ElevatorFeedforward m_feedforward = new ElevatorFeedforward(kS, kG, kV);
 
   @Override
   public void robotInit() {
@@ -40,6 +51,8 @@ public class Robot extends TimedRobot {
     }
 
     // Run controller and update motor output
-    m_motor.set(m_controller.calculate(m_encoder.getDistance()));
+    m_motor.setVoltage(
+        m_controller.calculate(m_encoder.getDistance())
+            + m_feedforward.calculate(m_controller.getSetpoint().velocity));
   }
 }