diff --git a/wpilibcExamples/.styleguide b/wpilibcExamples/.styleguide
index d9369fac39..a6925d1a9f 100644
--- a/wpilibcExamples/.styleguide
+++ b/wpilibcExamples/.styleguide
@@ -18,6 +18,7 @@ includeOtherLibs {
   ^ntcore
   ^opencv2/
   ^support/
+  ^units/
   ^vision/
   ^wpi/
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
index 748558478e..151404a993 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include <units/units.h>
-
 #include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
 #include <frc/Spark.h>
@@ -16,6 +14,7 @@
 #include <frc/controller/PIDController.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <units/units.h>
 #include <wpi/math>
 
 /**
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
index 95aac42f9a..8479867381 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -5,20 +5,22 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <units/units.h>
-
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
 #include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/trajectory/TrapezoidProfile.h>
+#include <units/units.h>
+#include <wpi/math>
 
 class Robot : public frc::TimedRobot {
  public:
   static constexpr units::second_t kDt = 20_ms;
 
-  Robot() { m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5); }
+  Robot() {
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
+  }
 
   void TeleopPeriodic() override {
     if (m_joystick.GetRawButtonPressed(2)) {
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
index 9a15f316ce..d88331ab04 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -11,12 +11,15 @@
 #include <frc/TimedRobot.h>
 #include <frc/controller/PIDController.h>
 #include <frc/trajectory/TrapezoidProfile.h>
+#include <wpi/math>
 
 class Robot : public frc::TimedRobot {
  public:
   static constexpr units::second_t kDt = 20_ms;
 
-  Robot() { m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5); }
+  Robot() {
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
+  }
 
   void TeleopPeriodic() override {
     if (m_joystick.GetRawButtonPressed(2)) {
diff --git a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
index 1dbbfa5409..3cfffd7442 100644
--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,6 +8,7 @@
 #include <frc/Encoder.h>
 #include <frc/TimedRobot.h>
 #include <frc/smartdashboard/SmartDashboard.h>
+#include <wpi/math>
 
 /**
  * Sample program displaying the value of a quadrature encoder on the
@@ -42,7 +43,7 @@ class Robot : public frc::TimedRobot {
      * inch diameter (1.5inch radius) wheel, and that we want to measure
      * distance in inches.
      */
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
 
     /* Defines the lowest rate at which the encoder will not be considered
      * stopped, for the purposes of the GetStopped() method. Units are in
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
index f9f07f4460..90fb772c8f 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
@@ -8,6 +8,7 @@
 #pragma once
 
 #include <units/units.h>
+#include <wpi/math>
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
@@ -33,7 +34,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace ShooterConstants {
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
index 59daf0ee69..bfce2adee0 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <wpi/math>
+
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
  * numerical or bool constants.  This should not be used for any other purpose.
@@ -31,7 +33,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
 
 constexpr bool kGyroReversed = true;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
index a8ec7f3024..29c4413408 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <wpi/math>
+
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
  * numerical or bool constants.  This should not be used for any other purpose.
@@ -31,7 +33,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace HatchConstants {
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
index a8ec7f3024..29c4413408 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <wpi/math>
+
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
  * numerical or bool constants.  This should not be used for any other purpose.
@@ -31,7 +33,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
 }  // namespace DriveConstants
 
 namespace HatchConstants {
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
index f88aea0781..863af2a87c 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
@@ -5,10 +5,10 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <units/units.h>
-
 #include <frc/kinematics/DifferentialDriveKinematics.h>
 #include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
+#include <units/units.h>
+#include <wpi/math>
 
 #pragma once
 
@@ -39,7 +39,7 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterInches = 6;
 constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
 
 constexpr bool kGyroReversed = true;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
index 86247d40a8..8eb5b8617b 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include <units/units.h>
-
 #include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
 #include <frc/PWMVictorSPX.h>
@@ -17,6 +15,7 @@
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
 #include <frc2/command/SubsystemBase.h>
+#include <units/units.h>
 
 #include "Constants.h"
 
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 a48909f453..8ea1ed1167 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
@@ -30,7 +30,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+    m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * Math.PI * 1.5);
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
index fddd4176ed..15f56b9ef3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
@@ -29,7 +29,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+    m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * Math.PI * 1.5);
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
index 4bb26ea112..ef34fe594a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
@@ -54,7 +54,7 @@ public class Robot extends TimedRobot {
      * attached to a 3 inch diameter (1.5inch radius) wheel,
      * and that we want to measure distance in inches.
      */
-    m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+    m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * Math.PI * 1.5);
 
     /*
      * Defines the lowest rate at which the encoder will