diff --git a/hal/src/main/native/athena/PWM.cpp b/hal/src/main/native/athena/PWM.cpp
index 06b527cd6f..a3b141c617 100644
--- a/hal/src/main/native/athena/PWM.cpp
+++ b/hal/src/main/native/athena/PWM.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -266,11 +266,9 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
 
   DigitalPort* dPort = port.get();
 
-  if (speed < -1.0) {
-    speed = -1.0;
-  } else if (speed > 1.0) {
-    speed = 1.0;
-  } else if (!std::isfinite(speed)) {
+  if (std::isfinite(speed)) {
+    speed = std::clamp(speed, -1.0, 1.0);
+  } else {
     speed = 0.0;
   }
 
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index 5ad65b8398..eab55a8444 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.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.                                                               */
@@ -36,10 +36,10 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
     reported = true;
   }
 
-  xSpeed = Limit(xSpeed);
+  xSpeed = std::clamp(xSpeed, -1.0, 1.0);
   xSpeed = ApplyDeadband(xSpeed, m_deadband);
 
-  zRotation = Limit(zRotation);
+  zRotation = std::clamp(zRotation, -1.0, 1.0);
   zRotation = ApplyDeadband(zRotation, m_deadband);
 
   // Square the inputs (while preserving the sign) to increase fine control
@@ -75,9 +75,9 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
     }
   }
 
-  m_leftMotor.Set(Limit(leftMotorOutput) * m_maxOutput);
-  m_rightMotor.Set(Limit(rightMotorOutput) * m_maxOutput *
-                   m_rightSideInvertMultiplier);
+  m_leftMotor.Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
+  double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
+  m_rightMotor.Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
 
   Feed();
 }
@@ -91,10 +91,10 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
     reported = true;
   }
 
-  xSpeed = Limit(xSpeed);
+  xSpeed = std::clamp(xSpeed, -1.0, 1.0);
   xSpeed = ApplyDeadband(xSpeed, m_deadband);
 
-  zRotation = Limit(zRotation);
+  zRotation = std::clamp(zRotation, -1.0, 1.0);
   zRotation = ApplyDeadband(zRotation, m_deadband);
 
   double angularPower;
@@ -102,8 +102,9 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
 
   if (isQuickTurn) {
     if (std::abs(xSpeed) < m_quickStopThreshold) {
-      m_quickStopAccumulator = (1 - m_quickStopAlpha) * m_quickStopAccumulator +
-                               m_quickStopAlpha * Limit(zRotation) * 2;
+      m_quickStopAccumulator =
+          (1 - m_quickStopAlpha) * m_quickStopAccumulator +
+          m_quickStopAlpha * std::clamp(zRotation, -1.0, 1.0) * 2;
     }
     overPower = true;
     angularPower = zRotation;
@@ -164,10 +165,10 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
     reported = true;
   }
 
-  leftSpeed = Limit(leftSpeed);
+  leftSpeed = std::clamp(leftSpeed, -1.0, 1.0);
   leftSpeed = ApplyDeadband(leftSpeed, m_deadband);
 
-  rightSpeed = Limit(rightSpeed);
+  rightSpeed = std::clamp(rightSpeed, -1.0, 1.0);
   rightSpeed = ApplyDeadband(rightSpeed, m_deadband);
 
   // Square the inputs (while preserving the sign) to increase fine control
diff --git a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
index ba5f691f22..736683bbdc 100644
--- a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
@@ -51,10 +51,10 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
     reported = true;
   }
 
-  ySpeed = Limit(ySpeed);
+  ySpeed = std::clamp(ySpeed, -1.0, 1.0);
   ySpeed = ApplyDeadband(ySpeed, m_deadband);
 
-  xSpeed = Limit(xSpeed);
+  xSpeed = std::clamp(xSpeed, -1.0, 1.0);
   xSpeed = ApplyDeadband(xSpeed, m_deadband);
 
   // Compensate for gyro angle.
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index c62435499d..41ca2eefd3 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -44,10 +44,10 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
     reported = true;
   }
 
-  ySpeed = Limit(ySpeed);
+  ySpeed = std::clamp(ySpeed, -1.0, 1.0);
   ySpeed = ApplyDeadband(ySpeed, m_deadband);
 
-  xSpeed = Limit(xSpeed);
+  xSpeed = std::clamp(xSpeed, -1.0, 1.0);
   xSpeed = ApplyDeadband(xSpeed, m_deadband);
 
   // Compensate for gyro angle.
diff --git a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
index c22cb2a68e..bae8868d8f 100644
--- a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
+++ b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.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.                                                               */
@@ -26,16 +26,6 @@ void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
 
 void RobotDriveBase::FeedWatchdog() { Feed(); }
 
-double RobotDriveBase::Limit(double value) {
-  if (value > 1.0) {
-    return 1.0;
-  }
-  if (value < -1.0) {
-    return -1.0;
-  }
-  return value;
-}
-
 double RobotDriveBase::ApplyDeadband(double value, double deadband) {
   if (std::abs(value) > deadband) {
     if (value > 0.0) {
diff --git a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
index 206434ef29..348a62e47d 100644
--- a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
+++ b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2019 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.                                                               */
@@ -75,11 +75,6 @@ class RobotDriveBase : public MotorSafety, public SendableBase {
   void GetDescription(wpi::raw_ostream& desc) const override = 0;
 
  protected:
-  /**
-   * Limit motor values to the -1.0 to +1.0 range.
-   */
-  double Limit(double number);
-
   /**
    * Returns 0.0 if the given value is within the specified range around zero.
    * The remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
index 6d34d67335..a4bd70a93d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
@@ -11,6 +11,7 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.SendableBase;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpiutil.math.MathUtils;
 
 /**
  * Implements a PID control loop.
@@ -198,7 +199,7 @@ public class PIDController extends SendableBase {
    */
   public void setSetpoint(double setpoint) {
     if (m_maximumInput > m_minimumInput) {
-      m_setpoint = clamp(setpoint, m_minimumInput, m_maximumInput);
+      m_setpoint = MathUtils.clamp(setpoint, m_minimumInput, m_maximumInput);
     } else {
       m_setpoint = setpoint;
     }
@@ -257,7 +258,7 @@ public class PIDController extends SendableBase {
 
     // Clamp setpoint to new input
     if (m_maximumInput > m_minimumInput) {
-      m_setpoint = clamp(m_setpoint, m_minimumInput, m_maximumInput);
+      m_setpoint = MathUtils.clamp(m_setpoint, m_minimumInput, m_maximumInput);
     }
   }
 
@@ -375,11 +376,11 @@ public class PIDController extends SendableBase {
     m_velocityError = (m_positionError - m_prevError) / m_period;
 
     if (m_Ki != 0) {
-      m_totalError = clamp(m_totalError + m_positionError * m_period, m_minimumOutput / m_Ki,
-          m_maximumOutput / m_Ki);
+      m_totalError = MathUtils.clamp(m_totalError + m_positionError * m_period,
+          m_minimumOutput / m_Ki, m_maximumOutput / m_Ki);
     }
 
-    return clamp(
+    return MathUtils.clamp(
         m_Kp * m_positionError + m_Ki * m_totalError + m_Kd * m_velocityError,
         m_minimumOutput, m_maximumOutput);
   }
@@ -421,8 +422,4 @@ public class PIDController extends SendableBase {
     }
     return error;
   }
-
-  private static double clamp(double value, double low, double high) {
-    return Math.max(low, Math.min(value, high));
-  }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
index 9355adccc3..2c148fc40e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2019 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.                                                               */
@@ -15,6 +15,7 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpiutil.math.MathUtils;
 
 /**
  * A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
@@ -176,10 +177,10 @@ public class DifferentialDrive extends RobotDriveBase {
       m_reported = true;
     }
 
-    xSpeed = limit(xSpeed);
+    xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
     xSpeed = applyDeadband(xSpeed, m_deadband);
 
-    zRotation = limit(zRotation);
+    zRotation = MathUtils.clamp(zRotation, -1.0, 1.0);
     zRotation = applyDeadband(zRotation, m_deadband);
 
     // Square the inputs (while preserving the sign) to increase fine control
@@ -214,8 +215,9 @@ public class DifferentialDrive extends RobotDriveBase {
       }
     }
 
-    m_leftMotor.set(limit(leftMotorOutput) * m_maxOutput);
-    m_rightMotor.set(limit(rightMotorOutput) * m_maxOutput * m_rightSideInvertMultiplier);
+    m_leftMotor.set(MathUtils.clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
+    double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
+    m_rightMotor.set(MathUtils.clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
 
     feed();
   }
@@ -242,10 +244,10 @@ public class DifferentialDrive extends RobotDriveBase {
       m_reported = true;
     }
 
-    xSpeed = limit(xSpeed);
+    xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
     xSpeed = applyDeadband(xSpeed, m_deadband);
 
-    zRotation = limit(zRotation);
+    zRotation = MathUtils.clamp(zRotation, -1.0, 1.0);
     zRotation = applyDeadband(zRotation, m_deadband);
 
     double angularPower;
@@ -254,7 +256,7 @@ public class DifferentialDrive extends RobotDriveBase {
     if (isQuickTurn) {
       if (Math.abs(xSpeed) < m_quickStopThreshold) {
         m_quickStopAccumulator = (1 - m_quickStopAlpha) * m_quickStopAccumulator
-            + m_quickStopAlpha * limit(zRotation) * 2;
+            + m_quickStopAlpha * MathUtils.clamp(zRotation, -1.0, 1.0) * 2;
       }
       overPower = true;
       angularPower = zRotation;
@@ -333,10 +335,10 @@ public class DifferentialDrive extends RobotDriveBase {
       m_reported = true;
     }
 
-    leftSpeed = limit(leftSpeed);
+    leftSpeed = MathUtils.clamp(leftSpeed, -1.0, 1.0);
     leftSpeed = applyDeadband(leftSpeed, m_deadband);
 
-    rightSpeed = limit(rightSpeed);
+    rightSpeed = MathUtils.clamp(rightSpeed, -1.0, 1.0);
     rightSpeed = applyDeadband(rightSpeed, m_deadband);
 
     // Square the inputs (while preserving the sign) to increase fine control
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
index 165ba70d17..07d3ba5268 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -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.                                                               */
@@ -14,6 +14,7 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpiutil.math.MathUtils;
 
 /**
  * A class for driving Killough drive platforms.
@@ -171,10 +172,10 @@ public class KilloughDrive extends RobotDriveBase {
       m_reported = true;
     }
 
-    ySpeed = limit(ySpeed);
+    ySpeed = MathUtils.clamp(ySpeed, -1.0, 1.0);
     ySpeed = applyDeadband(ySpeed, m_deadband);
 
-    xSpeed = limit(xSpeed);
+    xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
     xSpeed = applyDeadband(xSpeed, m_deadband);
 
     // Compensate for gyro angle.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index acdc4d7854..c6a67d51bc 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2019 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.                                                               */
@@ -14,6 +14,7 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpiutil.math.MathUtils;
 
 /**
  * A class for driving Mecanum drive platforms.
@@ -156,10 +157,10 @@ public class MecanumDrive extends RobotDriveBase {
       m_reported = true;
     }
 
-    ySpeed = limit(ySpeed);
+    ySpeed = MathUtils.clamp(ySpeed, -1.0, 1.0);
     ySpeed = applyDeadband(ySpeed, m_deadband);
 
-    xSpeed = limit(xSpeed);
+    xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
     xSpeed = applyDeadband(xSpeed, m_deadband);
 
     // Compensate for gyro angle.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
index 2e474340b1..f82d6ade89 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
@@ -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.                                                               */
@@ -143,19 +143,6 @@ public abstract class RobotDriveBase extends MotorSafety implements Sendable, Au
   @Override
   public abstract String getDescription();
 
-  /**
-   * Limit motor values to the -1.0 to +1.0 range.
-   */
-  protected double limit(double value) {
-    if (value > 1.0) {
-      return 1.0;
-    }
-    if (value < -1.0) {
-      return -1.0;
-    }
-    return value;
-  }
-
   /**
    * Returns 0.0 if the given value is within the specified range around zero. The remaining range
    * between the deadband and 1.0 is scaled from 0.0 to 1.0.
diff --git a/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtils.java b/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtils.java
new file mode 100644
index 0000000000..2f910656e5
--- /dev/null
+++ b/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtils.java
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+public final class MathUtils {
+  private MathUtils() {
+    throw new AssertionError("utility class");
+  }
+
+  /**
+   * Returns value clamped between low and high boundaries.
+   *
+   * @param value Value to clamp.
+   * @param low   The lower boundary to which to clamp value.
+   * @param high  The higher boundary to which to clamp value.
+   */
+  public static double clamp(double value, double low, double high) {
+    return Math.max(low, Math.min(value, high));
+  }
+}