diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index 2c5e952d3f..305af7d709 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -1,7 +1,4 @@
-# Gradle
-# Build your Java projects and run tests with Gradle using a Gradle wrapper script.
-# Add steps that analyze code, save build artifacts, deploy, and more:
-# https://docs.microsoft.com/vsts/pipelines/languages/java
+# Build and testing pipeline on Azure.
 
 resources:
   containers:
@@ -14,9 +11,6 @@ resources:
   - container: ubuntu
     image:  wpilib/ubuntu-base:18.04
 
-variables:
-- group: Artifactory-Package-Publish
-
 trigger:
   batch: true
   branches:
@@ -26,392 +20,51 @@ trigger:
 stages:
 - stage: Build
   jobs:
-  - job: Linux_Arm
-    pool:
-      vmImage: 'Ubuntu 16.04'
+  - template: azure-templates/job-build.yml
+    parameters:
+      jobName: Linux_Arm
+      buildOptions: '-Ponlylinuxathena'
+      artifactName: 'Athena'
 
-    container: wpilib2020
+  - template: azure-templates/job-build.yml
+    parameters:
+      jobName: Linux_Raspbian
+      container: raspbian
+      buildOptions: '-Ponlylinuxraspbian'
+      artifactName: 'Raspbian'
 
-    timeoutInMinutes: 0
+  - template: azure-templates/job-build.yml
+    parameters:
+      jobName: Linux_Aarch64
+      container: aarch64
+      buildOptions: '-Ponlylinuxaarch64bionic'
+      artifactName: 'Aarch64'
 
-    steps:
-      - task: Gradle@2
-        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: false
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-Ponlylinuxathena -PbuildServer'
+  - template: azure-templates/job-build.yml
+    parameters:
+      jobName: Linux
+      container: ubuntu
+      artifactName: 'Linux'
 
-      - task: Gradle@2
-        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: false
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-Ponlylinuxathena -PreleaseMode -PbuildServer'
+  - template: azure-templates/job-build.yml
+    parameters:
+      jobName: Windows_64_Bit
+      pool:
+        vmImage: 'windows-2019'
+      container: ''
+      jdkVersionOption: '1.11'
+      buildOptions: '-PskipPMD'
+      artifactName: 'Win64'
 
-      - task: PublishPipelineArtifact@0
-        inputs:
-          artifactName: 'Athena'
-          targetPath: 'build/allOutputs'
+  - template: azure-templates/job-build-win32.yml
 
-  - job: Linux_Raspbian
-    pool:
-      vmImage: 'Ubuntu 16.04'
+  - template: azure-templates/job-build-mac.yml
 
-    container: raspbian
+  - template: azure-templates/job-build-cmake.yml
 
-    timeoutInMinutes: 0
+  - template: azure-templates/job-styleguide.yml
 
-    steps:
-      - task: Gradle@2
-        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-Ponlylinuxraspbian -PbuildServer'
-
-      - task: Gradle@2
-        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-Ponlylinuxraspbian -PreleaseMode -PbuildServer'
-
-      - task: PublishPipelineArtifact@0
-        inputs:
-          artifactName: 'Raspbian'
-          targetPath: 'build/allOutputs'
-
-  - job: Linux_Aarch64
-    pool:
-      vmImage: 'Ubuntu 16.04'
-
-    container: aarch64
-
-    timeoutInMinutes: 0
-
-    steps:
-      - task: Gradle@2
-        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-Ponlylinuxaarch64bionic -PbuildServer'
-
-      - task: Gradle@2
-        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-Ponlylinuxaarch64bionic -PreleaseMode -PbuildServer'
-
-      - task: PublishPipelineArtifact@0
-        inputs:
-          artifactName: 'Aarch64'
-          targetPath: 'build/allOutputs'
-
-  - job: Linux
-    pool:
-      vmImage: 'Ubuntu 16.04'
-
-    container: ubuntu
-
-    timeoutInMinutes: 0
-
-    steps:
-      - task: Gradle@2
-        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PbuildServer'
-
-      - task: Gradle@2
-        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PreleaseMode -PbuildServer'
-
-      - task: PublishPipelineArtifact@0
-        inputs:
-          artifactName: 'Linux'
-          targetPath: 'build/allOutputs'
-
-  - job: Styleguide
-    pool:
-      vmImage: 'Ubuntu 16.04'
-
-    container: ubuntu
-
-    timeoutInMinutes: 0
-
-    steps:
-        - script: |
-            sudo pip3 install wpiformat
-          displayName: 'Install wpiformat'
-        - script: |
-            git checkout -b master
-            wpiformat -clang 6.0
-          displayName: 'Run wpiformat'
-        - script: |
-            # Ensure formatter made no changes
-            git --no-pager diff --exit-code HEAD
-          displayName: 'Check wpiformat Output'
-
-  - job: CMakeBuild
-    pool:
-      vmImage: 'Ubuntu 16.04'
-
-    container: wpilib2020
-
-    timeoutInMinutes: 0
-
-    steps:
-        - task: CMake@1
-          inputs:
-            cmakeArgs: '-DWITHOUT_ALLWPILIB=OFF ..'
-        - script: |
-            make -j3
-          workingDirectory: 'build'
-          displayName: 'Build'
-
-  - job: Windows_64_Bit
-    pool:
-      vmImage: 'windows-2019'
-
-    timeoutInMinutes: 0
-    steps:
-      - task: Gradle@2
-        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          jdkVersionOption: '1.11'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PskipPMD -PbuildServer'
-
-      - task: Gradle@2
-        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          jdkVersionOption: '1.11'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PskipPMD -PreleaseMode -PbuildServer'
-
-      - task: PublishPipelineArtifact@0
-        inputs:
-          artifactName: 'Win64'
-          targetPath: 'build/allOutputs'
-
-  - job: Windows_32_Bit
-    pool:
-      vmImage: 'windows-2019'
-
-    timeoutInMinutes: 0
-    steps:
-      - powershell: |
-          mkdir build
-          $ProgressPreference = 'SilentlyContinue'
-          wget "https://github.com/AdoptOpenJDK/openjdk11-binaries/releases/download/jdk-11.0.4%2B11/OpenJDK11U-jdk_x86-32_windows_hotspot_11.0.4_11.zip" -O "build\jdk.zip"
-        displayName: 'Download JDK'
-      - task: JavaToolInstaller@0
-        inputs:
-          jdkSourceOption: localDirectory
-          jdkFile: 'build/jdk.zip'
-          jdkDestinationDirectory: 'build/jdkinst'
-          jdkArchitectureOption: x86
-
-      - task: Gradle@2
-        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx1024m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PskipPMD -PbuildServer'
-
-      - task: Gradle@2
-        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx1024m'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PskipPMD -PreleaseMode -PbuildServer'
-
-      - task: PublishPipelineArtifact@0
-        inputs:
-          artifactName: 'Win32'
-          targetPath: 'build/allOutputs'
-
-  - job: Mac
-    pool:
-      vmImage: 'macOS-10.14'
-
-    timeoutInMinutes: 0
-    steps:
-      - script: |
-          mkdir build
-          export JAVA_HOME=`/usr/libexec/java_home -v 11`
-        displayName: 'Setup JDK'
-
-      - task: Gradle@2
-        condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          jdkVersionOption: '1.11'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PbuildServer'
-
-      - task: Gradle@2
-        condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-        inputs:
-          workingDirectory: ''
-          gradleWrapperFile: 'gradlew'
-          gradleOptions: '-Xmx3072m'
-          jdkVersionOption: '1.11'
-          publishJUnitResults: true
-          testResultsFiles: '**/TEST-*.xml'
-          tasks: 'build'
-          options: '-PreleaseMode -PbuildServer'
-
-      - task: PublishPipelineArtifact@0
-        inputs:
-          artifactName: 'Mac'
-          targetPath: 'build/allOutputs'
-
-- stage: Combine
-  jobs:
-  - job: CombineJob
-    pool:
-      vmImage: 'macOS-10.14'
-
-    timeoutInMinutes: 0
-
-    steps:
-    - checkout: none
-    - script: |
-        git clone https://github.com/wpilibsuite/build-tools
-      displayName: 'Clone Combiner'
-    - task: DownloadPipelineArtifact@0
-      inputs:
-        artifactName: 'Mac'
-        targetPath: 'build-tools/combiner/products/build/allOutputs'
-    - task: DownloadPipelineArtifact@0
-      inputs:
-        artifactName: 'Win32'
-        targetPath: 'build-tools/combiner/products/build/allOutputs'
-    - task: DownloadPipelineArtifact@0
-      inputs:
-        artifactName: 'Win64'
-        targetPath: 'build-tools/combiner/products/build/allOutputs'
-    - task: DownloadPipelineArtifact@0
-      inputs:
-        artifactName: 'Linux'
-        targetPath: 'build-tools/combiner/products/build/allOutputs'
-    - task: DownloadPipelineArtifact@0
-      inputs:
-        artifactName: 'Raspbian'
-        targetPath: 'build-tools/combiner/products/build/allOutputs'
-    - task: DownloadPipelineArtifact@0
-      inputs:
-        artifactName: 'Athena'
-        targetPath: 'build-tools/combiner/products/build/allOutputs'
-    - task: DownloadPipelineArtifact@0
-      inputs:
-        artifactName: 'Aarch64'
-        targetPath: 'build-tools/combiner/products/build/allOutputs'
-
-# PR Builds
-    - task: Gradle@2
-      inputs:
-        workingDirectory: 'build-tools/combiner'
-        gradleWrapperFile: 'build-tools/combiner/gradlew'
-        gradleOptions: '-Xmx3072m'
-        tasks: 'publish '
-        options: '-Pallwpilib'
-      condition: and(succeeded(), and(ne(variables['Build.SourceBranch'], 'refs/heads/master'), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))))
-
-# Master Builds
-    - task: Gradle@2
-      inputs:
-        workingDirectory: 'build-tools/combiner'
-        gradleWrapperFile: 'build-tools/combiner/gradlew'
-        gradleOptions: '-Xmx3072m'
-        tasks: 'publish '
-        options: '-Pallwpilib'
-      condition: and(succeeded(), eq(variables['Build.SourceBranch'], 'refs/heads/master'))
-      env:
-        RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
-        ARTIFACTORY_PUBLISH_USERNAME: $(PublishUserName)
-        ARTIFACTORY_PUBLISH_PASSWORD: $(PublishPassword)
-
-# Tagged Builds
-    - task: Gradle@2
-      inputs:
-        workingDirectory: 'build-tools/combiner'
-        gradleWrapperFile: 'build-tools/combiner/gradlew'
-        gradleOptions: '-Xmx3072m'
-        tasks: 'publish '
-        options: '-Pallwpilib -PreleaseRepoPublish'
-      condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
-      env:
-        RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
-        ARTIFACTORY_PUBLISH_USERNAME: $(PublishUserName)
-        ARTIFACTORY_PUBLISH_PASSWORD: $(PublishPassword)
-
-    - script: |
-        echo "##vso[task.setvariable variable=UserHome]$HOME"
-      displayName: 'Set Home Variable'
-    - task: PublishPipelineArtifact@0
-      inputs:
-        artifactName: 'Maven'
-        targetPath: $(UserHome)/releases
+- template: azure-templates/stage-combine.yml
+  parameters:
+    publish: True
+    artifacts: [Mac, Win32, Win64, Linux, Raspbian, Athena, Aarch64]
diff --git a/azure-templates/job-build-cmake.yml b/azure-templates/job-build-cmake.yml
new file mode 100644
index 0000000000..4f55a0eb61
--- /dev/null
+++ b/azure-templates/job-build-cmake.yml
@@ -0,0 +1,31 @@
+# Job for building
+
+parameters:
+  pool:
+    vmImage: 'Ubuntu 16.04'
+  container: wpilib2020
+  preBuild: []
+
+jobs:
+- job: CMake
+  pool: ${{ parameters.pool }}
+
+  ${{ if ne(parameters.container, '') }}:
+    container: ${{ parameters.container }}
+
+  workspace:
+    clean: all
+
+  timeoutInMinutes: 0
+
+  steps:
+    - ${{ parameters.preBuild }}
+
+    - task: CMake@1
+      inputs:
+        cmakeArgs: '-DWITHOUT_ALLWPILIB=OFF ..'
+
+    - script: |
+        make -j3
+      workingDirectory: 'build'
+      displayName: 'Build'
diff --git a/azure-templates/job-build-mac.yml b/azure-templates/job-build-mac.yml
new file mode 100644
index 0000000000..c49b6d9935
--- /dev/null
+++ b/azure-templates/job-build-mac.yml
@@ -0,0 +1,21 @@
+# Job for mac
+
+parameters:
+  pool:
+    vmImage: 'macOS-10.14'
+  preBuild: []
+
+jobs:
+- template: job-build.yml
+  parameters:
+    jobName: 'Mac'
+    pool: ${{ parameters.pool }}
+    container: ''
+    jdkVersionOption: '1.11'
+    artifactName: 'Mac'
+    preBuild:
+    - ${{ parameters.preBuild }}
+    - script: |
+        mkdir build
+        export JAVA_HOME=`/usr/libexec/java_home -v 11`
+      displayName: 'Setup JDK'
diff --git a/azure-templates/job-build-win32.yml b/azure-templates/job-build-win32.yml
new file mode 100644
index 0000000000..cd4d5732b7
--- /dev/null
+++ b/azure-templates/job-build-win32.yml
@@ -0,0 +1,31 @@
+# Job for win 32.
+
+parameters:
+  pool:
+    vmImage: 'windows-2019'
+  preBuild: []
+
+jobs:
+- template: job-build.yml
+  parameters:
+    jobName: 'Windows_32_Bit'
+    pool: ${{ parameters.pool }}
+    container: ''
+    gradleOptions: '-Xmx1024m'
+    jdkVersionOption: '1.11'
+    buildOptions: '-PskipPMD'
+    artifactName: 'Win32'
+    preBuild:
+    - ${{ parameters.preBuild }}
+    - powershell: |
+        mkdir build
+        $ProgressPreference = 'SilentlyContinue'
+        wget "https://github.com/AdoptOpenJDK/openjdk11-binaries/releases/download/jdk-11.0.4%2B11/OpenJDK11U-jdk_x86-32_windows_hotspot_11.0.4_11.zip" -O "build\jdk.zip"
+      displayName: 'Download JDK'
+    - task: JavaToolInstaller@0
+      inputs:
+        versionSpec: '11'
+        jdkSourceOption: localDirectory
+        jdkFile: 'build/jdk.zip'
+        jdkDestinationDirectory: 'build/jdkinst'
+        jdkArchitectureOption: x86
diff --git a/azure-templates/job-build.yml b/azure-templates/job-build.yml
new file mode 100644
index 0000000000..7b8796c9cd
--- /dev/null
+++ b/azure-templates/job-build.yml
@@ -0,0 +1,60 @@
+# Job for building
+
+parameters:
+  jobName: ''
+  pool:
+    vmImage: 'Ubuntu 16.04'
+  container: wpilib2020
+  preBuild: []
+  gradleOptions: ''
+  jdkVersionOption: ''
+  buildOptions: ''
+  artifactName: ''
+
+jobs:
+- job: ${{ parameters.jobName }}
+  pool: ${{ parameters.pool }}
+
+  ${{ if ne(parameters.container, '') }}:
+    container: ${{ parameters.container }}
+
+  workspace:
+    clean: all
+
+  timeoutInMinutes: 0
+
+  steps:
+    - ${{ parameters.preBuild }}
+
+# PR Builds
+    - ${{ if not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')) }}:
+      - task: Gradle@2
+        inputs:
+          workingDirectory: ''
+          gradleWrapperFile: 'gradlew'
+          gradleOptions: '-Xmx3072m ${{ parameters.gradleOptions }}'
+          ${{ if ne(parameters.jdkVersionOption, '') }}:
+            jdkVersionOption: ${{ parameters.jdkVersionOption }}
+          publishJUnitResults: true
+          testResultsFiles: '**/TEST-*.xml'
+          tasks: 'build'
+          options: '-PbuildServer ${{ parameters.buildOptions }}'
+
+# Tagged Builds
+    - ${{ if startsWith(variables['Build.SourceBranch'], 'refs/tags/v') }}:
+      - task: Gradle@2
+        inputs:
+          workingDirectory: ''
+          gradleWrapperFile: 'gradlew'
+          gradleOptions: '-Xmx3072m ${{ parameters.gradleOptions }}'
+          ${{ if ne(parameters.jdkVersionOption, '') }}:
+            jdkVersionOption: ${{ parameters.jdkVersionOption }}
+          publishJUnitResults: true
+          testResultsFiles: '**/TEST-*.xml'
+          tasks: 'build'
+          options: '-PreleaseMode -PbuildServer ${{ parameters.buildOptions }}'
+
+    - task: PublishPipelineArtifact@0
+      inputs:
+        artifactName: ${{ parameters.artifactName }}
+        targetPath: 'build/allOutputs'
diff --git a/azure-templates/job-styleguide.yml b/azure-templates/job-styleguide.yml
new file mode 100644
index 0000000000..6611d1f3c9
--- /dev/null
+++ b/azure-templates/job-styleguide.yml
@@ -0,0 +1,32 @@
+# Job for checking wpiformat violations
+
+parameters:
+  jobName: ''
+  pool:
+    vmImage: 'Ubuntu 16.04'
+
+jobs:
+- job: Styleguide
+  pool: ${{ parameters.pool }}
+
+  container: ubuntu
+
+  workspace:
+    clean: all
+
+  timeoutInMinutes: 0
+
+  steps:
+    - script: |
+        sudo pip3 install wpiformat
+      displayName: 'Install wpiformat'
+
+    - script: |
+        git checkout -b master
+        wpiformat -clang 6.0
+      displayName: 'Run wpiformat'
+
+    - script: |
+        # Ensure formatter made no changes
+        git --no-pager diff --exit-code HEAD
+      displayName: 'Check wpiformat Output'
diff --git a/azure-templates/stage-combine.yml b/azure-templates/stage-combine.yml
new file mode 100644
index 0000000000..a8648627a6
--- /dev/null
+++ b/azure-templates/stage-combine.yml
@@ -0,0 +1,74 @@
+# Stage to combine artifacts into a single output
+
+parameters:
+  publish: False
+  artifacts: []
+
+stages:
+- stage: Combine
+  jobs:
+  - job: CombineJob
+    pool:
+      vmImage: 'macOS-10.14'
+
+    timeoutInMinutes: 0
+
+    steps:
+    - checkout: none
+
+    - script: |
+        git clone https://github.com/wpilibsuite/build-tools
+      displayName: 'Clone Combiner'
+
+    - ${{ each artifact in parameters.artifacts }}:
+      - task: DownloadPipelineArtifact@0
+        displayName: 'DownloadPipelineArtifact ${{ artifact }}'
+        inputs:
+          artifactName: ${{ artifact }}
+          targetPath: 'build-tools/combiner/products/build/allOutputs'
+
+# PR Builds
+    - ${{ if and(ne(variables['Build.SourceBranch'], 'refs/heads/master'), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))) }}:
+      - task: Gradle@2
+        inputs:
+          workingDirectory: 'build-tools/combiner'
+          gradleWrapperFile: 'build-tools/combiner/gradlew'
+          gradleOptions: '-Xmx3072m'
+          tasks: 'publish '
+          options: '-Pallwpilib'
+
+# Master Builds
+    - ${{ if and(parameters.publish, eq(variables['Build.SourceBranch'], 'refs/heads/master')) }}:
+      - task: Gradle@2
+        inputs:
+          workingDirectory: 'build-tools/combiner'
+          gradleWrapperFile: 'build-tools/combiner/gradlew'
+          gradleOptions: '-Xmx3072m'
+          tasks: 'publish '
+          options: '-Pallwpilib'
+        env:
+          RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
+          ARTIFACTORY_PUBLISH_USERNAME: $(PublishUserName)
+          ARTIFACTORY_PUBLISH_PASSWORD: $(PublishPassword)
+
+# Tagged Builds
+      - ${{ if and(parameters.publish, startsWith(variables['Build.SourceBranch'], 'refs/tags/v')) }}:
+        - task: Gradle@2
+          inputs:
+            workingDirectory: 'build-tools/combiner'
+            gradleWrapperFile: 'build-tools/combiner/gradlew'
+            gradleOptions: '-Xmx3072m'
+            tasks: 'publish '
+            options: '-Pallwpilib -PreleaseRepoPublish'
+          env:
+            RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
+            ARTIFACTORY_PUBLISH_USERNAME: $(PublishUserName)
+            ARTIFACTORY_PUBLISH_PASSWORD: $(PublishPassword)
+
+    - script: |
+        echo "##vso[task.setvariable variable=UserHome]$HOME"
+      displayName: 'Set Home Variable'
+    - task: PublishPipelineArtifact@0
+      inputs:
+        artifactName: 'Maven'
+        targetPath: $(UserHome)/releases