diff --git a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
index 9622473f27..4bdd626dad 100644
--- a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
+++ b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
@@ -150,7 +150,7 @@ public final class Main {
   /** Start running the camera. */
   public static void startCamera(CameraConfig config) {
     System.out.println("Starting camera '" + config.name + "' on " + config.path);
-    VideoSource camera = CameraServer.getInstance().startAutomaticCapture(config.name, config.path);
+    VideoSource camera = CameraServer.startAutomaticCapture(config.name, config.path);
 
     Gson gson = new GsonBuilder().create();
 
diff --git a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
index a555984e02..45b56d4de5 100644
--- a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
+++ b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
@@ -158,8 +158,8 @@ bool ReadConfig() {
 
 void StartCamera(const CameraConfig& config) {
   fmt::print("Starting camera '{}' on {}\n", config.name, config.path);
-  auto camera = frc::CameraServer::GetInstance()->StartAutomaticCapture(
-      config.name, config.path);
+  auto camera =
+      frc::CameraServer::StartAutomaticCapture(config.name, config.path);
 
   camera.SetConfigJson(config.config);
 }
diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
index 8e4771f111..204b414f03 100644
--- a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
+++ b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
@@ -33,6 +33,7 @@ import java.util.concurrent.atomic.AtomicInteger;
  * Singleton class for creating and keeping camera servers. Also publishes camera information to
  * NetworkTables.
  */
+@SuppressWarnings("PMD.UnusedPrivateField")
 public final class CameraServer {
   public static final int kBasePort = 1181;
 
@@ -46,8 +47,9 @@ public final class CameraServer {
   /**
    * Get the CameraServer instance.
    *
-   * @return CameraServer instance
+   * @deprecated Use the static methods
    */
+  @Deprecated
   public static synchronized CameraServer getInstance() {
     if (server == null) {
       server = new CameraServer();
@@ -55,18 +57,211 @@ public final class CameraServer {
     return server;
   }
 
-  private final AtomicInteger m_defaultUsbDevice;
-  private String m_primarySourceName;
-  private final Map<String, VideoSource> m_sources;
-  private final Map<String, VideoSink> m_sinks;
-  private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
+  private static final AtomicInteger m_defaultUsbDevice = new AtomicInteger();
+  private static String m_primarySourceName;
+  private static final Map<String, VideoSource> m_sources = new HashMap<>();
+  private static final Map<String, VideoSink> m_sinks = new HashMap<>();
+  private static final Map<Integer, NetworkTable> m_tables =
+      new HashMap<>(); // indexed by source handle
   // source handle indexed by sink handle
-  private final Map<Integer, Integer> m_fixedSources;
-  private final NetworkTable m_publishTable;
-  private final VideoListener m_videoListener; // NOPMD
-  private final int m_tableListener; // NOPMD
-  private int m_nextPort;
-  private String[] m_addresses;
+  private static final Map<Integer, Integer> m_fixedSources = new HashMap<>();
+  private static final NetworkTable m_publishTable =
+      NetworkTableInstance.getDefault().getTable(kPublishName);
+
+  // We publish sources to NetworkTables using the following structure:
+  // "/CameraPublisher/{Source.Name}/" - root
+  // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
+  // - "streams" (string array): URLs that can be used to stream data
+  // - "description" (string): Description of the source
+  // - "connected" (boolean): Whether source is connected
+  // - "mode" (string): Current video mode
+  // - "modes" (string array): Available video modes
+  // - "Property/{Property}" - Property values
+  // - "PropertyInfo/{Property}" - Property supporting information
+
+  // Listener for video events
+  private static final VideoListener m_videoListener =
+      new VideoListener(
+          event -> {
+            switch (event.kind) {
+              case kSourceCreated:
+                {
+                  // Create subtable for the camera
+                  NetworkTable table = m_publishTable.getSubTable(event.name);
+                  m_tables.put(event.sourceHandle, table);
+                  table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
+                  table
+                      .getEntry("description")
+                      .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                  table
+                      .getEntry("connected")
+                      .setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
+                  table
+                      .getEntry("streams")
+                      .setStringArray(getSourceStreamValues(event.sourceHandle));
+                  try {
+                    VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
+                    table.getEntry("mode").setDefaultString(videoModeToString(mode));
+                    table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
+                  } catch (VideoException ignored) {
+                    // Do nothing. Let the other event handlers update this if there is an error.
+                  }
+                  break;
+                }
+              case kSourceDestroyed:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    table.getEntry("source").setString("");
+                    table.getEntry("streams").setStringArray(new String[0]);
+                    table.getEntry("modes").setStringArray(new String[0]);
+                  }
+                  break;
+                }
+              case kSourceConnected:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    // update the description too (as it may have changed)
+                    table
+                        .getEntry("description")
+                        .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                    table.getEntry("connected").setBoolean(true);
+                  }
+                  break;
+                }
+              case kSourceDisconnected:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    table.getEntry("connected").setBoolean(false);
+                  }
+                  break;
+                }
+              case kSourceVideoModesUpdated:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
+                  }
+                  break;
+                }
+              case kSourceVideoModeChanged:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    table.getEntry("mode").setString(videoModeToString(event.mode));
+                  }
+                  break;
+                }
+              case kSourcePropertyCreated:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    putSourcePropertyValue(table, event, true);
+                  }
+                  break;
+                }
+              case kSourcePropertyValueUpdated:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    putSourcePropertyValue(table, event, false);
+                  }
+                  break;
+                }
+              case kSourcePropertyChoicesUpdated:
+                {
+                  NetworkTable table = m_tables.get(event.sourceHandle);
+                  if (table != null) {
+                    try {
+                      String[] choices =
+                          CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+                      table
+                          .getEntry("PropertyInfo/" + event.name + "/choices")
+                          .setStringArray(choices);
+                    } catch (VideoException ignored) {
+                      // ignore
+                    }
+                  }
+                  break;
+                }
+              case kSinkSourceChanged:
+              case kSinkCreated:
+              case kSinkDestroyed:
+              case kNetworkInterfacesChanged:
+                {
+                  m_addresses = CameraServerJNI.getNetworkInterfaces();
+                  updateStreamValues();
+                  break;
+                }
+              default:
+                break;
+            }
+          },
+          0x4fff,
+          true);
+
+  private static final int m_tableListener =
+      NetworkTableInstance.getDefault()
+          .addEntryListener(
+              kPublishName + "/",
+              event -> {
+                String relativeKey = event.name.substring(kPublishName.length() + 1);
+
+                // get source (sourceName/...)
+                int subKeyIndex = relativeKey.indexOf('/');
+                if (subKeyIndex == -1) {
+                  return;
+                }
+                String sourceName = relativeKey.substring(0, subKeyIndex);
+                VideoSource source = m_sources.get(sourceName);
+                if (source == null) {
+                  return;
+                }
+
+                // get subkey
+                relativeKey = relativeKey.substring(subKeyIndex + 1);
+
+                // handle standard names
+                String propName;
+                if ("mode".equals(relativeKey)) {
+                  // reset to current mode
+                  event.getEntry().setString(videoModeToString(source.getVideoMode()));
+                  return;
+                } else if (relativeKey.startsWith("Property/")) {
+                  propName = relativeKey.substring(9);
+                } else if (relativeKey.startsWith("RawProperty/")) {
+                  propName = relativeKey.substring(12);
+                } else {
+                  return; // ignore
+                }
+
+                // everything else is a property
+                VideoProperty property = source.getProperty(propName);
+                switch (property.getKind()) {
+                  case kNone:
+                    return;
+                  case kBoolean:
+                    // reset to current setting
+                    event.getEntry().setBoolean(property.get() != 0);
+                    return;
+                  case kInteger:
+                  case kEnum:
+                    // reset to current setting
+                    event.getEntry().setDouble(property.get());
+                    return;
+                  case kString:
+                    // reset to current setting
+                    event.getEntry().setString(property.getString());
+                    return;
+                  default:
+                    return;
+                }
+              },
+              EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
+  private static int m_nextPort = kBasePort;
+  private static String[] m_addresses = new String[0];
 
   @SuppressWarnings("MissingJavadocMethod")
   private static String makeSourceValue(int source) {
@@ -95,7 +290,7 @@ public final class CameraServer {
   }
 
   @SuppressWarnings("MissingJavadocMethod")
-  private synchronized String[] getSinkStreamValues(int sink) {
+  private static synchronized String[] getSinkStreamValues(int sink) {
     // Ignore all but MjpegServer
     if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
       return new String[0];
@@ -125,7 +320,7 @@ public final class CameraServer {
   }
 
   @SuppressWarnings("MissingJavadocMethod")
-  private synchronized String[] getSourceStreamValues(int source) {
+  private static synchronized String[] getSourceStreamValues(int source) {
     // Ignore all but HttpCamera
     if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
         != VideoSource.Kind.kHttp) {
@@ -160,7 +355,7 @@ public final class CameraServer {
   }
 
   @SuppressWarnings("MissingJavadocMethod")
-  private synchronized void updateStreamValues() {
+  private static synchronized void updateStreamValues() {
     // Over all the sinks...
     for (VideoSink i : m_sinks.values()) {
       int sink = i.getHandle();
@@ -304,218 +499,7 @@ public final class CameraServer {
     }
   }
 
-  @SuppressWarnings("MissingJavadocMethod")
-  private CameraServer() {
-    m_defaultUsbDevice = new AtomicInteger();
-    m_sources = new HashMap<>();
-    m_sinks = new HashMap<>();
-    m_fixedSources = new HashMap<>();
-    m_tables = new HashMap<>();
-    m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
-    m_nextPort = kBasePort;
-    m_addresses = new String[0];
-
-    // We publish sources to NetworkTables using the following structure:
-    // "/CameraPublisher/{Source.Name}/" - root
-    // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
-    // - "streams" (string array): URLs that can be used to stream data
-    // - "description" (string): Description of the source
-    // - "connected" (boolean): Whether source is connected
-    // - "mode" (string): Current video mode
-    // - "modes" (string array): Available video modes
-    // - "Property/{Property}" - Property values
-    // - "PropertyInfo/{Property}" - Property supporting information
-
-    // Listener for video events
-    m_videoListener =
-        new VideoListener(
-            event -> {
-              switch (event.kind) {
-                case kSourceCreated:
-                  {
-                    // Create subtable for the camera
-                    NetworkTable table = m_publishTable.getSubTable(event.name);
-                    m_tables.put(event.sourceHandle, table);
-                    table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
-                    table
-                        .getEntry("description")
-                        .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
-                    table
-                        .getEntry("connected")
-                        .setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
-                    table
-                        .getEntry("streams")
-                        .setStringArray(getSourceStreamValues(event.sourceHandle));
-                    try {
-                      VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
-                      table.getEntry("mode").setDefaultString(videoModeToString(mode));
-                      table
-                          .getEntry("modes")
-                          .setStringArray(getSourceModeValues(event.sourceHandle));
-                    } catch (VideoException ignored) {
-                      // Do nothing. Let the other event handlers update this if there is an error.
-                    }
-                    break;
-                  }
-                case kSourceDestroyed:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      table.getEntry("source").setString("");
-                      table.getEntry("streams").setStringArray(new String[0]);
-                      table.getEntry("modes").setStringArray(new String[0]);
-                    }
-                    break;
-                  }
-                case kSourceConnected:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      // update the description too (as it may have changed)
-                      table
-                          .getEntry("description")
-                          .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
-                      table.getEntry("connected").setBoolean(true);
-                    }
-                    break;
-                  }
-                case kSourceDisconnected:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      table.getEntry("connected").setBoolean(false);
-                    }
-                    break;
-                  }
-                case kSourceVideoModesUpdated:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      table
-                          .getEntry("modes")
-                          .setStringArray(getSourceModeValues(event.sourceHandle));
-                    }
-                    break;
-                  }
-                case kSourceVideoModeChanged:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      table.getEntry("mode").setString(videoModeToString(event.mode));
-                    }
-                    break;
-                  }
-                case kSourcePropertyCreated:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      putSourcePropertyValue(table, event, true);
-                    }
-                    break;
-                  }
-                case kSourcePropertyValueUpdated:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      putSourcePropertyValue(table, event, false);
-                    }
-                    break;
-                  }
-                case kSourcePropertyChoicesUpdated:
-                  {
-                    NetworkTable table = m_tables.get(event.sourceHandle);
-                    if (table != null) {
-                      try {
-                        String[] choices =
-                            CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
-                        table
-                            .getEntry("PropertyInfo/" + event.name + "/choices")
-                            .setStringArray(choices);
-                      } catch (VideoException ignored) {
-                        // ignore
-                      }
-                    }
-                    break;
-                  }
-                case kSinkSourceChanged:
-                case kSinkCreated:
-                case kSinkDestroyed:
-                case kNetworkInterfacesChanged:
-                  {
-                    m_addresses = CameraServerJNI.getNetworkInterfaces();
-                    updateStreamValues();
-                    break;
-                  }
-                default:
-                  break;
-              }
-            },
-            0x4fff,
-            true);
-
-    // Listener for NetworkTable events
-    // We don't currently support changing settings via NT due to
-    // synchronization issues, so just update to current setting if someone
-    // else tries to change it.
-    m_tableListener =
-        NetworkTableInstance.getDefault()
-            .addEntryListener(
-                kPublishName + "/",
-                event -> {
-                  String relativeKey = event.name.substring(kPublishName.length() + 1);
-
-                  // get source (sourceName/...)
-                  int subKeyIndex = relativeKey.indexOf('/');
-                  if (subKeyIndex == -1) {
-                    return;
-                  }
-                  String sourceName = relativeKey.substring(0, subKeyIndex);
-                  VideoSource source = m_sources.get(sourceName);
-                  if (source == null) {
-                    return;
-                  }
-
-                  // get subkey
-                  relativeKey = relativeKey.substring(subKeyIndex + 1);
-
-                  // handle standard names
-                  String propName;
-                  if ("mode".equals(relativeKey)) {
-                    // reset to current mode
-                    event.getEntry().setString(videoModeToString(source.getVideoMode()));
-                    return;
-                  } else if (relativeKey.startsWith("Property/")) {
-                    propName = relativeKey.substring(9);
-                  } else if (relativeKey.startsWith("RawProperty/")) {
-                    propName = relativeKey.substring(12);
-                  } else {
-                    return; // ignore
-                  }
-
-                  // everything else is a property
-                  VideoProperty property = source.getProperty(propName);
-                  switch (property.getKind()) {
-                    case kNone:
-                      return;
-                    case kBoolean:
-                      // reset to current setting
-                      event.getEntry().setBoolean(property.get() != 0);
-                      return;
-                    case kInteger:
-                    case kEnum:
-                      // reset to current setting
-                      event.getEntry().setDouble(property.get());
-                      return;
-                    case kString:
-                      // reset to current setting
-                      event.getEntry().setString(property.getString());
-                      return;
-                    default:
-                      return;
-                  }
-                },
-                EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
-  }
+  private CameraServer() {}
 
   /**
    * Start automatically capturing images to send to the dashboard.
@@ -529,7 +513,7 @@ public final class CameraServer {
    *
    * @return The USB camera capturing images.
    */
-  public UsbCamera startAutomaticCapture() {
+  public static UsbCamera startAutomaticCapture() {
     UsbCamera camera = startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
     CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
     return camera;
@@ -544,7 +528,7 @@ public final class CameraServer {
    * @param dev The device number of the camera interface
    * @return The USB camera capturing images.
    */
-  public UsbCamera startAutomaticCapture(int dev) {
+  public static UsbCamera startAutomaticCapture(int dev) {
     UsbCamera camera = new UsbCamera("USB Camera " + dev, dev);
     startAutomaticCapture(camera);
     CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
@@ -558,7 +542,7 @@ public final class CameraServer {
    * @param dev The device number of the camera interface
    * @return The USB camera capturing images.
    */
-  public UsbCamera startAutomaticCapture(String name, int dev) {
+  public static UsbCamera startAutomaticCapture(String name, int dev) {
     UsbCamera camera = new UsbCamera(name, dev);
     startAutomaticCapture(camera);
     CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
@@ -572,7 +556,7 @@ public final class CameraServer {
    * @param path The device path (e.g. "/dev/video0") of the camera
    * @return The USB camera capturing images.
    */
-  public UsbCamera startAutomaticCapture(String name, String path) {
+  public static UsbCamera startAutomaticCapture(String name, String path) {
     UsbCamera camera = new UsbCamera(name, path);
     startAutomaticCapture(camera);
     CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
@@ -585,7 +569,7 @@ public final class CameraServer {
    * @param camera Camera
    * @return The MJPEG server serving images from the given camera.
    */
-  public MjpegServer startAutomaticCapture(VideoSource camera) {
+  public static MjpegServer startAutomaticCapture(VideoSource camera) {
     addCamera(camera);
     MjpegServer server = addServer("serve_" + camera.getName());
     server.setSource(camera);
@@ -600,7 +584,7 @@ public final class CameraServer {
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    * @return The Axis camera capturing images.
    */
-  public AxisCamera addAxisCamera(String host) {
+  public static AxisCamera addAxisCamera(String host) {
     return addAxisCamera("Axis Camera", host);
   }
 
@@ -612,7 +596,7 @@ public final class CameraServer {
    * @param hosts Array of Camera host IPs/DNS names
    * @return The Axis camera capturing images.
    */
-  public AxisCamera addAxisCamera(String[] hosts) {
+  public static AxisCamera addAxisCamera(String[] hosts) {
     return addAxisCamera("Axis Camera", hosts);
   }
 
@@ -623,7 +607,7 @@ public final class CameraServer {
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    * @return The Axis camera capturing images.
    */
-  public AxisCamera addAxisCamera(String name, String host) {
+  public static AxisCamera addAxisCamera(String name, String host) {
     AxisCamera camera = new AxisCamera(name, host);
     // Create a passthrough MJPEG server for USB access
     startAutomaticCapture(camera);
@@ -638,7 +622,7 @@ public final class CameraServer {
    * @param hosts Array of Camera host IPs/DNS names
    * @return The Axis camera capturing images.
    */
-  public AxisCamera addAxisCamera(String name, String[] hosts) {
+  public static AxisCamera addAxisCamera(String name, String[] hosts) {
     AxisCamera camera = new AxisCamera(name, hosts);
     // Create a passthrough MJPEG server for USB access
     startAutomaticCapture(camera);
@@ -654,11 +638,11 @@ public final class CameraServer {
    * @param name The name to give the camera
    * @return The MJPEG server serving images from the given camera.
    */
-  public MjpegServer addSwitchedCamera(String name) {
+  public static MjpegServer addSwitchedCamera(String name) {
     // create a dummy CvSource
     CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
     MjpegServer server = startAutomaticCapture(source);
-    synchronized (this) {
+    synchronized (CameraServer.class) {
       m_fixedSources.put(server.getHandle(), source.getHandle());
     }
 
@@ -674,9 +658,9 @@ public final class CameraServer {
    *
    * @return OpenCV sink for the primary camera feed
    */
-  public CvSink getVideo() {
+  public static CvSink getVideo() {
     VideoSource source;
-    synchronized (this) {
+    synchronized (CameraServer.class) {
       if (m_primarySourceName == null) {
         throw new VideoException("no camera available");
       }
@@ -695,10 +679,10 @@ public final class CameraServer {
    * @param camera Camera (e.g. as returned by startAutomaticCapture).
    * @return OpenCV sink for the specified camera
    */
-  public CvSink getVideo(VideoSource camera) {
+  public static CvSink getVideo(VideoSource camera) {
     String name = "opencv_" + camera.getName();
 
-    synchronized (this) {
+    synchronized (CameraServer.class) {
       VideoSink sink = m_sinks.get(name);
       if (sink != null) {
         VideoSink.Kind kind = sink.getKind();
@@ -722,9 +706,9 @@ public final class CameraServer {
    * @param name Camera name
    * @return OpenCV sink for the specified camera
    */
-  public CvSink getVideo(String name) {
+  public static CvSink getVideo(String name) {
     VideoSource source;
-    synchronized (this) {
+    synchronized (CameraServer.class) {
       source = m_sources.get(name);
       if (source == null) {
         throw new VideoException("could not find camera " + name);
@@ -742,7 +726,7 @@ public final class CameraServer {
    * @param height Height of the image being sent
    * @return OpenCV source for the MJPEG stream
    */
-  public CvSource putVideo(String name, int width, int height) {
+  public static CvSource putVideo(String name, int width, int height) {
     CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, width, height, 30);
     startAutomaticCapture(source);
     return source;
@@ -754,9 +738,9 @@ public final class CameraServer {
    * @param name Server name
    * @return The MJPEG server
    */
-  public MjpegServer addServer(String name) {
+  public static MjpegServer addServer(String name) {
     int port;
-    synchronized (this) {
+    synchronized (CameraServer.class) {
       port = m_nextPort;
       m_nextPort++;
     }
@@ -770,7 +754,7 @@ public final class CameraServer {
    * @param port Server port
    * @return The MJPEG server
    */
-  public MjpegServer addServer(String name, int port) {
+  public static MjpegServer addServer(String name, int port) {
     MjpegServer server = new MjpegServer(name, port);
     addServer(server);
     return server;
@@ -781,8 +765,8 @@ public final class CameraServer {
    *
    * @param server Server
    */
-  public void addServer(VideoSink server) {
-    synchronized (this) {
+  public static void addServer(VideoSink server) {
+    synchronized (CameraServer.class) {
       m_sinks.put(server.getName(), server);
     }
   }
@@ -792,8 +776,8 @@ public final class CameraServer {
    *
    * @param name Server name
    */
-  public void removeServer(String name) {
-    synchronized (this) {
+  public static void removeServer(String name) {
+    synchronized (CameraServer.class) {
       m_sinks.remove(name);
     }
   }
@@ -806,8 +790,8 @@ public final class CameraServer {
    *
    * @return The server for the primary camera feed
    */
-  public VideoSink getServer() {
-    synchronized (this) {
+  public static VideoSink getServer() {
+    synchronized (CameraServer.class) {
       if (m_primarySourceName == null) {
         throw new VideoException("no camera available");
       }
@@ -821,8 +805,8 @@ public final class CameraServer {
    * @param name Server name
    * @return The server
    */
-  public VideoSink getServer(String name) {
-    synchronized (this) {
+  public static VideoSink getServer(String name) {
+    synchronized (CameraServer.class) {
       return m_sinks.get(name);
     }
   }
@@ -832,9 +816,9 @@ public final class CameraServer {
    *
    * @param camera Camera
    */
-  public void addCamera(VideoSource camera) {
+  public static void addCamera(VideoSource camera) {
     String name = camera.getName();
-    synchronized (this) {
+    synchronized (CameraServer.class) {
       if (m_primarySourceName == null) {
         m_primarySourceName = name;
       }
@@ -847,8 +831,8 @@ public final class CameraServer {
    *
    * @param name Camera name
    */
-  public void removeCamera(String name) {
-    synchronized (this) {
+  public static void removeCamera(String name) {
+    synchronized (CameraServer.class) {
       m_sources.remove(name);
     }
   }
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java b/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
index b7bab9c35c..37155705d9 100644
--- a/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
+++ b/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
@@ -44,7 +44,7 @@
  *
  *     {@literal @}Override
  *      public void robotInit() {
- *          usbCamera = CameraServer.getInstance().startAutomaticCapture(0);
+ *          usbCamera = CameraServer.startAutomaticCapture(0);
  *          findTotePipeline = new MyFindTotePipeline();
  *          findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
  *      }
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
index 5f068a15e1..1a4d42a2f6 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
@@ -11,7 +11,6 @@
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/DenseMap.h>
-#include <wpi/ManagedStatic.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
 #include <wpi/StringMap.h>
@@ -24,8 +23,9 @@ using namespace frc;
 
 static constexpr char const* kPublishName = "/CameraPublisher";
 
-struct CameraServer::Impl {
-  Impl();
+namespace {
+struct Instance {
+  Instance();
   std::shared_ptr<nt::NetworkTable> GetSourceTable(CS_Source source);
   std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
   std::vector<std::string> GetSourceStreamValues(CS_Source source);
@@ -42,19 +42,20 @@ struct CameraServer::Impl {
       nt::NetworkTableInstance::GetDefault().GetTable(kPublishName)};
   cs::VideoListener m_videoListener;
   int m_tableListener;
-  int m_nextPort;
+  int m_nextPort{CameraServer::kBasePort};
   std::vector<std::string> m_addresses;
 };
+}  // namespace
+
+static Instance& GetInstance() {
+  static Instance instance;
+  return instance;
+}
 
 CameraServer* CameraServer::GetInstance() {
-  struct Creator {
-    static void* call() { return new CameraServer{}; }
-  };
-  struct Deleter {
-    static void call(void* ptr) { delete static_cast<CameraServer*>(ptr); }
-  };
-  static wpi::ManagedStatic<CameraServer, Creator, Deleter> instance;
-  return &(*instance);
+  ::GetInstance();
+  static CameraServer instance;
+  return &instance;
 }
 
 static std::string_view MakeSourceValue(CS_Source source,
@@ -91,13 +92,12 @@ static std::string MakeStreamValue(std::string_view address, int port) {
   return fmt::format("mjpg:http://{}:{}/?action=stream", address, port);
 }
 
-std::shared_ptr<nt::NetworkTable> CameraServer::Impl::GetSourceTable(
-    CS_Source source) {
+std::shared_ptr<nt::NetworkTable> Instance::GetSourceTable(CS_Source source) {
   std::scoped_lock lock(m_mutex);
   return m_tables.lookup(source);
 }
 
-std::vector<std::string> CameraServer::Impl::GetSinkStreamValues(CS_Sink sink) {
+std::vector<std::string> Instance::GetSinkStreamValues(CS_Sink sink) {
   CS_Status status = 0;
 
   // Ignore all but MjpegServer
@@ -129,8 +129,7 @@ std::vector<std::string> CameraServer::Impl::GetSinkStreamValues(CS_Sink sink) {
   return values;
 }
 
-std::vector<std::string> CameraServer::Impl::GetSourceStreamValues(
-    CS_Source source) {
+std::vector<std::string> Instance::GetSourceStreamValues(CS_Source source) {
   CS_Status status = 0;
 
   // Ignore all but HttpCamera
@@ -164,7 +163,7 @@ std::vector<std::string> CameraServer::Impl::GetSourceStreamValues(
   return values;
 }
 
-void CameraServer::Impl::UpdateStreamValues() {
+void Instance::UpdateStreamValues() {
   std::scoped_lock lock(m_mutex);
   // Over all the sinks...
   for (const auto& i : m_sinks) {
@@ -293,7 +292,7 @@ static void PutSourcePropertyValue(nt::NetworkTable* table,
   }
 }
 
-CameraServer::Impl::Impl() : m_nextPort(kBasePort) {
+Instance::Instance() {
   // We publish sources to NetworkTables using the following structure:
   // "/CameraPublisher/{Source.Name}/" - root
   // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
@@ -480,12 +479,9 @@ CameraServer::Impl::Impl() : m_nextPort(kBasePort) {
       NT_NOTIFY_IMMEDIATE | NT_NOTIFY_UPDATE);
 }
 
-CameraServer::CameraServer() : m_impl(new Impl) {}
-
-CameraServer::~CameraServer() = default;
-
 cs::UsbCamera CameraServer::StartAutomaticCapture() {
-  cs::UsbCamera camera = StartAutomaticCapture(m_impl->m_defaultUsbDevice++);
+  cs::UsbCamera camera =
+      StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
   auto csShared = GetCameraServerShared();
   csShared->ReportUsbCamera(camera.GetHandle());
   return camera;
@@ -573,7 +569,7 @@ cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
   // create a dummy CvSource
   cs::CvSource source{name, cs::VideoMode::PixelFormat::kMJPEG, 160, 120, 30};
   cs::MjpegServer server = StartAutomaticCapture(source);
-  m_impl->m_fixedSources[server.GetHandle()] = source.GetHandle();
+  ::GetInstance().m_fixedSources[server.GetHandle()] = source.GetHandle();
 
   return server;
 }
@@ -587,16 +583,17 @@ cs::MjpegServer CameraServer::StartAutomaticCapture(
 }
 
 cs::CvSink CameraServer::GetVideo() {
+  auto& inst = ::GetInstance();
   cs::VideoSource source;
   {
     auto csShared = GetCameraServerShared();
-    std::scoped_lock lock(m_impl->m_mutex);
-    if (m_impl->m_primarySourceName.empty()) {
+    std::scoped_lock lock(inst.m_mutex);
+    if (inst.m_primarySourceName.empty()) {
       csShared->SetCameraServerError("no camera available");
       return cs::CvSink{};
     }
-    auto it = m_impl->m_sources.find(m_impl->m_primarySourceName);
-    if (it == m_impl->m_sources.end()) {
+    auto it = inst.m_sources.find(inst.m_primarySourceName);
+    if (it == inst.m_sources.end()) {
       csShared->SetCameraServerError("no camera available");
       return cs::CvSink{};
     }
@@ -606,13 +603,14 @@ cs::CvSink CameraServer::GetVideo() {
 }
 
 cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
+  auto& inst = ::GetInstance();
   wpi::SmallString<64> name{"opencv_"};
   name += camera.GetName();
 
   {
-    std::scoped_lock lock(m_impl->m_mutex);
-    auto it = m_impl->m_sinks.find(name);
-    if (it != m_impl->m_sinks.end()) {
+    std::scoped_lock lock(inst.m_mutex);
+    auto it = inst.m_sinks.find(name);
+    if (it != inst.m_sinks.end()) {
       auto kind = it->second.GetKind();
       if (kind != cs::VideoSink::kCv) {
         auto csShared = GetCameraServerShared();
@@ -631,11 +629,12 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
 }
 
 cs::CvSink CameraServer::GetVideo(std::string_view name) {
+  auto& inst = ::GetInstance();
   cs::VideoSource source;
   {
-    std::scoped_lock lock(m_impl->m_mutex);
-    auto it = m_impl->m_sources.find(name);
-    if (it == m_impl->m_sources.end()) {
+    std::scoped_lock lock(inst.m_mutex);
+    auto it = inst.m_sources.find(name);
+    if (it == inst.m_sources.end()) {
       auto csShared = GetCameraServerShared();
       csShared->SetCameraServerError("could not find camera {}", name);
       return cs::CvSink{};
@@ -653,10 +652,11 @@ cs::CvSource CameraServer::PutVideo(std::string_view name, int width,
 }
 
 cs::MjpegServer CameraServer::AddServer(std::string_view name) {
+  auto& inst = ::GetInstance();
   int port;
   {
-    std::scoped_lock lock(m_impl->m_mutex);
-    port = m_impl->m_nextPort++;
+    std::scoped_lock lock(inst.m_mutex);
+    port = inst.m_nextPort++;
   }
   return AddServer(name, port);
 }
@@ -668,34 +668,37 @@ cs::MjpegServer CameraServer::AddServer(std::string_view name, int port) {
 }
 
 void CameraServer::AddServer(const cs::VideoSink& server) {
-  std::scoped_lock lock(m_impl->m_mutex);
-  m_impl->m_sinks.try_emplace(server.GetName(), server);
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.m_mutex);
+  inst.m_sinks.try_emplace(server.GetName(), server);
 }
 
 void CameraServer::RemoveServer(std::string_view name) {
-  std::scoped_lock lock(m_impl->m_mutex);
-  m_impl->m_sinks.erase(name);
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.m_mutex);
+  inst.m_sinks.erase(name);
 }
 
 cs::VideoSink CameraServer::GetServer() {
+  auto& inst = ::GetInstance();
   std::string name;
   {
-    std::scoped_lock lock(m_impl->m_mutex);
-    if (m_impl->m_primarySourceName.empty()) {
+    std::scoped_lock lock(inst.m_mutex);
+    if (inst.m_primarySourceName.empty()) {
       auto csShared = GetCameraServerShared();
       csShared->SetCameraServerError("no camera available");
       return cs::VideoSink{};
     }
-    name = fmt::format("serve_{}", m_impl->m_primarySourceName);
+    name = fmt::format("serve_{}", inst.m_primarySourceName);
   }
   return GetServer(name);
 }
 
 cs::VideoSink CameraServer::GetServer(std::string_view name) {
-  wpi::SmallString<64> nameBuf;
-  std::scoped_lock lock(m_impl->m_mutex);
-  auto it = m_impl->m_sinks.find(name);
-  if (it == m_impl->m_sinks.end()) {
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.m_mutex);
+  auto it = inst.m_sinks.find(name);
+  if (it == inst.m_sinks.end()) {
     auto csShared = GetCameraServerShared();
     csShared->SetCameraServerError("could not find server {}", name);
     return cs::VideoSink{};
@@ -704,26 +707,29 @@ cs::VideoSink CameraServer::GetServer(std::string_view name) {
 }
 
 void CameraServer::AddCamera(const cs::VideoSource& camera) {
+  auto& inst = ::GetInstance();
   std::string name = camera.GetName();
-  std::scoped_lock lock(m_impl->m_mutex);
-  if (m_impl->m_primarySourceName.empty()) {
-    m_impl->m_primarySourceName = name;
+  std::scoped_lock lock(inst.m_mutex);
+  if (inst.m_primarySourceName.empty()) {
+    inst.m_primarySourceName = name;
   }
-  m_impl->m_sources.try_emplace(name, camera);
+  inst.m_sources.try_emplace(name, camera);
 }
 
 void CameraServer::RemoveCamera(std::string_view name) {
-  std::scoped_lock lock(m_impl->m_mutex);
-  m_impl->m_sources.erase(name);
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.m_mutex);
+  inst.m_sources.erase(name);
 }
 
 void CameraServer::SetSize(int size) {
-  std::scoped_lock lock(m_impl->m_mutex);
-  if (m_impl->m_primarySourceName.empty()) {
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.m_mutex);
+  if (inst.m_primarySourceName.empty()) {
     return;
   }
-  auto it = m_impl->m_sources.find(m_impl->m_primarySourceName);
-  if (it == m_impl->m_sources.end()) {
+  auto it = inst.m_sources.find(inst.m_primarySourceName);
+  if (it == inst.m_sources.end()) {
     return;
   }
   if (size == kSize160x120) {
diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServer.h b/cameraserver/src/main/native/include/cameraserver/CameraServer.h
index ac304fbadc..32f96db8c0 100644
--- a/cameraserver/src/main/native/include/cameraserver/CameraServer.h
+++ b/cameraserver/src/main/native/include/cameraserver/CameraServer.h
@@ -6,10 +6,10 @@
 
 #include <stdint.h>
 
-#include <memory>
 #include <string>
 #include <string_view>
 
+#include <wpi/deprecated.h>
 #include <wpi/span.h>
 
 #include "cscore.h"
@@ -31,7 +31,9 @@ class CameraServer {
 
   /**
    * Get the CameraServer instance.
+   * @deprecated Use the static methods
    */
+  WPI_DEPRECATED("Use static methods")
   static CameraServer* GetInstance();
 
   /**
@@ -45,7 +47,7 @@ class CameraServer {
    * with device 0, creating a camera named "USB Camera 0".  Subsequent calls
    * increment the device number (e.g. 1, 2, etc).
    */
-  cs::UsbCamera StartAutomaticCapture();
+  static cs::UsbCamera StartAutomaticCapture();
 
   /**
    * Start automatically capturing images to send to the dashboard.
@@ -55,7 +57,7 @@ class CameraServer {
    *
    * @param dev The device number of the camera interface
    */
-  cs::UsbCamera StartAutomaticCapture(int dev);
+  static cs::UsbCamera StartAutomaticCapture(int dev);
 
   /**
    * Start automatically capturing images to send to the dashboard.
@@ -63,7 +65,7 @@ class CameraServer {
    * @param name The name to give the camera
    * @param dev  The device number of the camera interface
    */
-  cs::UsbCamera StartAutomaticCapture(std::string_view name, int dev);
+  static cs::UsbCamera StartAutomaticCapture(std::string_view name, int dev);
 
   /**
    * Start automatically capturing images to send to the dashboard.
@@ -71,8 +73,8 @@ class CameraServer {
    * @param name The name to give the camera
    * @param path The device path (e.g. "/dev/video0") of the camera
    */
-  cs::UsbCamera StartAutomaticCapture(std::string_view name,
-                                      std::string_view path);
+  static cs::UsbCamera StartAutomaticCapture(std::string_view name,
+                                             std::string_view path);
 
   /**
    * Start automatically capturing images to send to the dashboard from
@@ -80,7 +82,7 @@ class CameraServer {
    *
    * @param camera Camera
    */
-  cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
+  static cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
 
   /**
    * Adds an Axis IP camera.
@@ -89,7 +91,7 @@ class CameraServer {
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
-  cs::AxisCamera AddAxisCamera(std::string_view host);
+  static cs::AxisCamera AddAxisCamera(std::string_view host);
 
   /**
    * Adds an Axis IP camera.
@@ -98,7 +100,7 @@ class CameraServer {
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
-  cs::AxisCamera AddAxisCamera(const char* host);
+  static cs::AxisCamera AddAxisCamera(const char* host);
 
   /**
    * Adds an Axis IP camera.
@@ -107,7 +109,7 @@ class CameraServer {
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
-  cs::AxisCamera AddAxisCamera(const std::string& host);
+  static cs::AxisCamera AddAxisCamera(const std::string& host);
 
   /**
    * Adds an Axis IP camera.
@@ -116,7 +118,7 @@ class CameraServer {
    *
    * @param hosts Array of Camera host IPs/DNS names
    */
-  cs::AxisCamera AddAxisCamera(wpi::span<const std::string> hosts);
+  static cs::AxisCamera AddAxisCamera(wpi::span<const std::string> hosts);
 
   /**
    * Adds an Axis IP camera.
@@ -126,7 +128,7 @@ class CameraServer {
    * @param hosts Array of Camera host IPs/DNS names
    */
   template <typename T>
-  cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
+  static cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
 
   /**
    * Adds an Axis IP camera.
@@ -134,7 +136,8 @@ class CameraServer {
    * @param name The name to give the camera
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
-  cs::AxisCamera AddAxisCamera(std::string_view name, std::string_view host);
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      std::string_view host);
 
   /**
    * Adds an Axis IP camera.
@@ -142,7 +145,7 @@ class CameraServer {
    * @param name The name to give the camera
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
-  cs::AxisCamera AddAxisCamera(std::string_view name, const char* host);
+  static cs::AxisCamera AddAxisCamera(std::string_view name, const char* host);
 
   /**
    * Adds an Axis IP camera.
@@ -150,7 +153,8 @@ class CameraServer {
    * @param name The name to give the camera
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
-  cs::AxisCamera AddAxisCamera(std::string_view name, const std::string& host);
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      const std::string& host);
 
   /**
    * Adds an Axis IP camera.
@@ -158,8 +162,8 @@ class CameraServer {
    * @param name The name to give the camera
    * @param hosts Array of Camera host IPs/DNS names
    */
-  cs::AxisCamera AddAxisCamera(std::string_view name,
-                               wpi::span<const std::string> hosts);
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      wpi::span<const std::string> hosts);
 
   /**
    * Adds an Axis IP camera.
@@ -168,8 +172,8 @@ class CameraServer {
    * @param hosts Array of Camera host IPs/DNS names
    */
   template <typename T>
-  cs::AxisCamera AddAxisCamera(std::string_view name,
-                               std::initializer_list<T> hosts);
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      std::initializer_list<T> hosts);
 
   /**
    * Adds a virtual camera for switching between two streams.  Unlike the
@@ -177,7 +181,7 @@ class CameraServer {
    * VideoSource.  Calling SetSource() on the returned object can be used
    * to switch the actual source of the stream.
    */
-  cs::MjpegServer AddSwitchedCamera(std::string_view name);
+  static cs::MjpegServer AddSwitchedCamera(std::string_view name);
 
   /**
    * Get OpenCV access to the primary camera feed.  This allows you to
@@ -186,7 +190,7 @@ class CameraServer {
    * <p>This is only valid to call after a camera feed has been added
    * with startAutomaticCapture() or addServer().
    */
-  cs::CvSink GetVideo();
+  static cs::CvSink GetVideo();
 
   /**
    * Get OpenCV access to the specified camera.  This allows you to get
@@ -194,7 +198,7 @@ class CameraServer {
    *
    * @param camera Camera (e.g. as returned by startAutomaticCapture).
    */
-  cs::CvSink GetVideo(const cs::VideoSource& camera);
+  static cs::CvSink GetVideo(const cs::VideoSource& camera);
 
   /**
    * Get OpenCV access to the specified camera.  This allows you to get
@@ -202,7 +206,7 @@ class CameraServer {
    *
    * @param name Camera name
    */
-  cs::CvSink GetVideo(std::string_view name);
+  static cs::CvSink GetVideo(std::string_view name);
 
   /**
    * Create a MJPEG stream with OpenCV input. This can be called to pass custom
@@ -212,35 +216,35 @@ class CameraServer {
    * @param width Width of the image being sent
    * @param height Height of the image being sent
    */
-  cs::CvSource PutVideo(std::string_view name, int width, int height);
+  static cs::CvSource PutVideo(std::string_view name, int width, int height);
 
   /**
    * Adds a MJPEG server at the next available port.
    *
    * @param name Server name
    */
-  cs::MjpegServer AddServer(std::string_view name);
+  static cs::MjpegServer AddServer(std::string_view name);
 
   /**
    * Adds a MJPEG server.
    *
    * @param name Server name
    */
-  cs::MjpegServer AddServer(std::string_view name, int port);
+  static cs::MjpegServer AddServer(std::string_view name, int port);
 
   /**
    * Adds an already created server.
    *
    * @param server Server
    */
-  void AddServer(const cs::VideoSink& server);
+  static void AddServer(const cs::VideoSink& server);
 
   /**
    * Removes a server by name.
    *
    * @param name Server name
    */
-  void RemoveServer(std::string_view name);
+  static void RemoveServer(std::string_view name);
 
   /**
    * Get server for the primary camera feed.
@@ -248,28 +252,28 @@ class CameraServer {
    * This is only valid to call after a camera feed has been added with
    * StartAutomaticCapture() or AddServer().
    */
-  cs::VideoSink GetServer();
+  static cs::VideoSink GetServer();
 
   /**
    * Gets a server by name.
    *
    * @param name Server name
    */
-  cs::VideoSink GetServer(std::string_view name);
+  static cs::VideoSink GetServer(std::string_view name);
 
   /**
    * Adds an already created camera.
    *
    * @param camera Camera
    */
-  void AddCamera(const cs::VideoSource& camera);
+  static void AddCamera(const cs::VideoSource& camera);
 
   /**
    * Removes a camera by name.
    *
    * @param name Camera name
    */
-  void RemoveCamera(std::string_view name);
+  static void RemoveCamera(std::string_view name);
 
   /**
    * Sets the size of the image to use. Use the public kSize constants to set
@@ -280,14 +284,10 @@ class CameraServer {
    *             StartAutomaticCapture() instead.
    * @param size The size to use
    */
-  void SetSize(int size);
+  static void SetSize(int size);
 
  private:
-  CameraServer();
-  ~CameraServer();
-
-  struct Impl;
-  std::unique_ptr<Impl> m_impl;
+  CameraServer() = default;
 };
 
 }  // namespace frc
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
index ca5eb69dd3..99a5d18a37 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
@@ -10,7 +10,7 @@
 using namespace frc2;
 
 CommandBase::CommandBase() {
-  wpi::SendableRegistry::GetInstance().Add(this, GetTypeName(*this));
+  wpi::SendableRegistry::Add(this, GetTypeName(*this));
 }
 
 void CommandBase::AddRequirements(
@@ -31,19 +31,19 @@ wpi::SmallSet<Subsystem*, 4> CommandBase::GetRequirements() const {
 }
 
 void CommandBase::SetName(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().SetName(this, name);
+  wpi::SendableRegistry::SetName(this, name);
 }
 
 std::string CommandBase::GetName() const {
-  return wpi::SendableRegistry::GetInstance().GetName(this);
+  return wpi::SendableRegistry::GetName(this);
 }
 
 std::string CommandBase::GetSubsystem() const {
-  return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
+  return wpi::SendableRegistry::GetSubsystem(this);
 }
 
 void CommandBase::SetSubsystem(std::string_view subsystem) {
-  wpi::SendableRegistry::GetInstance().SetSubsystem(this, subsystem);
+  wpi::SendableRegistry::SetSubsystem(this, subsystem);
 }
 
 void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index 530b5edb72..f79fa59b73 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -70,20 +70,18 @@ CommandScheduler::CommandScheduler()
       }) {
   HAL_Report(HALUsageReporting::kResourceType_Command,
              HALUsageReporting::kCommand2_Scheduler);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
-  auto scheduler = frc::LiveWindow::GetInstance();
-  scheduler->enabled = [this] {
+  wpi::SendableRegistry::AddLW(this, "Scheduler");
+  frc::LiveWindow::SetEnabledCallback([this] {
     this->Disable();
     this->CancelAll();
-  };
-  scheduler->disabled = [this] { this->Enable(); };
+  });
+  frc::LiveWindow::SetDisabledCallback([this] { this->Enable(); });
 }
 
 CommandScheduler::~CommandScheduler() {
-  wpi::SendableRegistry::GetInstance().Remove(this);
-  auto scheduler = frc::LiveWindow::GetInstance();
-  scheduler->enabled = nullptr;
-  scheduler->disabled = nullptr;
+  wpi::SendableRegistry::Remove(this);
+  frc::LiveWindow::SetEnabledCallback(nullptr);
+  frc::LiveWindow::SetDisabledCallback(nullptr);
 
   std::unique_ptr<Impl>().swap(m_impl);
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
index d312ec45df..8216a07582 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -13,7 +13,7 @@
 using namespace frc2;
 
 SubsystemBase::SubsystemBase() {
-  wpi::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
+  wpi::SendableRegistry::AddLW(this, GetTypeName(*this));
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
@@ -48,22 +48,21 @@ void SubsystemBase::InitSendable(wpi::SendableBuilder& builder) {
 }
 
 std::string SubsystemBase::GetName() const {
-  return wpi::SendableRegistry::GetInstance().GetName(this);
+  return wpi::SendableRegistry::GetName(this);
 }
 
 void SubsystemBase::SetName(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().SetName(this, name);
+  wpi::SendableRegistry::SetName(this, name);
 }
 
 std::string SubsystemBase::GetSubsystem() const {
-  return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
+  return wpi::SendableRegistry::GetSubsystem(this);
 }
 
 void SubsystemBase::SetSubsystem(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
+  wpi::SendableRegistry::SetSubsystem(this, name);
 }
 
 void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddLW(child, GetSubsystem(), name);
+  wpi::SendableRegistry::AddLW(child, GetSubsystem(), name);
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
index 5b1400a881..8ba1cee700 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
@@ -31,8 +31,8 @@ public abstract class CommandTestBase {
 
     DriverStationSim.setEnabled(enabled);
     DriverStationSim.notifyNewData();
-    DriverStation.getInstance().isNewControlData();
-    while (DriverStation.getInstance().isEnabled() != enabled) {
+    DriverStation.isNewControlData();
+    while (DriverStation.isEnabled() != enabled) {
       try {
         Thread.sleep(1);
       } catch (InterruptedException exception) {
diff --git a/wpilibOldCommands/src/main/native/cpp/PIDBase.cpp b/wpilibOldCommands/src/main/native/cpp/PIDBase.cpp
index 0525b4a957..2dc6fed13a 100644
--- a/wpilibOldCommands/src/main/native/cpp/PIDBase.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/PIDBase.cpp
@@ -41,7 +41,7 @@ PIDBase::PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
-  wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
+  wpi::SendableRegistry::Add(this, "PIDController", instances);
 }
 
 double PIDBase::Get() const {
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
index 25c08d7ea8..66b88f2d88 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
@@ -41,10 +41,10 @@ Command::Command(std::string_view name, units::second_t timeout) {
 
   // If name contains an empty string
   if (name.empty()) {
-    wpi::SendableRegistry::GetInstance().Add(
-        this, fmt::format("Command_{}", typeid(*this).name()));
+    wpi::SendableRegistry::Add(this,
+                               fmt::format("Command_{}", typeid(*this).name()));
   } else {
-    wpi::SendableRegistry::GetInstance().Add(this, name);
+    wpi::SendableRegistry::Add(this, name);
   }
 }
 
@@ -278,27 +278,25 @@ void Command::StartTiming() {
 }
 
 std::string Command::GetName() const {
-  return wpi::SendableRegistry::GetInstance().GetName(this);
+  return wpi::SendableRegistry::GetName(this);
 }
 
 void Command::SetName(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().SetName(this, name);
+  wpi::SendableRegistry::SetName(this, name);
 }
 
 std::string Command::GetSubsystem() const {
-  return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
+  return wpi::SendableRegistry::GetSubsystem(this);
 }
 
 void Command::SetSubsystem(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
+  wpi::SendableRegistry::SetSubsystem(this, name);
 }
 
 void Command::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Command");
   builder.AddStringProperty(
-      ".name",
-      [=] { return wpi::SendableRegistry::GetInstance().GetName(this); },
-      nullptr);
+      ".name", [=] { return wpi::SendableRegistry::GetName(this); }, nullptr);
   builder.AddBooleanProperty(
       "running", [=] { return IsRunning(); },
       [=](bool value) {
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
index f98345e23c..701162c6f0 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
@@ -186,9 +186,9 @@ void Scheduler::InitSendable(nt::NTSendableBuilder& builder) {
     if (m_impl->runningCommandsChanged) {
       m_impl->commandsBuf.resize(0);
       m_impl->idsBuf.resize(0);
-      auto& registry = wpi::SendableRegistry::GetInstance();
       for (const auto& command : m_impl->commands) {
-        m_impl->commandsBuf.emplace_back(registry.GetName(command));
+        m_impl->commandsBuf.emplace_back(
+            wpi::SendableRegistry::GetName(command));
         m_impl->idsBuf.emplace_back(command->GetID());
       }
       nt::NetworkTableEntry(namesEntry).SetStringArray(m_impl->commandsBuf);
@@ -200,20 +200,18 @@ void Scheduler::InitSendable(nt::NTSendableBuilder& builder) {
 Scheduler::Scheduler() : m_impl(new Impl) {
   HAL_Report(HALUsageReporting::kResourceType_Command,
              HALUsageReporting::kCommand_Scheduler);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
-  auto scheduler = frc::LiveWindow::GetInstance();
-  scheduler->enabled = [this] {
+  wpi::SendableRegistry::AddLW(this, "Scheduler");
+  frc::LiveWindow::SetEnabledCallback([this] {
     this->SetEnabled(false);
     this->RemoveAll();
-  };
-  scheduler->disabled = [this] { this->SetEnabled(true); };
+  });
+  frc::LiveWindow::SetDisabledCallback([this] { this->SetEnabled(true); });
 }
 
 Scheduler::~Scheduler() {
-  wpi::SendableRegistry::GetInstance().Remove(this);
-  auto scheduler = frc::LiveWindow::GetInstance();
-  scheduler->enabled = nullptr;
-  scheduler->disabled = nullptr;
+  wpi::SendableRegistry::Remove(this);
+  frc::LiveWindow::SetEnabledCallback(nullptr);
+  frc::LiveWindow::SetDisabledCallback(nullptr);
 }
 
 void Scheduler::Impl::Remove(Command* command) {
diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
index caad34a060..824872f0c4 100644
--- a/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
+++ b/wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
@@ -15,7 +15,7 @@
 using namespace frc;
 
 Subsystem::Subsystem(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().AddLW(this, name, name);
+  wpi::SendableRegistry::AddLW(this, name, name);
   Scheduler::GetInstance()->RegisterSubsystem(this);
 }
 
@@ -44,7 +44,7 @@ Command* Subsystem::GetDefaultCommand() {
 std::string Subsystem::GetDefaultCommandName() {
   Command* defaultCommand = GetDefaultCommand();
   if (defaultCommand) {
-    return wpi::SendableRegistry::GetInstance().GetName(defaultCommand);
+    return wpi::SendableRegistry::GetName(defaultCommand);
   } else {
     return {};
   }
@@ -62,7 +62,7 @@ Command* Subsystem::GetCurrentCommand() const {
 std::string Subsystem::GetCurrentCommandName() const {
   Command* currentCommand = GetCurrentCommand();
   if (currentCommand) {
-    return wpi::SendableRegistry::GetInstance().GetName(currentCommand);
+    return wpi::SendableRegistry::GetName(currentCommand);
   } else {
     return {};
   }
@@ -73,19 +73,19 @@ void Subsystem::Periodic() {}
 void Subsystem::InitDefaultCommand() {}
 
 std::string Subsystem::GetName() const {
-  return wpi::SendableRegistry::GetInstance().GetName(this);
+  return wpi::SendableRegistry::GetName(this);
 }
 
 void Subsystem::SetName(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().SetName(this, name);
+  wpi::SendableRegistry::SetName(this, name);
 }
 
 std::string Subsystem::GetSubsystem() const {
-  return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
+  return wpi::SendableRegistry::GetSubsystem(this);
 }
 
 void Subsystem::SetSubsystem(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
+  wpi::SendableRegistry::SetSubsystem(this, name);
 }
 
 void Subsystem::AddChild(std::string_view name,
@@ -98,8 +98,8 @@ void Subsystem::AddChild(std::string_view name, wpi::Sendable* child) {
 }
 
 void Subsystem::AddChild(std::string_view name, wpi::Sendable& child) {
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddLW(&child, registry.GetSubsystem(this), name);
+  wpi::SendableRegistry::AddLW(&child,
+                               wpi::SendableRegistry::GetSubsystem(this), name);
 }
 
 void Subsystem::AddChild(std::shared_ptr<wpi::Sendable> child) {
@@ -111,9 +111,9 @@ void Subsystem::AddChild(wpi::Sendable* child) {
 }
 
 void Subsystem::AddChild(wpi::Sendable& child) {
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.SetSubsystem(&child, registry.GetSubsystem(this));
-  registry.EnableLiveWindow(&child);
+  wpi::SendableRegistry::SetSubsystem(
+      &child, wpi::SendableRegistry::GetSubsystem(this));
+  wpi::SendableRegistry::EnableLiveWindow(&child);
 }
 
 void Subsystem::ConfirmCommand() {
diff --git a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
index cb40288bd6..53259f312f 100644
--- a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
@@ -29,7 +29,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_I2C, 0);
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
+  wpi::SendableRegistry::AddLW(this, "ADXL345_I2C", port);
 }
 
 void ADXL345_I2C::SetRange(Range range) {
diff --git a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
index d1c0dfef5c..a9a1558a18 100644
--- a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
@@ -37,7 +37,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_SPI);
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
+  wpi::SendableRegistry::AddLW(this, "ADXL345_SPI", port);
 }
 
 void ADXL345_SPI::SetRange(Range range) {
diff --git a/wpilibc/src/main/native/cpp/ADXL362.cpp b/wpilibc/src/main/native/cpp/ADXL362.cpp
index 937239efa1..ebd3735294 100644
--- a/wpilibc/src/main/native/cpp/ADXL362.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL362.cpp
@@ -72,7 +72,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
 
   HAL_Report(HALUsageReporting::kResourceType_ADXL362, port + 1);
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
+  wpi::SendableRegistry::AddLW(this, "ADXL362", port);
 }
 
 void ADXL362::SetRange(Range range) {
diff --git a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
index ac82aa740e..5a2f62543e 100644
--- a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
+++ b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
@@ -58,7 +58,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
 
   HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port + 1);
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
+  wpi::SendableRegistry::AddLW(this, "ADXRS450_Gyro", port);
 }
 
 static bool CalcParity(int v) {
diff --git a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
index 72a83eaeb9..0b39e6409d 100644
--- a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
@@ -15,7 +15,7 @@ using namespace frc;
 
 AnalogAccelerometer::AnalogAccelerometer(int channel)
     : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
+  wpi::SendableRegistry::AddChild(this, m_analogInput.get());
 }
 
 AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
              m_analogInput->GetChannel() + 1);
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
-                                             m_analogInput->GetChannel());
+  wpi::SendableRegistry::AddLW(this, "Accelerometer",
+                               m_analogInput->GetChannel());
 }
diff --git a/wpilibc/src/main/native/cpp/AnalogEncoder.cpp b/wpilibc/src/main/native/cpp/AnalogEncoder.cpp
index 6314f18f5e..889a1d312b 100644
--- a/wpilibc/src/main/native/cpp/AnalogEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogEncoder.cpp
@@ -50,8 +50,8 @@ void AnalogEncoder::Init() {
   m_counter.SetDownSource(
       m_analogTrigger.CreateOutput(AnalogTriggerType::kFallingPulse));
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
-                                             m_analogInput->GetChannel());
+  wpi::SendableRegistry::AddLW(this, "DutyCycle Encoder",
+                               m_analogInput->GetChannel());
 }
 
 units::turn_t AnalogEncoder::Get() const {
diff --git a/wpilibc/src/main/native/cpp/AnalogGyro.cpp b/wpilibc/src/main/native/cpp/AnalogGyro.cpp
index 5175834d4f..106293be2e 100644
--- a/wpilibc/src/main/native/cpp/AnalogGyro.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogGyro.cpp
@@ -23,7 +23,7 @@ using namespace frc;
 
 AnalogGyro::AnalogGyro(int channel)
     : AnalogGyro(std::make_shared<AnalogInput>(channel)) {
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
+  wpi::SendableRegistry::AddChild(this, m_analog.get());
 }
 
 AnalogGyro::AnalogGyro(AnalogInput* channel)
@@ -41,7 +41,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
 
 AnalogGyro::AnalogGyro(int channel, int center, double offset)
     : AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
+  wpi::SendableRegistry::AddChild(this, m_analog.get());
 }
 
 AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
@@ -124,8 +124,7 @@ void AnalogGyro::InitGyro() {
 
   HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel() + 1);
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
-                                             m_analog->GetChannel());
+  wpi::SendableRegistry::AddLW(this, "AnalogGyro", m_analog->GetChannel());
 }
 
 void AnalogGyro::Calibrate() {
diff --git a/wpilibc/src/main/native/cpp/AnalogInput.cpp b/wpilibc/src/main/native/cpp/AnalogInput.cpp
index 1cf891690c..dfa5764fff 100644
--- a/wpilibc/src/main/native/cpp/AnalogInput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogInput.cpp
@@ -34,7 +34,7 @@ AnalogInput::AnalogInput(int channel) {
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
+  wpi::SendableRegistry::AddLW(this, "AnalogInput", channel);
 }
 
 AnalogInput::~AnalogInput() {
diff --git a/wpilibc/src/main/native/cpp/AnalogOutput.cpp b/wpilibc/src/main/native/cpp/AnalogOutput.cpp
index bc542751d8..a39127135b 100644
--- a/wpilibc/src/main/native/cpp/AnalogOutput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogOutput.cpp
@@ -34,7 +34,7 @@ AnalogOutput::AnalogOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
+  wpi::SendableRegistry::AddLW(this, "AnalogOutput", m_channel);
 }
 
 AnalogOutput::~AnalogOutput() {
diff --git a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
index 112c054afd..ba94613b11 100644
--- a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
@@ -18,7 +18,7 @@ AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
                                          double offset)
     : AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
                           offset) {
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
+  wpi::SendableRegistry::AddChild(this, m_analog_input.get());
 }
 
 AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
@@ -32,8 +32,8 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
     : m_analog_input(std::move(input)),
       m_fullRange(fullRange),
       m_offset(offset) {
-  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
-                                             m_analog_input->GetChannel());
+  wpi::SendableRegistry::AddLW(this, "AnalogPotentiometer",
+                               m_analog_input->GetChannel());
 }
 
 double AnalogPotentiometer::Get() const {
diff --git a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
index 2f464e55ba..f2b64d2267 100644
--- a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
@@ -20,7 +20,7 @@ using namespace frc;
 AnalogTrigger::AnalogTrigger(int channel)
     : AnalogTrigger(new AnalogInput(channel)) {
   m_ownsAnalog = true;
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput);
+  wpi::SendableRegistry::AddChild(this, m_analogInput);
 }
 
 AnalogTrigger::AnalogTrigger(AnalogInput* input) {
@@ -31,7 +31,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::AnalogTrigger(DutyCycle* input) {
@@ -42,7 +42,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) {
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::~AnalogTrigger() {
diff --git a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
index 3635b8d9e6..1b8da851d4 100644
--- a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
+++ b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
@@ -18,7 +18,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
 
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
              "Built-in accelerometer");
-  wpi::SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
+  wpi::SendableRegistry::AddLW(this, "BuiltInAccel");
 }
 
 void BuiltInAccelerometer::SetRange(Range range) {
diff --git a/wpilibc/src/main/native/cpp/Counter.cpp b/wpilibc/src/main/native/cpp/Counter.cpp
index 69bdadd8ac..3516d2a418 100644
--- a/wpilibc/src/main/native/cpp/Counter.cpp
+++ b/wpilibc/src/main/native/cpp/Counter.cpp
@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
   SetMaxPeriod(0.5_s);
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
+  wpi::SendableRegistry::AddLW(this, "Counter", m_index);
 }
 
 Counter::Counter(int channel) : Counter(kTwoPulse) {
@@ -97,7 +97,7 @@ Counter::~Counter() {
 
 void Counter::SetUpSource(int channel) {
   SetUpSource(std::make_shared<DigitalInput>(channel));
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
+  wpi::SendableRegistry::AddChild(this, m_upSource.get());
 }
 
 void Counter::SetUpSource(AnalogTrigger* analogTrigger,
@@ -152,7 +152,7 @@ void Counter::ClearUpSource() {
 
 void Counter::SetDownSource(int channel) {
   SetDownSource(std::make_shared<DigitalInput>(channel));
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
+  wpi::SendableRegistry::AddChild(this, m_downSource.get());
 }
 
 void Counter::SetDownSource(AnalogTrigger* analogTrigger,
diff --git a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
index 880d0bb6e2..3294a99338 100644
--- a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
@@ -35,8 +35,7 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
              m_channelIndex + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
-                                             m_channelIndex);
+  wpi::SendableRegistry::AddLW(this, "DigitalGlitchFilter", m_channelIndex);
 }
 
 DigitalGlitchFilter::~DigitalGlitchFilter() {
diff --git a/wpilibc/src/main/native/cpp/DigitalInput.cpp b/wpilibc/src/main/native/cpp/DigitalInput.cpp
index df982c530a..7bce9214e2 100644
--- a/wpilibc/src/main/native/cpp/DigitalInput.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalInput.cpp
@@ -33,7 +33,7 @@ DigitalInput::DigitalInput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
+  wpi::SendableRegistry::AddLW(this, "DigitalInput", channel);
 }
 
 DigitalInput::~DigitalInput() {
diff --git a/wpilibc/src/main/native/cpp/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
index eb9ad70cf5..5810e30eac 100644
--- a/wpilibc/src/main/native/cpp/DigitalOutput.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
+  wpi::SendableRegistry::AddLW(this, "DigitalOutput", channel);
 }
 
 DigitalOutput::~DigitalOutput() {
diff --git a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
index 15a85470f3..dd7c578c57 100644
--- a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
+++ b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
@@ -53,8 +53,9 @@ DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
              m_module->GetModuleNumber() + 1);
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
              m_module->GetModuleNumber() + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(
-      this, "DoubleSolenoid", m_module->GetModuleNumber(), m_forwardChannel);
+
+  wpi::SendableRegistry::AddLW(this, "DoubleSolenoid",
+                               m_module->GetModuleNumber(), m_forwardChannel);
 }
 
 DoubleSolenoid::~DoubleSolenoid() {}
diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index fee49eac30..f5939b0b89 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -4,23 +4,34 @@
 
 #include "frc/DriverStation.h"
 
+#include <stdint.h>
+
+#include <array>
+#include <atomic>
 #include <chrono>
 #include <string>
 #include <string_view>
+#include <thread>
 #include <type_traits>
 
+#include <fmt/format.h>
 #include <hal/DriverStation.h>
+#include <hal/DriverStationTypes.h>
 #include <hal/HALBase.h>
 #include <hal/Power.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableInstance.h>
+#include <wpi/condition_variable.h>
+#include <wpi/mutex.h>
 
 #include "frc/Errors.h"
 #include "frc/MotorSafety.h"
 #include "frc/Timer.h"
 
-namespace frc {
+using namespace frc;
+
+namespace {
 // A simple class which caches the previous value written to an NT entry
 // Used to prevent redundant, repeated writes of the same value
 template <class T>
@@ -60,37 +71,94 @@ class MatchDataSenderEntry {
   void SetValue(std::string_view val) { ntEntry.SetString(val); }
 };
 
-class MatchDataSender {
- public:
-  std::shared_ptr<nt::NetworkTable> table;
-  MatchDataSenderEntry<std::string> typeMetaData;
-  MatchDataSenderEntry<std::string> gameSpecificMessage;
-  MatchDataSenderEntry<std::string> eventName;
-  MatchDataSenderEntry<double> matchNumber;
-  MatchDataSenderEntry<double> replayNumber;
-  MatchDataSenderEntry<double> matchType;
-  MatchDataSenderEntry<bool> alliance;
-  MatchDataSenderEntry<double> station;
-  MatchDataSenderEntry<double> controlWord;
-
-  MatchDataSender()
-      : table(nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo")),
-        typeMetaData(table, ".type", "FMSInfo"),
-        gameSpecificMessage(table, "GameSpecificMessage", ""),
-        eventName(table, "EventName", ""),
-        matchNumber(table, "MatchNumber", 0.0),
-        replayNumber(table, "ReplayNumber", 0.0),
-        matchType(table, "MatchType", 0.0),
-        alliance(table, "IsRedAlliance", true),
-        station(table, "StationNumber", 1.0),
-        controlWord(table, "FMSControlData", 0.0) {}
+struct MatchDataSender {
+  std::shared_ptr<nt::NetworkTable> table =
+      nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo");
+  MatchDataSenderEntry<std::string> typeMetaData{table, ".type", "FMSInfo"};
+  MatchDataSenderEntry<std::string> gameSpecificMessage{
+      table, "GameSpecificMessage", ""};
+  MatchDataSenderEntry<std::string> eventName{table, "EventName", ""};
+  MatchDataSenderEntry<double> matchNumber{table, "MatchNumber", 0.0};
+  MatchDataSenderEntry<double> replayNumber{table, "ReplayNumber", 0.0};
+  MatchDataSenderEntry<double> matchType{table, "MatchType", 0.0};
+  MatchDataSenderEntry<bool> alliance{table, "IsRedAlliance", true};
+  MatchDataSenderEntry<double> station{table, "StationNumber", 1.0};
+  MatchDataSenderEntry<double> controlWord{table, "FMSControlData", 0.0};
 };
-}  // namespace frc
 
-using namespace frc;
+struct Instance {
+  Instance();
+  ~Instance();
+
+  MatchDataSender matchDataSender;
+
+  // Joystick button rising/falling edge flags
+  wpi::mutex buttonEdgeMutex;
+  std::array<HAL_JoystickButtons, DriverStation::kJoystickPorts>
+      previousButtonStates;
+  std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsPressed;
+  std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsReleased;
+
+  // Internal Driver Station thread
+  std::thread dsThread;
+  std::atomic<bool> isRunning{false};
+
+  mutable wpi::mutex waitForDataMutex;
+  wpi::condition_variable waitForDataCond;
+  int waitForDataCounter = 0;
+
+  bool silenceJoystickWarning = false;
+
+  // Robot state status variables
+  bool userInDisabled = false;
+  bool userInAutonomous = false;
+  bool userInTeleop = false;
+  bool userInTest = false;
+
+  units::second_t nextMessageTime = 0_s;
+};
+}  // namespace
 
 static constexpr auto kJoystickUnpluggedMessageInterval = 1_s;
 
+static Instance& GetInstance() {
+  static Instance instance;
+  return instance;
+}
+
+static void Run();
+static void SendMatchData();
+
+/**
+ * Reports errors related to unplugged joysticks.
+ *
+ * Throttles the errors so that they don't overwhelm the DS.
+ */
+static void ReportJoystickUnpluggedErrorV(fmt::string_view format,
+                                          fmt::format_args args);
+
+template <typename S, typename... Args>
+static inline void ReportJoystickUnpluggedError(const S& format,
+                                                Args&&... args) {
+  ReportJoystickUnpluggedErrorV(
+      format, fmt::make_args_checked<Args...>(format, args...));
+}
+
+/**
+ * Reports errors related to unplugged joysticks.
+ *
+ * Throttles the errors so that they don't overwhelm the DS.
+ */
+static void ReportJoystickUnpluggedWarningV(fmt::string_view format,
+                                            fmt::format_args args);
+
+template <typename S, typename... Args>
+static inline void ReportJoystickUnpluggedWarning(const S& format,
+                                                  Args&&... args) {
+  ReportJoystickUnpluggedWarningV(
+      format, fmt::make_args_checked<Args...>(format, args...));
+}
+
 static int& GetDSLastCount() {
   // There is a rollover error condition here. At Packet# = n * (uintmax), this
   // will return false when instead it should return true. However, this at a
@@ -100,14 +168,30 @@ static int& GetDSLastCount() {
   return lastCount;
 }
 
-DriverStation::~DriverStation() {
-  m_isRunning = false;
+Instance::Instance() {
+  HAL_Initialize(500, 0);
+
+  // All joysticks should default to having zero axes, povs and buttons, so
+  // uninitialized memory doesn't get sent to speed controllers.
+  for (unsigned int i = 0; i < DriverStation::kJoystickPorts; i++) {
+    joystickButtonsPressed[i] = 0;
+    joystickButtonsReleased[i] = 0;
+    previousButtonStates[i].count = 0;
+    previousButtonStates[i].buttons = 0;
+  }
+
+  dsThread = std::thread(&Run);
+}
+
+Instance::~Instance() {
+  isRunning = false;
   // Trigger a DS mutex release in case there is no driver station running.
   HAL_ReleaseDSMutex();
-  m_dsThread.join();
+  dsThread.join();
 }
 
 DriverStation& DriverStation::GetInstance() {
+  ::GetInstance();
   static DriverStation instance;
   return instance;
 }
@@ -158,14 +242,14 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
         button, buttons.count);
     return false;
   }
-  std::unique_lock lock(m_buttonEdgeMutex);
+  auto& inst = ::GetInstance();
+  std::unique_lock lock(inst.buttonEdgeMutex);
   // If button was pressed, clear flag and return true
-  if (m_joystickButtonsPressed[stick] & 1 << (button - 1)) {
-    m_joystickButtonsPressed[stick] &= ~(1 << (button - 1));
+  if (inst.joystickButtonsPressed[stick] & 1 << (button - 1)) {
+    inst.joystickButtonsPressed[stick] &= ~(1 << (button - 1));
     return true;
-  } else {
-    return false;
   }
+  return false;
 }
 
 bool DriverStation::GetStickButtonReleased(int stick, int button) {
@@ -189,14 +273,14 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
         button, buttons.count);
     return false;
   }
-  std::unique_lock lock(m_buttonEdgeMutex);
+  auto& inst = ::GetInstance();
+  std::unique_lock lock(inst.buttonEdgeMutex);
   // If button was released, clear flag and return true
-  if (m_joystickButtonsReleased[stick] & 1 << (button - 1)) {
-    m_joystickButtonsReleased[stick] &= ~(1 << (button - 1));
+  if (inst.joystickButtonsReleased[stick] & 1 << (button - 1)) {
+    inst.joystickButtonsReleased[stick] &= ~(1 << (button - 1));
     return true;
-  } else {
-    return false;
   }
+  return false;
 }
 
 double DriverStation::GetStickAxis(int stick, int axis) {
@@ -247,7 +331,7 @@ int DriverStation::GetStickPOV(int stick, int pov) {
   return povs.povs[pov];
 }
 
-int DriverStation::GetStickButtons(int stick) const {
+int DriverStation::GetStickButtons(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return 0;
@@ -259,7 +343,7 @@ int DriverStation::GetStickButtons(int stick) const {
   return buttons.buttons;
 }
 
-int DriverStation::GetStickAxisCount(int stick) const {
+int DriverStation::GetStickAxisCount(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return 0;
@@ -271,7 +355,7 @@ int DriverStation::GetStickAxisCount(int stick) const {
   return axes.count;
 }
 
-int DriverStation::GetStickPOVCount(int stick) const {
+int DriverStation::GetStickPOVCount(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return 0;
@@ -283,7 +367,7 @@ int DriverStation::GetStickPOVCount(int stick) const {
   return povs.count;
 }
 
-int DriverStation::GetStickButtonCount(int stick) const {
+int DriverStation::GetStickButtonCount(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return 0;
@@ -295,7 +379,7 @@ int DriverStation::GetStickButtonCount(int stick) const {
   return buttons.count;
 }
 
-bool DriverStation::GetJoystickIsXbox(int stick) const {
+bool DriverStation::GetJoystickIsXbox(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return false;
@@ -307,7 +391,7 @@ bool DriverStation::GetJoystickIsXbox(int stick) const {
   return static_cast<bool>(descriptor.isXbox);
 }
 
-int DriverStation::GetJoystickType(int stick) const {
+int DriverStation::GetJoystickType(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return -1;
@@ -319,7 +403,7 @@ int DriverStation::GetJoystickType(int stick) const {
   return static_cast<int>(descriptor.type);
 }
 
-std::string DriverStation::GetJoystickName(int stick) const {
+std::string DriverStation::GetJoystickName(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
   }
@@ -330,7 +414,7 @@ std::string DriverStation::GetJoystickName(int stick) const {
   return descriptor.name;
 }
 
-int DriverStation::GetJoystickAxisType(int stick, int axis) const {
+int DriverStation::GetJoystickAxisType(int stick, int axis) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return -1;
@@ -342,69 +426,70 @@ int DriverStation::GetJoystickAxisType(int stick, int axis) const {
   return static_cast<bool>(descriptor.axisTypes);
 }
 
-bool DriverStation::IsJoystickConnected(int stick) const {
+bool DriverStation::IsJoystickConnected(int stick) {
   return GetStickAxisCount(stick) > 0 || GetStickButtonCount(stick) > 0 ||
          GetStickPOVCount(stick) > 0;
 }
 
-bool DriverStation::IsEnabled() const {
+bool DriverStation::IsEnabled() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return controlWord.enabled && controlWord.dsAttached;
 }
 
-bool DriverStation::IsDisabled() const {
+bool DriverStation::IsDisabled() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !(controlWord.enabled && controlWord.dsAttached);
 }
 
-bool DriverStation::IsEStopped() const {
+bool DriverStation::IsEStopped() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return controlWord.eStop;
 }
 
-bool DriverStation::IsAutonomous() const {
+bool DriverStation::IsAutonomous() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return controlWord.autonomous;
 }
 
-bool DriverStation::IsAutonomousEnabled() const {
+bool DriverStation::IsAutonomousEnabled() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return controlWord.autonomous && controlWord.enabled;
 }
 
-bool DriverStation::IsOperatorControl() const {
+bool DriverStation::IsOperatorControl() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !(controlWord.autonomous || controlWord.test);
 }
 
-bool DriverStation::IsOperatorControlEnabled() const {
+bool DriverStation::IsOperatorControlEnabled() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !controlWord.autonomous && !controlWord.test && controlWord.enabled;
 }
 
-bool DriverStation::IsTest() const {
+bool DriverStation::IsTest() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return controlWord.test;
 }
 
-bool DriverStation::IsDSAttached() const {
+bool DriverStation::IsDSAttached() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return controlWord.dsAttached;
 }
 
-bool DriverStation::IsNewControlData() const {
-  std::unique_lock lock(m_waitForDataMutex);
+bool DriverStation::IsNewControlData() {
+  auto& inst = ::GetInstance();
+  std::unique_lock lock(inst.waitForDataMutex);
   int& lastCount = GetDSLastCount();
-  int currentCount = m_waitForDataCounter;
+  int currentCount = inst.waitForDataCounter;
   if (lastCount == currentCount) {
     return false;
   }
@@ -412,44 +497,44 @@ bool DriverStation::IsNewControlData() const {
   return true;
 }
 
-bool DriverStation::IsFMSAttached() const {
+bool DriverStation::IsFMSAttached() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return controlWord.fmsAttached;
 }
 
-std::string DriverStation::GetGameSpecificMessage() const {
+std::string DriverStation::GetGameSpecificMessage() {
   HAL_MatchInfo info;
   HAL_GetMatchInfo(&info);
   return std::string(reinterpret_cast<char*>(info.gameSpecificMessage),
                      info.gameSpecificMessageSize);
 }
 
-std::string DriverStation::GetEventName() const {
+std::string DriverStation::GetEventName() {
   HAL_MatchInfo info;
   HAL_GetMatchInfo(&info);
   return info.eventName;
 }
 
-DriverStation::MatchType DriverStation::GetMatchType() const {
+DriverStation::MatchType DriverStation::GetMatchType() {
   HAL_MatchInfo info;
   HAL_GetMatchInfo(&info);
   return static_cast<DriverStation::MatchType>(info.matchType);
 }
 
-int DriverStation::GetMatchNumber() const {
+int DriverStation::GetMatchNumber() {
   HAL_MatchInfo info;
   HAL_GetMatchInfo(&info);
   return info.matchNumber;
 }
 
-int DriverStation::GetReplayNumber() const {
+int DriverStation::GetReplayNumber() {
   HAL_MatchInfo info;
   HAL_GetMatchInfo(&info);
   return info.replayNumber;
 }
 
-DriverStation::Alliance DriverStation::GetAlliance() const {
+DriverStation::Alliance DriverStation::GetAlliance() {
   int32_t status = 0;
   auto allianceStationID = HAL_GetAllianceStation(&status);
   switch (allianceStationID) {
@@ -466,7 +551,7 @@ DriverStation::Alliance DriverStation::GetAlliance() const {
   }
 }
 
-int DriverStation::GetLocation() const {
+int DriverStation::GetLocation() {
   int32_t status = 0;
   auto allianceStationID = HAL_GetAllianceStation(&status);
   switch (allianceStationID) {
@@ -489,36 +574,37 @@ void DriverStation::WaitForData() {
 }
 
 bool DriverStation::WaitForData(units::second_t timeout) {
+  auto& inst = ::GetInstance();
   auto timeoutTime = std::chrono::steady_clock::now() +
                      std::chrono::steady_clock::duration{timeout};
 
-  std::unique_lock lock(m_waitForDataMutex);
+  std::unique_lock lock(inst.waitForDataMutex);
   int& lastCount = GetDSLastCount();
-  int currentCount = m_waitForDataCounter;
+  int currentCount = inst.waitForDataCounter;
   if (lastCount != currentCount) {
     lastCount = currentCount;
     return true;
   }
-  while (m_waitForDataCounter == currentCount) {
+  while (inst.waitForDataCounter == currentCount) {
     if (timeout > 0_s) {
-      auto timedOut = m_waitForDataCond.wait_until(lock, timeoutTime);
+      auto timedOut = inst.waitForDataCond.wait_until(lock, timeoutTime);
       if (timedOut == std::cv_status::timeout) {
         return false;
       }
     } else {
-      m_waitForDataCond.wait(lock);
+      inst.waitForDataCond.wait(lock);
     }
   }
-  lastCount = m_waitForDataCounter;
+  lastCount = inst.waitForDataCounter;
   return true;
 }
 
-double DriverStation::GetMatchTime() const {
+double DriverStation::GetMatchTime() {
   int32_t status = 0;
   return HAL_GetMatchTime(&status);
 }
 
-double DriverStation::GetBatteryVoltage() const {
+double DriverStation::GetBatteryVoltage() {
   int32_t status = 0;
   double voltage = HAL_GetVinVoltage(&status);
   FRC_CheckErrorStatus(status, "{}", "getVinVoltage");
@@ -526,92 +612,101 @@ double DriverStation::GetBatteryVoltage() const {
   return voltage;
 }
 
-void DriverStation::WakeupWaitForData() {
-  std::scoped_lock waitLock(m_waitForDataMutex);
-  // Nofify all threads
-  m_waitForDataCounter++;
-  m_waitForDataCond.notify_all();
+void DriverStation::InDisabled(bool entering) {
+  ::GetInstance().userInDisabled = entering;
 }
 
-void DriverStation::GetData() {
+void DriverStation::InAutonomous(bool entering) {
+  ::GetInstance().userInAutonomous = entering;
+}
+
+void DriverStation::InOperatorControl(bool entering) {
+  ::GetInstance().userInTeleop = entering;
+}
+
+void DriverStation::InTest(bool entering) {
+  ::GetInstance().userInTest = entering;
+}
+
+void DriverStation::WakeupWaitForData() {
+  auto& inst = ::GetInstance();
+  std::scoped_lock waitLock(inst.waitForDataMutex);
+  // Nofify all threads
+  inst.waitForDataCounter++;
+  inst.waitForDataCond.notify_all();
+}
+
+/**
+ * Copy data from the DS task for the user.
+ *
+ * If no new data exists, it will just be returned, otherwise
+ * the data will be copied from the DS polling loop.
+ */
+void GetData() {
+  auto& inst = ::GetInstance();
   {
     // Compute the pressed and released buttons
     HAL_JoystickButtons currentButtons;
-    std::unique_lock lock(m_buttonEdgeMutex);
+    std::unique_lock lock(inst.buttonEdgeMutex);
 
-    for (int32_t i = 0; i < kJoystickPorts; i++) {
+    for (int32_t i = 0; i < DriverStation::kJoystickPorts; i++) {
       HAL_GetJoystickButtons(i, &currentButtons);
 
       // If buttons weren't pressed and are now, set flags in m_buttonsPressed
-      m_joystickButtonsPressed[i] |=
-          ~m_previousButtonStates[i].buttons & currentButtons.buttons;
+      inst.joystickButtonsPressed[i] |=
+          ~inst.previousButtonStates[i].buttons & currentButtons.buttons;
 
       // If buttons were pressed and aren't now, set flags in m_buttonsReleased
-      m_joystickButtonsReleased[i] |=
-          m_previousButtonStates[i].buttons & ~currentButtons.buttons;
+      inst.joystickButtonsReleased[i] |=
+          inst.previousButtonStates[i].buttons & ~currentButtons.buttons;
 
-      m_previousButtonStates[i] = currentButtons;
+      inst.previousButtonStates[i] = currentButtons;
     }
   }
 
-  WakeupWaitForData();
+  DriverStation::WakeupWaitForData();
   SendMatchData();
 }
 
 void DriverStation::SilenceJoystickConnectionWarning(bool silence) {
-  m_silenceJoystickWarning = silence;
+  ::GetInstance().silenceJoystickWarning = silence;
 }
 
-bool DriverStation::IsJoystickConnectionWarningSilenced() const {
-  return !IsFMSAttached() && m_silenceJoystickWarning;
+bool DriverStation::IsJoystickConnectionWarningSilenced() {
+  return !IsFMSAttached() && ::GetInstance().silenceJoystickWarning;
 }
 
-DriverStation::DriverStation() {
-  HAL_Initialize(500, 0);
-  m_waitForDataCounter = 0;
-
-  m_matchDataSender = std::make_unique<MatchDataSender>();
-
-  // All joysticks should default to having zero axes, povs and buttons, so
-  // uninitialized memory doesn't get sent to speed controllers.
-  for (unsigned int i = 0; i < kJoystickPorts; i++) {
-    m_joystickButtonsPressed[i] = 0;
-    m_joystickButtonsReleased[i] = 0;
-    m_previousButtonStates[i].count = 0;
-    m_previousButtonStates[i].buttons = 0;
-  }
-
-  m_dsThread = std::thread(&DriverStation::Run, this);
-}
-
-void DriverStation::ReportJoystickUnpluggedErrorV(fmt::string_view format,
-                                                  fmt::format_args args) {
+void ReportJoystickUnpluggedErrorV(fmt::string_view format,
+                                   fmt::format_args args) {
+  auto& inst = GetInstance();
   auto currentTime = Timer::GetFPGATimestamp();
-  if (currentTime > m_nextMessageTime) {
+  if (currentTime > inst.nextMessageTime) {
     ReportErrorV(err::Error, "", 0, "", format, args);
-    m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
+    inst.nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
   }
 }
 
-void DriverStation::ReportJoystickUnpluggedWarningV(fmt::string_view format,
-                                                    fmt::format_args args) {
-  if (IsFMSAttached() || !m_silenceJoystickWarning) {
+void ReportJoystickUnpluggedWarningV(fmt::string_view format,
+                                     fmt::format_args args) {
+  auto& inst = GetInstance();
+  if (DriverStation::IsFMSAttached() || !inst.silenceJoystickWarning) {
     auto currentTime = Timer::GetFPGATimestamp();
-    if (currentTime > m_nextMessageTime) {
+    if (currentTime > inst.nextMessageTime) {
       ReportErrorV(warn::Warning, "", 0, "", format, args);
-      m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
+      inst.nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
     }
   }
 }
 
-void DriverStation::Run() {
-  m_isRunning = true;
+void Run() {
+  auto& inst = GetInstance();
+  inst.isRunning = true;
   int safetyCounter = 0;
-  while (m_isRunning) {
+  while (inst.isRunning) {
     HAL_WaitForDSData();
     GetData();
 
-    if (IsDisabled()) {
+    if (DriverStation::IsDisabled()) {
       safetyCounter = 0;
     }
 
@@ -619,22 +714,22 @@ void DriverStation::Run() {
       MotorSafety::CheckMotors();
       safetyCounter = 0;
     }
-    if (m_userInDisabled) {
+    if (inst.userInDisabled) {
       HAL_ObserveUserProgramDisabled();
     }
-    if (m_userInAutonomous) {
+    if (inst.userInAutonomous) {
       HAL_ObserveUserProgramAutonomous();
     }
-    if (m_userInTeleop) {
+    if (inst.userInTeleop) {
       HAL_ObserveUserProgramTeleop();
     }
-    if (m_userInTest) {
+    if (inst.userInTest) {
       HAL_ObserveUserProgramTest();
     }
   }
 }
 
-void DriverStation::SendMatchData() {
+void SendMatchData() {
   int32_t status = 0;
   HAL_AllianceStationID alliance = HAL_GetAllianceStation(&status);
   bool isRedAlliance = false;
@@ -669,19 +764,20 @@ void DriverStation::SendMatchData() {
   HAL_MatchInfo tmpDataStore;
   HAL_GetMatchInfo(&tmpDataStore);
 
-  m_matchDataSender->alliance.Set(isRedAlliance);
-  m_matchDataSender->station.Set(stationNumber);
-  m_matchDataSender->eventName.Set(tmpDataStore.eventName);
-  m_matchDataSender->gameSpecificMessage.Set(
+  auto& inst = GetInstance();
+  inst.matchDataSender.alliance.Set(isRedAlliance);
+  inst.matchDataSender.station.Set(stationNumber);
+  inst.matchDataSender.eventName.Set(tmpDataStore.eventName);
+  inst.matchDataSender.gameSpecificMessage.Set(
       std::string(reinterpret_cast<char*>(tmpDataStore.gameSpecificMessage),
                   tmpDataStore.gameSpecificMessageSize));
-  m_matchDataSender->matchNumber.Set(tmpDataStore.matchNumber);
-  m_matchDataSender->replayNumber.Set(tmpDataStore.replayNumber);
-  m_matchDataSender->matchType.Set(static_cast<int>(tmpDataStore.matchType));
+  inst.matchDataSender.matchNumber.Set(tmpDataStore.matchNumber);
+  inst.matchDataSender.replayNumber.Set(tmpDataStore.replayNumber);
+  inst.matchDataSender.matchType.Set(static_cast<int>(tmpDataStore.matchType));
 
   HAL_ControlWord ctlWord;
   HAL_GetControlWord(&ctlWord);
   int32_t wordInt = 0;
   std::memcpy(&wordInt, &ctlWord, sizeof(wordInt));
-  m_matchDataSender->controlWord.Set(wordInt);
+  inst.matchDataSender.controlWord.Set(wordInt);
 }
diff --git a/wpilibc/src/main/native/cpp/DutyCycle.cpp b/wpilibc/src/main/native/cpp/DutyCycle.cpp
index 3e05eaab1b..a8375e0f16 100644
--- a/wpilibc/src/main/native/cpp/DutyCycle.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycle.cpp
@@ -49,7 +49,7 @@ void DutyCycle::InitDutyCycle() {
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
   int index = GetFPGAIndex();
   HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
+  wpi::SendableRegistry::AddLW(this, "Duty Cycle", index);
 }
 
 int DutyCycle::GetFPGAIndex() const {
diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
index b9d9ed7c6b..d3b7a309bb 100644
--- a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -72,8 +72,8 @@ void DutyCycleEncoder::Init() {
         m_analogTrigger->CreateOutput(AnalogTriggerType::kFallingPulse));
   }
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
-                                             m_dutyCycle->GetSourceChannel());
+  wpi::SendableRegistry::AddLW(this, "DutyCycle Encoder",
+                               m_dutyCycle->GetSourceChannel());
 }
 
 units::turn_t DutyCycleEncoder::Get() const {
diff --git a/wpilibc/src/main/native/cpp/Encoder.cpp b/wpilibc/src/main/native/cpp/Encoder.cpp
index 87db3db232..5538c9b71b 100644
--- a/wpilibc/src/main/native/cpp/Encoder.cpp
+++ b/wpilibc/src/main/native/cpp/Encoder.cpp
@@ -22,9 +22,8 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
   m_aSource = std::make_shared<DigitalInput>(aChannel);
   m_bSource = std::make_shared<DigitalInput>(bChannel);
   InitEncoder(reverseDirection, encodingType);
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddChild(this, m_aSource.get());
-  registry.AddChild(this, m_bSource.get());
+  wpi::SendableRegistry::AddChild(this, m_aSource.get());
+  wpi::SendableRegistry::AddChild(this, m_bSource.get());
 }
 
 Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
@@ -181,7 +180,7 @@ int Encoder::GetSamplesToAverage() const {
 void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
   // Force digital input if just given an index
   m_indexSource = std::make_shared<DigitalInput>(channel);
-  wpi::SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
+  wpi::SendableRegistry::AddChild(this, m_indexSource.get());
   SetIndexSource(*m_indexSource.get(), type);
 }
 
@@ -240,8 +239,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
 
   HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
              encodingType);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Encoder",
-                                             m_aSource->GetChannel());
+  wpi::SendableRegistry::AddLW(this, "Encoder", m_aSource->GetChannel());
 }
 
 double Encoder::DecodingScaleFactor() const {
diff --git a/wpilibc/src/main/native/cpp/GenericHID.cpp b/wpilibc/src/main/native/cpp/GenericHID.cpp
index 8f6f971652..6c186eb942 100644
--- a/wpilibc/src/main/native/cpp/GenericHID.cpp
+++ b/wpilibc/src/main/native/cpp/GenericHID.cpp
@@ -11,7 +11,7 @@
 
 using namespace frc;
 
-GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) {
+GenericHID::GenericHID(int port) {
   if (port < 0 || port >= DriverStation::kJoystickPorts) {
     throw FRC_MakeError(warn::BadJoystickIndex, "port {} out of range", port);
   }
@@ -19,51 +19,51 @@ GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) {
 }
 
 bool GenericHID::GetRawButton(int button) const {
-  return m_ds->GetStickButton(m_port, button);
+  return DriverStation::GetStickButton(m_port, button);
 }
 
 bool GenericHID::GetRawButtonPressed(int button) {
-  return m_ds->GetStickButtonPressed(m_port, button);
+  return DriverStation::GetStickButtonPressed(m_port, button);
 }
 
 bool GenericHID::GetRawButtonReleased(int button) {
-  return m_ds->GetStickButtonReleased(m_port, button);
+  return DriverStation::GetStickButtonReleased(m_port, button);
 }
 
 double GenericHID::GetRawAxis(int axis) const {
-  return m_ds->GetStickAxis(m_port, axis);
+  return DriverStation::GetStickAxis(m_port, axis);
 }
 
 int GenericHID::GetPOV(int pov) const {
-  return m_ds->GetStickPOV(m_port, pov);
+  return DriverStation::GetStickPOV(m_port, pov);
 }
 
 int GenericHID::GetAxisCount() const {
-  return m_ds->GetStickAxisCount(m_port);
+  return DriverStation::GetStickAxisCount(m_port);
 }
 
 int GenericHID::GetPOVCount() const {
-  return m_ds->GetStickPOVCount(m_port);
+  return DriverStation::GetStickPOVCount(m_port);
 }
 
 int GenericHID::GetButtonCount() const {
-  return m_ds->GetStickButtonCount(m_port);
+  return DriverStation::GetStickButtonCount(m_port);
 }
 
 bool GenericHID::IsConnected() const {
-  return m_ds->IsJoystickConnected(m_port);
+  return DriverStation::IsJoystickConnected(m_port);
 }
 
 GenericHID::HIDType GenericHID::GetType() const {
-  return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
+  return static_cast<HIDType>(DriverStation::GetJoystickType(m_port));
 }
 
 std::string GenericHID::GetName() const {
-  return m_ds->GetJoystickName(m_port);
+  return DriverStation::GetJoystickName(m_port);
 }
 
 int GenericHID::GetAxisType(int axis) const {
-  return m_ds->GetJoystickAxisType(m_port, axis);
+  return DriverStation::GetJoystickAxisType(m_port, axis);
 }
 
 int GenericHID::GetPort() const {
diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 2033745c60..414bfb23b6 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -110,7 +110,7 @@ void IterativeRobotBase::LoopFunc() {
     // Call DisabledInit() if we are now just entering disabled mode from
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kDisabled) {
-      LiveWindow::GetInstance()->SetEnabled(false);
+      LiveWindow::SetEnabled(false);
       Shuffleboard::DisableActuatorWidgets();
       DisabledInit();
       m_watchdog.AddEpoch("DisabledInit()");
@@ -124,7 +124,7 @@ void IterativeRobotBase::LoopFunc() {
     // Call AutonomousInit() if we are now just entering autonomous mode from
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kAutonomous) {
-      LiveWindow::GetInstance()->SetEnabled(false);
+      LiveWindow::SetEnabled(false);
       Shuffleboard::DisableActuatorWidgets();
       AutonomousInit();
       m_watchdog.AddEpoch("AutonomousInit()");
@@ -138,7 +138,7 @@ void IterativeRobotBase::LoopFunc() {
     // Call TeleopInit() if we are now just entering teleop mode from
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kTeleop) {
-      LiveWindow::GetInstance()->SetEnabled(false);
+      LiveWindow::SetEnabled(false);
       Shuffleboard::DisableActuatorWidgets();
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
@@ -152,7 +152,7 @@ void IterativeRobotBase::LoopFunc() {
     // Call TestInit() if we are now just entering test mode from
     // either a different mode or from power-on.
     if (m_lastMode != Mode::kTest) {
-      LiveWindow::GetInstance()->SetEnabled(true);
+      LiveWindow::SetEnabled(true);
       Shuffleboard::EnableActuatorWidgets();
       TestInit();
       m_watchdog.AddEpoch("TestInit()");
@@ -169,7 +169,7 @@ void IterativeRobotBase::LoopFunc() {
 
   SmartDashboard::UpdateValues();
   m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
-  LiveWindow::GetInstance()->UpdateValues();
+  LiveWindow::UpdateValues();
   m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
   Shuffleboard::Update();
   m_watchdog.AddEpoch("Shuffleboard::Update()");
diff --git a/wpilibc/src/main/native/cpp/MotorSafety.cpp b/wpilibc/src/main/native/cpp/MotorSafety.cpp
index 84adb9dc31..9cb28cd1f5 100644
--- a/wpilibc/src/main/native/cpp/MotorSafety.cpp
+++ b/wpilibc/src/main/native/cpp/MotorSafety.cpp
@@ -82,8 +82,7 @@ void MotorSafety::Check() {
     stopTime = m_stopTime;
   }
 
-  DriverStation& ds = DriverStation::GetInstance();
-  if (!enabled || ds.IsDisabled() || ds.IsTest()) {
+  if (!enabled || DriverStation::IsDisabled() || DriverStation::IsTest()) {
     return;
   }
 
diff --git a/wpilibc/src/main/native/cpp/PWM.cpp b/wpilibc/src/main/native/cpp/PWM.cpp
index 1b18c5b625..393accc799 100644
--- a/wpilibc/src/main/native/cpp/PWM.cpp
+++ b/wpilibc/src/main/native/cpp/PWM.cpp
@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
   if (registerSendable) {
-    wpi::SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
+    wpi::SendableRegistry::AddLW(this, "PWM", channel);
   }
 }
 
diff --git a/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp b/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
index c59934f4d3..f294eea0be 100644
--- a/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
+++ b/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
@@ -24,8 +24,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
   FRC_CheckErrorStatus(status, "Module {}", module);
 
   HAL_Report(HALUsageReporting::kResourceType_PDP, module + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel",
-                                             module);
+  wpi::SendableRegistry::AddLW(this, "PowerDistributionPanel", module);
 }
 
 double PowerDistributionPanel::GetVoltage() const {
diff --git a/wpilibc/src/main/native/cpp/Preferences.cpp b/wpilibc/src/main/native/cpp/Preferences.cpp
index ae8c578514..0c82f545cb 100644
--- a/wpilibc/src/main/native/cpp/Preferences.cpp
+++ b/wpilibc/src/main/native/cpp/Preferences.cpp
@@ -7,6 +7,7 @@
 #include <algorithm>
 
 #include <hal/FRCUsageReporting.h>
+#include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 
 using namespace frc;
@@ -14,42 +15,59 @@ using namespace frc;
 // The Preferences table name
 static constexpr std::string_view kTableName{"Preferences"};
 
+namespace {
+struct Instance {
+  Instance();
+
+  std::shared_ptr<nt::NetworkTable> table{
+      nt::NetworkTableInstance::GetDefault().GetTable(kTableName)};
+  NT_EntryListener listener;
+};
+}  // namespace
+
+static Instance& GetInstance() {
+  static Instance instance;
+  return instance;
+}
+
 Preferences* Preferences::GetInstance() {
+  ::GetInstance();
   static Preferences instance;
   return &instance;
 }
 
 std::vector<std::string> Preferences::GetKeys() {
-  return m_table->GetKeys();
+  return ::GetInstance().table->GetKeys();
 }
 
 std::string Preferences::GetString(std::string_view key,
                                    std::string_view defaultValue) {
-  return m_table->GetString(key, defaultValue);
+  return ::GetInstance().table->GetString(key, defaultValue);
 }
 
 int Preferences::GetInt(std::string_view key, int defaultValue) {
-  return static_cast<int>(m_table->GetNumber(key, defaultValue));
+  return static_cast<int>(::GetInstance().table->GetNumber(key, defaultValue));
 }
 
 double Preferences::GetDouble(std::string_view key, double defaultValue) {
-  return m_table->GetNumber(key, defaultValue);
+  return ::GetInstance().table->GetNumber(key, defaultValue);
 }
 
 float Preferences::GetFloat(std::string_view key, float defaultValue) {
-  return m_table->GetNumber(key, defaultValue);
+  return ::GetInstance().table->GetNumber(key, defaultValue);
 }
 
 bool Preferences::GetBoolean(std::string_view key, bool defaultValue) {
-  return m_table->GetBoolean(key, defaultValue);
+  return ::GetInstance().table->GetBoolean(key, defaultValue);
 }
 
 int64_t Preferences::GetLong(std::string_view key, int64_t defaultValue) {
-  return static_cast<int64_t>(m_table->GetNumber(key, defaultValue));
+  return static_cast<int64_t>(
+      ::GetInstance().table->GetNumber(key, defaultValue));
 }
 
 void Preferences::SetString(std::string_view key, std::string_view value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetString(value);
   entry.SetPersistent();
 }
@@ -59,12 +77,12 @@ void Preferences::PutString(std::string_view key, std::string_view value) {
 }
 
 void Preferences::InitString(std::string_view key, std::string_view value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultString(value);
 }
 
 void Preferences::SetInt(std::string_view key, int value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
@@ -74,12 +92,12 @@ void Preferences::PutInt(std::string_view key, int value) {
 }
 
 void Preferences::InitInt(std::string_view key, int value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
 void Preferences::SetDouble(std::string_view key, double value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
@@ -89,12 +107,12 @@ void Preferences::PutDouble(std::string_view key, double value) {
 }
 
 void Preferences::InitDouble(std::string_view key, double value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
 void Preferences::SetFloat(std::string_view key, float value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
@@ -104,12 +122,12 @@ void Preferences::PutFloat(std::string_view key, float value) {
 }
 
 void Preferences::InitFloat(std::string_view key, float value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
 void Preferences::SetBoolean(std::string_view key, bool value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetBoolean(value);
   entry.SetPersistent();
 }
@@ -119,12 +137,12 @@ void Preferences::PutBoolean(std::string_view key, bool value) {
 }
 
 void Preferences::InitBoolean(std::string_view key, bool value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultBoolean(value);
 }
 
 void Preferences::SetLong(std::string_view key, int64_t value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
@@ -134,16 +152,16 @@ void Preferences::PutLong(std::string_view key, int64_t value) {
 }
 
 void Preferences::InitLong(std::string_view key, int64_t value) {
-  auto entry = m_table->GetEntry(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
 bool Preferences::ContainsKey(std::string_view key) {
-  return m_table->ContainsKey(key);
+  return ::GetInstance().table->ContainsKey(key);
 }
 
 void Preferences::Remove(std::string_view key) {
-  m_table->Delete(key);
+  ::GetInstance().table->Delete(key);
 }
 
 void Preferences::RemoveAll() {
@@ -154,10 +172,9 @@ void Preferences::RemoveAll() {
   }
 }
 
-Preferences::Preferences()
-    : m_table(nt::NetworkTableInstance::GetDefault().GetTable(kTableName)) {
-  m_table->GetEntry(".type").SetString("RobotPreferences");
-  m_listener = m_table->AddEntryListener(
+Instance::Instance() {
+  table->GetEntry(".type").SetString("RobotPreferences");
+  listener = table->AddEntryListener(
       [=](nt::NetworkTable* table, std::string_view name,
           nt::NetworkTableEntry entry, std::shared_ptr<nt::Value> value,
           int flags) { entry.SetPersistent(); },
diff --git a/wpilibc/src/main/native/cpp/Relay.cpp b/wpilibc/src/main/native/cpp/Relay.cpp
index efcbbc4616..9bec566d12 100644
--- a/wpilibc/src/main/native/cpp/Relay.cpp
+++ b/wpilibc/src/main/native/cpp/Relay.cpp
@@ -56,7 +56,7 @@ Relay::Relay(int channel, Relay::Direction direction)
     FRC_CheckErrorStatus(status, "Channel {}", m_channel);
   }
 
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
+  wpi::SendableRegistry::AddLW(this, "Relay", m_channel);
 }
 
 Relay::~Relay() {
diff --git a/wpilibc/src/main/native/cpp/RobotState.cpp b/wpilibc/src/main/native/cpp/RobotState.cpp
index b39b6d1466..c2d251b627 100644
--- a/wpilibc/src/main/native/cpp/RobotState.cpp
+++ b/wpilibc/src/main/native/cpp/RobotState.cpp
@@ -9,25 +9,25 @@
 using namespace frc;
 
 bool RobotState::IsDisabled() {
-  return DriverStation::GetInstance().IsDisabled();
+  return DriverStation::IsDisabled();
 }
 
 bool RobotState::IsEnabled() {
-  return DriverStation::GetInstance().IsEnabled();
+  return DriverStation::IsEnabled();
 }
 
 bool RobotState::IsEStopped() {
-  return DriverStation::GetInstance().IsEStopped();
+  return DriverStation::IsEStopped();
 }
 
 bool RobotState::IsOperatorControl() {
-  return DriverStation::GetInstance().IsOperatorControl();
+  return DriverStation::IsOperatorControl();
 }
 
 bool RobotState::IsAutonomous() {
-  return DriverStation::GetInstance().IsAutonomous();
+  return DriverStation::IsAutonomous();
 }
 
 bool RobotState::IsTest() {
-  return DriverStation::GetInstance().IsTest();
+  return DriverStation::IsTest();
 }
diff --git a/wpilibc/src/main/native/cpp/Servo.cpp b/wpilibc/src/main/native/cpp/Servo.cpp
index 7dae590927..c410bff8ae 100644
--- a/wpilibc/src/main/native/cpp/Servo.cpp
+++ b/wpilibc/src/main/native/cpp/Servo.cpp
@@ -24,7 +24,7 @@ Servo::Servo(int channel) : PWM(channel) {
   SetPeriodMultiplier(kPeriodMultiplier_4X);
 
   HAL_Report(HALUsageReporting::kResourceType_Servo, channel + 1);
-  wpi::SendableRegistry::GetInstance().SetName(this, "Servo", channel);
+  wpi::SendableRegistry::SetName(this, "Servo", channel);
 }
 
 void Servo::Set(double value) {
diff --git a/wpilibc/src/main/native/cpp/Solenoid.cpp b/wpilibc/src/main/native/cpp/Solenoid.cpp
index dd6538a660..c8044c3be9 100644
--- a/wpilibc/src/main/native/cpp/Solenoid.cpp
+++ b/wpilibc/src/main/native/cpp/Solenoid.cpp
@@ -36,8 +36,8 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
 
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
              m_module->GetModuleNumber() + 1);
-  wpi::SendableRegistry::GetInstance().AddLW(
-      this, "Solenoid", m_module->GetModuleNumber(), m_channel);
+  wpi::SendableRegistry::AddLW(this, "Solenoid", m_module->GetModuleNumber(),
+                               m_channel);
 }
 
 Solenoid::~Solenoid() {}
diff --git a/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp b/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
index a212347f6e..c3704dfa4e 100644
--- a/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
+++ b/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
@@ -20,12 +20,11 @@ SpeedControllerGroup::SpeedControllerGroup(
 
 void SpeedControllerGroup::Initialize() {
   for (auto& speedController : m_speedControllers) {
-    wpi::SendableRegistry::GetInstance().AddChild(this, &speedController.get());
+    wpi::SendableRegistry::AddChild(this, &speedController.get());
   }
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup",
-                                           instances);
+  wpi::SendableRegistry::Add(this, "SpeedControllerGroup", instances);
 }
 
 void SpeedControllerGroup::Set(double speed) {
diff --git a/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
index 93df25e6c6..c0457294d2 100644
--- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp
+++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
@@ -30,9 +30,8 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
       m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
       m_counter(m_echoChannel) {
   Initialize();
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddChild(this, m_pingChannel.get());
-  registry.AddChild(this, m_echoChannel.get());
+  wpi::SendableRegistry::AddChild(this, m_pingChannel.get());
+  wpi::SendableRegistry::AddChild(this, m_echoChannel.get());
 }
 
 Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel)
@@ -185,8 +184,7 @@ void Ultrasonic::Initialize() {
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
-  wpi::SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
-                                             m_echoChannel->GetChannel());
+  wpi::SendableRegistry::AddLW(this, "Ultrasonic", m_echoChannel->GetChannel());
 }
 
 void Ultrasonic::UltrasonicChecker() {
diff --git a/wpilibc/src/main/native/cpp/controller/PIDController.cpp b/wpilibc/src/main/native/cpp/controller/PIDController.cpp
index 88dd9e674c..fc04b73414 100644
--- a/wpilibc/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpilibc/src/main/native/cpp/controller/PIDController.cpp
@@ -31,7 +31,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);
-  wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
+  wpi::SendableRegistry::Add(this, "PIDController", instances);
 }
 
 void PIDController::SetPID(double Kp, double Ki, double Kd) {
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index 517eeb05c4..7cbb17383a 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -26,12 +26,11 @@ using namespace frc;
 DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
                                      SpeedController& rightMotor)
     : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddChild(this, m_leftMotor);
-  registry.AddChild(this, m_rightMotor);
+  wpi::SendableRegistry::AddChild(this, m_leftMotor);
+  wpi::SendableRegistry::AddChild(this, m_rightMotor);
   static int instances = 0;
   ++instances;
-  registry.AddLW(this, "DifferentialDrive", instances);
+  wpi::SendableRegistry::AddLW(this, "DifferentialDrive", instances);
 }
 
 void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
diff --git a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
index 4f0ecc266e..125157007b 100644
--- a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
@@ -43,13 +43,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
                 std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
   m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
                std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddChild(this, m_leftMotor);
-  registry.AddChild(this, m_rightMotor);
-  registry.AddChild(this, m_backMotor);
+  wpi::SendableRegistry::AddChild(this, m_leftMotor);
+  wpi::SendableRegistry::AddChild(this, m_rightMotor);
+  wpi::SendableRegistry::AddChild(this, m_backMotor);
   static int instances = 0;
   ++instances;
-  registry.AddLW(this, "KilloughDrive", instances);
+  wpi::SendableRegistry::AddLW(this, "KilloughDrive", instances);
 }
 
 void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index dcf0c1ab26..e6141df06e 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -33,14 +33,13 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
       m_rearLeftMotor(&rearLeftMotor),
       m_frontRightMotor(&frontRightMotor),
       m_rearRightMotor(&rearRightMotor) {
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddChild(this, m_frontLeftMotor);
-  registry.AddChild(this, m_rearLeftMotor);
-  registry.AddChild(this, m_frontRightMotor);
-  registry.AddChild(this, m_rearRightMotor);
+  wpi::SendableRegistry::AddChild(this, m_frontLeftMotor);
+  wpi::SendableRegistry::AddChild(this, m_rearLeftMotor);
+  wpi::SendableRegistry::AddChild(this, m_frontRightMotor);
+  wpi::SendableRegistry::AddChild(this, m_rearRightMotor);
   static int instances = 0;
   ++instances;
-  registry.AddLW(this, "MecanumDrive", instances);
+  wpi::SendableRegistry::AddLW(this, "MecanumDrive", instances);
 }
 
 void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
diff --git a/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp b/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
index bfec5773c9..f8be7de441 100644
--- a/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
+++ b/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
@@ -15,133 +15,152 @@
 
 using namespace frc;
 
-struct LiveWindow::Impl {
-  Impl();
+namespace {
+struct Component {
+  bool firstTime = true;
+  bool telemetryEnabled = true;
+};
 
-  struct Component {
-    bool firstTime = true;
-    bool telemetryEnabled = true;
-  };
+struct Instance {
+  Instance() {
+    wpi::SendableRegistry::SetLiveWindowBuilderFactory(
+        [] { return std::make_unique<SendableBuilderImpl>(); });
+  }
 
   wpi::mutex mutex;
 
-  wpi::SendableRegistry& registry;
-  int dataHandle;
+  int dataHandle = wpi::SendableRegistry::GetDataHandle();
 
-  std::shared_ptr<nt::NetworkTable> liveWindowTable;
-  std::shared_ptr<nt::NetworkTable> statusTable;
-  nt::NetworkTableEntry enabledEntry;
+  std::shared_ptr<nt::NetworkTable> liveWindowTable =
+      nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow");
+  std::shared_ptr<nt::NetworkTable> statusTable =
+      liveWindowTable->GetSubTable(".status");
+  nt::NetworkTableEntry enabledEntry = statusTable->GetEntry("LW Enabled");
 
   bool startLiveWindow = false;
   bool liveWindowEnabled = false;
   bool telemetryEnabled = true;
 
+  std::function<void()> enabled;
+  std::function<void()> disabled;
+
   std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
 };
+}  // namespace
 
-LiveWindow::Impl::Impl()
-    : registry(wpi::SendableRegistry::GetInstance()),
-      dataHandle(registry.GetDataHandle()),
-      liveWindowTable(
-          nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
-  registry.SetLiveWindowBuilderFactory(
-      [] { return std::make_unique<SendableBuilderImpl>(); });
-  statusTable = liveWindowTable->GetSubTable(".status");
-  enabledEntry = statusTable->GetEntry("LW Enabled");
+static Instance& GetInstance() {
+  static Instance instance;
+  return instance;
 }
 
-std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
-    wpi::Sendable* sendable) {
+std::shared_ptr<Component> Instance::GetOrAdd(wpi::Sendable* sendable) {
   auto data = std::static_pointer_cast<Component>(
-      registry.GetData(sendable, dataHandle));
+      wpi::SendableRegistry::GetData(sendable, dataHandle));
   if (!data) {
     data = std::make_shared<Component>();
-    registry.SetData(sendable, dataHandle, data);
+    wpi::SendableRegistry::SetData(sendable, dataHandle, data);
   }
   return data;
 }
 
 LiveWindow* LiveWindow::GetInstance() {
+  ::GetInstance();
   static LiveWindow instance;
   return &instance;
 }
 
+void LiveWindow::SetEnabledCallback(std::function<void()> func) {
+  ::GetInstance().enabled = func;
+}
+
+void LiveWindow::SetDisabledCallback(std::function<void()> func) {
+  ::GetInstance().disabled = func;
+}
+
 void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.mutex);
   // Re-enable global setting in case DisableAllTelemetry() was called.
-  m_impl->telemetryEnabled = true;
-  m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
+  inst.telemetryEnabled = true;
+  inst.GetOrAdd(sendable)->telemetryEnabled = true;
 }
 
 void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  inst.GetOrAdd(sendable)->telemetryEnabled = false;
 }
 
 void LiveWindow::DisableAllTelemetry() {
-  std::scoped_lock lock(m_impl->mutex);
-  m_impl->telemetryEnabled = false;
-  m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  inst.telemetryEnabled = false;
+  wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
     if (!cbdata.data) {
-      cbdata.data = std::make_shared<Impl::Component>();
+      cbdata.data = std::make_shared<Component>();
     }
-    std::static_pointer_cast<Impl::Component>(cbdata.data)->telemetryEnabled =
-        false;
+    std::static_pointer_cast<Component>(cbdata.data)->telemetryEnabled = false;
   });
 }
 
-bool LiveWindow::IsEnabled() const {
-  std::scoped_lock lock(m_impl->mutex);
-  return m_impl->liveWindowEnabled;
+bool LiveWindow::IsEnabled() {
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  return inst.liveWindowEnabled;
 }
 
 void LiveWindow::SetEnabled(bool enabled) {
-  std::scoped_lock lock(m_impl->mutex);
-  if (m_impl->liveWindowEnabled == enabled) {
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  if (inst.liveWindowEnabled == enabled) {
     return;
   }
-  m_impl->startLiveWindow = enabled;
-  m_impl->liveWindowEnabled = enabled;
+  inst.startLiveWindow = enabled;
+  inst.liveWindowEnabled = enabled;
   // Force table generation now to make sure everything is defined
   UpdateValuesUnsafe();
   if (enabled) {
-    if (this->enabled) {
-      this->enabled();
+    if (inst.enabled) {
+      inst.enabled();
     }
   } else {
-    m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
-      static_cast<SendableBuilderImpl&>(cbdata.builder).StopLiveWindowMode();
-    });
-    if (this->disabled) {
-      this->disabled();
+    wpi::SendableRegistry::ForeachLiveWindow(
+        inst.dataHandle, [&](auto& cbdata) {
+          static_cast<SendableBuilderImpl&>(cbdata.builder)
+              .StopLiveWindowMode();
+        });
+    if (inst.disabled) {
+      inst.disabled();
     }
   }
-  m_impl->enabledEntry.SetBoolean(enabled);
+  inst.enabledEntry.SetBoolean(enabled);
 }
 
 void LiveWindow::UpdateValues() {
-  std::scoped_lock lock(m_impl->mutex);
+  auto& inst = ::GetInstance();
+  std::scoped_lock lock(inst.mutex);
   UpdateValuesUnsafe();
 }
 
 void LiveWindow::UpdateValuesUnsafe() {
+  auto& inst = ::GetInstance();
   // Only do this if either LiveWindow mode or telemetry is enabled.
-  if (!m_impl->liveWindowEnabled && !m_impl->telemetryEnabled) {
+  if (!inst.liveWindowEnabled && !inst.telemetryEnabled) {
     return;
   }
 
-  m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
+  wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
     if (!cbdata.sendable || cbdata.parent) {
       return;
     }
 
     if (!cbdata.data) {
-      cbdata.data = std::make_shared<Impl::Component>();
+      cbdata.data = std::make_shared<Component>();
     }
 
-    auto& comp = *std::static_pointer_cast<Impl::Component>(cbdata.data);
+    auto& comp = *std::static_pointer_cast<Component>(cbdata.data);
 
-    if (!m_impl->liveWindowEnabled && !comp.telemetryEnabled) {
+    if (!inst.liveWindowEnabled && !comp.telemetryEnabled) {
       return;
     }
 
@@ -153,7 +172,7 @@ void LiveWindow::UpdateValuesUnsafe() {
       if (cbdata.name.empty()) {
         return;
       }
-      auto ssTable = m_impl->liveWindowTable->GetSubTable(cbdata.subsystem);
+      auto ssTable = inst.liveWindowTable->GetSubTable(cbdata.subsystem);
       std::shared_ptr<nt::NetworkTable> table;
       // Treat name==subsystem as top level of subsystem
       if (cbdata.name == cbdata.subsystem) {
@@ -169,13 +188,11 @@ void LiveWindow::UpdateValuesUnsafe() {
       comp.firstTime = false;
     }
 
-    if (m_impl->startLiveWindow) {
+    if (inst.startLiveWindow) {
       static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
     }
     cbdata.builder.Update();
   });
 
-  m_impl->startLiveWindow = false;
+  inst.startLiveWindow = false;
 }
-
-LiveWindow::LiveWindow() : m_impl(new Impl) {}
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
index 197aacfff5..b7f26d18f6 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
@@ -20,12 +20,11 @@ MotorControllerGroup::MotorControllerGroup(
 
 void MotorControllerGroup::Initialize() {
   for (auto& motorController : m_motorControllers) {
-    wpi::SendableRegistry::GetInstance().AddChild(this, &motorController.get());
+    wpi::SendableRegistry::AddChild(this, &motorController.get());
   }
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::GetInstance().Add(this, "MotorControllerGroup",
-                                           instances);
+  wpi::SendableRegistry::Add(this, "MotorControllerGroup", instances);
 }
 
 void MotorControllerGroup::Set(double speed) {
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
index 0b9a3982f8..21164eb5a2 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
@@ -13,9 +13,8 @@ using namespace frc;
 
 NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
     : m_dio(dioChannel), m_pwm(pwmChannel) {
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  registry.AddChild(this, &m_dio);
-  registry.AddChild(this, &m_pwm);
+  wpi::SendableRegistry::AddChild(this, &m_dio);
+  wpi::SendableRegistry::AddChild(this, &m_pwm);
   SetExpiration(0_s);
   SetSafetyEnabled(false);
 
@@ -24,7 +23,7 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
   m_dio.EnablePWM(0.5);
 
   HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
-  registry.AddLW(this, "Nidec Brushless", pwmChannel);
+  wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
 }
 
 void NidecBrushless::Set(double speed) {
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
index 2b57656ad3..9829a75d7c 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -44,7 +44,7 @@ int PWMMotorController::GetChannel() const {
 
 PWMMotorController::PWMMotorController(std::string_view name, int channel)
     : m_pwm(channel, false) {
-  wpi::SendableRegistry::GetInstance().AddLW(this, name, channel);
+  wpi::SendableRegistry::AddLW(this, name, channel);
 }
 
 void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp b/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
index 1c41d0644a..1675c64f64 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
@@ -21,7 +21,7 @@ std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
 }
 
 void AddToSendableRegistry(wpi::Sendable* sendable, std::string name) {
-  wpi::SendableRegistry::GetInstance().Add(sendable, name);
+  wpi::SendableRegistry::Add(sendable, name);
 }
 }  // namespace detail
 
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
index b41d76953c..004f7c538a 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
@@ -67,7 +67,7 @@ ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
 }
 
 ComplexWidget& ShuffleboardContainer::Add(wpi::Sendable& sendable) {
-  auto name = wpi::SendableRegistry::GetInstance().GetName(&sendable);
+  auto name = wpi::SendableRegistry::GetName(&sendable);
   if (name.empty()) {
     FRC_ReportError(err::Error, "{}", "Sendable must have a name");
   }
diff --git a/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp b/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
index 6530c3dc91..5f2c6458d4 100644
--- a/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
@@ -155,7 +155,7 @@ void DriverStationSim::SetMatchTime(double matchTime) {
 
 void DriverStationSim::NotifyNewData() {
   HALSIM_NotifyDriverStationNewData();
-  DriverStation::GetInstance().WaitForData();
+  DriverStation::WaitForData();
 }
 
 void DriverStationSim::SetSendError(bool shouldSend) {
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
index 438753759e..e3080fe6eb 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
@@ -13,7 +13,7 @@ Field2d::Field2d() {
   m_objects.emplace_back(
       std::make_unique<FieldObject2d>("Robot", FieldObject2d::private_init{}));
   m_objects[0]->SetPose(Pose2d{});
-  wpi::SendableRegistry::GetInstance().Add(this, "Field");
+  wpi::SendableRegistry::Add(this, "Field");
 }
 
 Field2d::Field2d(Field2d&& rhs) : SendableHelper(std::move(rhs)) {
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
index 946e85df7d..550d40c3f4 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
@@ -11,7 +11,7 @@ using namespace frc;
 std::atomic_int SendableChooserBase::s_instances{0};
 
 SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
-  wpi::SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
+  wpi::SendableRegistry::Add(this, "SendableChooser", m_instance);
 }
 
 SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
index b15184663e..25bb61f330 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -12,95 +12,86 @@
 #include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
+#include "frc/smartdashboard/ListenerExecutor.h"
 #include "frc/smartdashboard/SendableBuilderImpl.h"
 
 using namespace frc;
 
 namespace {
-class Singleton {
- public:
-  static Singleton& GetInstance();
-
-  std::shared_ptr<nt::NetworkTable> table;
+struct Instance {
+  detail::ListenerExecutor listenerExecutor;
+  std::shared_ptr<nt::NetworkTable> table =
+      nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
   wpi::StringMap<wpi::SendableRegistry::UID> tablesToData;
   wpi::mutex tablesToDataMutex;
-
- private:
-  Singleton() {
-    table = nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
-    HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
-  }
-  Singleton(const Singleton&) = delete;
-  Singleton& operator=(const Singleton&) = delete;
 };
-
 }  // namespace
 
-Singleton& Singleton::GetInstance() {
-  static Singleton instance;
+static Instance& GetInstance() {
+  HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
+  static Instance instance;
   return instance;
 }
 
 void SmartDashboard::init() {
-  Singleton::GetInstance();
+  GetInstance();
 }
 
 bool SmartDashboard::ContainsKey(std::string_view key) {
-  return Singleton::GetInstance().table->ContainsKey(key);
+  return GetInstance().table->ContainsKey(key);
 }
 
 std::vector<std::string> SmartDashboard::GetKeys(int types) {
-  return Singleton::GetInstance().table->GetKeys(types);
+  return GetInstance().table->GetKeys(types);
 }
 
 void SmartDashboard::SetPersistent(std::string_view key) {
-  Singleton::GetInstance().table->GetEntry(key).SetPersistent();
+  GetInstance().table->GetEntry(key).SetPersistent();
 }
 
 void SmartDashboard::ClearPersistent(std::string_view key) {
-  Singleton::GetInstance().table->GetEntry(key).ClearPersistent();
+  GetInstance().table->GetEntry(key).ClearPersistent();
 }
 
 bool SmartDashboard::IsPersistent(std::string_view key) {
-  return Singleton::GetInstance().table->GetEntry(key).IsPersistent();
+  return GetInstance().table->GetEntry(key).IsPersistent();
 }
 
 void SmartDashboard::SetFlags(std::string_view key, unsigned int flags) {
-  Singleton::GetInstance().table->GetEntry(key).SetFlags(flags);
+  GetInstance().table->GetEntry(key).SetFlags(flags);
 }
 
 void SmartDashboard::ClearFlags(std::string_view key, unsigned int flags) {
-  Singleton::GetInstance().table->GetEntry(key).ClearFlags(flags);
+  GetInstance().table->GetEntry(key).ClearFlags(flags);
 }
 
 unsigned int SmartDashboard::GetFlags(std::string_view key) {
-  return Singleton::GetInstance().table->GetEntry(key).GetFlags();
+  return GetInstance().table->GetEntry(key).GetFlags();
 }
 
 void SmartDashboard::Delete(std::string_view key) {
-  Singleton::GetInstance().table->Delete(key);
+  GetInstance().table->Delete(key);
 }
 
 nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
-  return Singleton::GetInstance().table->GetEntry(key);
+  return GetInstance().table->GetEntry(key);
 }
 
 void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
   if (!data) {
     throw FRC_MakeError(err::NullParameter, "{}", "value");
   }
-  auto& inst = Singleton::GetInstance();
+  auto& inst = GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto& uid = inst.tablesToData[key];
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  wpi::Sendable* sddata = registry.GetSendable(uid);
+  wpi::Sendable* sddata = wpi::SendableRegistry::GetSendable(uid);
   if (sddata != data) {
-    uid = registry.GetUniqueId(data);
+    uid = wpi::SendableRegistry::GetUniqueId(data);
     auto dataTable = inst.table->GetSubTable(key);
     auto builder = std::make_unique<SendableBuilderImpl>();
     auto builderPtr = builder.get();
     builderPtr->SetTable(dataTable);
-    registry.Publish(uid, std::move(builder));
+    wpi::SendableRegistry::Publish(uid, std::move(builder));
     builderPtr->StartListeners();
     dataTable->GetEntry(".name").SetString(key);
   }
@@ -110,163 +101,147 @@ void SmartDashboard::PutData(wpi::Sendable* value) {
   if (!value) {
     throw FRC_MakeError(err::NullParameter, "{}", "value");
   }
-  auto name = wpi::SendableRegistry::GetInstance().GetName(value);
+  auto name = wpi::SendableRegistry::GetName(value);
   if (!name.empty()) {
     PutData(name, value);
   }
 }
 
 wpi::Sendable* SmartDashboard::GetData(std::string_view key) {
-  auto& inst = Singleton::GetInstance();
+  auto& inst = GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto it = inst.tablesToData.find(key);
   if (it == inst.tablesToData.end()) {
     throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
   }
-  return wpi::SendableRegistry::GetInstance().GetSendable(it->getValue());
+  return wpi::SendableRegistry::GetSendable(it->getValue());
 }
 
 bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
-  return Singleton::GetInstance().table->GetEntry(keyName).SetBoolean(value);
+  return GetInstance().table->GetEntry(keyName).SetBoolean(value);
 }
 
 bool SmartDashboard::SetDefaultBoolean(std::string_view key,
                                        bool defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultBoolean(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).SetDefaultBoolean(defaultValue);
 }
 
 bool SmartDashboard::GetBoolean(std::string_view keyName, bool defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(keyName).GetBoolean(
-      defaultValue);
+  return GetInstance().table->GetEntry(keyName).GetBoolean(defaultValue);
 }
 
 bool SmartDashboard::PutNumber(std::string_view keyName, double value) {
-  return Singleton::GetInstance().table->GetEntry(keyName).SetDouble(value);
+  return GetInstance().table->GetEntry(keyName).SetDouble(value);
 }
 
 bool SmartDashboard::SetDefaultNumber(std::string_view key,
                                       double defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultDouble(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).SetDefaultDouble(defaultValue);
 }
 
 double SmartDashboard::GetNumber(std::string_view keyName,
                                  double defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(keyName).GetDouble(
-      defaultValue);
+  return GetInstance().table->GetEntry(keyName).GetDouble(defaultValue);
 }
 
 bool SmartDashboard::PutString(std::string_view keyName,
                                std::string_view value) {
-  return Singleton::GetInstance().table->GetEntry(keyName).SetString(value);
+  return GetInstance().table->GetEntry(keyName).SetString(value);
 }
 
 bool SmartDashboard::SetDefaultString(std::string_view key,
                                       std::string_view defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultString(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).SetDefaultString(defaultValue);
 }
 
 std::string SmartDashboard::GetString(std::string_view keyName,
                                       std::string_view defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(keyName).GetString(
-      defaultValue);
+  return GetInstance().table->GetEntry(keyName).GetString(defaultValue);
 }
 
 bool SmartDashboard::PutBooleanArray(std::string_view key,
                                      wpi::span<const int> value) {
-  return Singleton::GetInstance().table->GetEntry(key).SetBooleanArray(value);
+  return GetInstance().table->GetEntry(key).SetBooleanArray(value);
 }
 
 bool SmartDashboard::SetDefaultBooleanArray(std::string_view key,
                                             wpi::span<const int> defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultBooleanArray(
+  return GetInstance().table->GetEntry(key).SetDefaultBooleanArray(
       defaultValue);
 }
 
 std::vector<int> SmartDashboard::GetBooleanArray(
     std::string_view key, wpi::span<const int> defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).GetBooleanArray(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).GetBooleanArray(defaultValue);
 }
 
 bool SmartDashboard::PutNumberArray(std::string_view key,
                                     wpi::span<const double> value) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDoubleArray(value);
+  return GetInstance().table->GetEntry(key).SetDoubleArray(value);
 }
 
 bool SmartDashboard::SetDefaultNumberArray(
     std::string_view key, wpi::span<const double> defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultDoubleArray(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).SetDefaultDoubleArray(defaultValue);
 }
 
 std::vector<double> SmartDashboard::GetNumberArray(
     std::string_view key, wpi::span<const double> defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).GetDoubleArray(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).GetDoubleArray(defaultValue);
 }
 
 bool SmartDashboard::PutStringArray(std::string_view key,
                                     wpi::span<const std::string> value) {
-  return Singleton::GetInstance().table->GetEntry(key).SetStringArray(value);
+  return GetInstance().table->GetEntry(key).SetStringArray(value);
 }
 
 bool SmartDashboard::SetDefaultStringArray(
     std::string_view key, wpi::span<const std::string> defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultStringArray(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).SetDefaultStringArray(defaultValue);
 }
 
 std::vector<std::string> SmartDashboard::GetStringArray(
     std::string_view key, wpi::span<const std::string> defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).GetStringArray(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).GetStringArray(defaultValue);
 }
 
 bool SmartDashboard::PutRaw(std::string_view key, std::string_view value) {
-  return Singleton::GetInstance().table->GetEntry(key).SetRaw(value);
+  return GetInstance().table->GetEntry(key).SetRaw(value);
 }
 
 bool SmartDashboard::SetDefaultRaw(std::string_view key,
                                    std::string_view defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultRaw(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).SetDefaultRaw(defaultValue);
 }
 
 std::string SmartDashboard::GetRaw(std::string_view key,
                                    std::string_view defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).GetRaw(defaultValue);
+  return GetInstance().table->GetEntry(key).GetRaw(defaultValue);
 }
 
 bool SmartDashboard::PutValue(std::string_view keyName,
                               std::shared_ptr<nt::Value> value) {
-  return Singleton::GetInstance().table->GetEntry(keyName).SetValue(value);
+  return GetInstance().table->GetEntry(keyName).SetValue(value);
 }
 
 bool SmartDashboard::SetDefaultValue(std::string_view key,
                                      std::shared_ptr<nt::Value> defaultValue) {
-  return Singleton::GetInstance().table->GetEntry(key).SetDefaultValue(
-      defaultValue);
+  return GetInstance().table->GetEntry(key).SetDefaultValue(defaultValue);
 }
 
 std::shared_ptr<nt::Value> SmartDashboard::GetValue(std::string_view keyName) {
-  return Singleton::GetInstance().table->GetEntry(keyName).GetValue();
+  return GetInstance().table->GetEntry(keyName).GetValue();
 }
 
-detail::ListenerExecutor SmartDashboard::listenerExecutor;
-
 void SmartDashboard::PostListenerTask(std::function<void()> task) {
-  listenerExecutor.Execute(task);
+  GetInstance().listenerExecutor.Execute(task);
 }
 
 void SmartDashboard::UpdateValues() {
-  auto& registry = wpi::SendableRegistry::GetInstance();
-  auto& inst = Singleton::GetInstance();
-  listenerExecutor.RunListenerTasks();
+  auto& inst = GetInstance();
+  inst.listenerExecutor.RunListenerTasks();
   std::scoped_lock lock(inst.tablesToDataMutex);
   for (auto& i : inst.tablesToData) {
-    registry.Update(i.getValue());
+    wpi::SendableRegistry::Update(i.getValue());
   }
 }
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index baf4dc7456..dc2b3f1918 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -151,42 +151,42 @@ static void SetupMathShared() {
 }
 
 bool RobotBase::IsEnabled() const {
-  return m_ds.IsEnabled();
+  return DriverStation::IsEnabled();
 }
 
 bool RobotBase::IsDisabled() const {
-  return m_ds.IsDisabled();
+  return DriverStation::IsDisabled();
 }
 
 bool RobotBase::IsAutonomous() const {
-  return m_ds.IsAutonomous();
+  return DriverStation::IsAutonomous();
 }
 
 bool RobotBase::IsAutonomousEnabled() const {
-  return m_ds.IsAutonomousEnabled();
+  return DriverStation::IsAutonomousEnabled();
 }
 
 bool RobotBase::IsOperatorControl() const {
-  return m_ds.IsOperatorControl();
+  return DriverStation::IsOperatorControl();
 }
 
 bool RobotBase::IsOperatorControlEnabled() const {
-  return m_ds.IsOperatorControlEnabled();
+  return DriverStation::IsOperatorControlEnabled();
 }
 
 bool RobotBase::IsTest() const {
-  return m_ds.IsTest();
+  return DriverStation::IsTest();
 }
 
 bool RobotBase::IsNewDataAvailable() const {
-  return m_ds.IsNewControlData();
+  return DriverStation::IsNewControlData();
 }
 
 std::thread::id RobotBase::GetThreadId() {
   return m_threadId;
 }
 
-RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
+RobotBase::RobotBase() {
   m_threadId = std::this_thread::get_id();
 
   SetupCameraServerShared();
@@ -219,14 +219,5 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
       ->GetEntry("LW Enabled")
       .SetBoolean(false);
 
-  LiveWindow::GetInstance()->SetEnabled(false);
-}
-
-RobotBase::RobotBase(RobotBase&&) noexcept
-    : m_ds(DriverStation::GetInstance()) {}
-
-RobotBase::~RobotBase() = default;
-
-RobotBase& RobotBase::operator=(RobotBase&&) noexcept {
-  return *this;
+  LiveWindow::SetEnabled(false);
 }
diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h
index 3861b96fa0..08f4cda302 100644
--- a/wpilibc/src/main/native/include/frc/DriverStation.h
+++ b/wpilibc/src/main/native/include/frc/DriverStation.h
@@ -4,24 +4,13 @@
 
 #pragma once
 
-#include <stdint.h>
-
-#include <array>
-#include <atomic>
-#include <memory>
 #include <string>
-#include <thread>
 
-#include <fmt/format.h>
-#include <hal/DriverStationTypes.h>
 #include <units/time.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include <wpi/deprecated.h>
 
 namespace frc {
 
-class MatchDataSender;
-
 /**
  * Provide access to the network communication data to / from the Driver
  * Station.
@@ -31,16 +20,13 @@ class DriverStation {
   enum Alliance { kRed, kBlue, kInvalid };
   enum MatchType { kNone, kPractice, kQualification, kElimination };
 
-  ~DriverStation();
-
-  DriverStation(const DriverStation&) = delete;
-  DriverStation& operator=(const DriverStation&) = delete;
-
   /**
    * Return a reference to the singleton DriverStation.
    *
    * @return Reference to the DS instance
+   * @deprecated Use the static methods
    */
+  WPI_DEPRECATED("Use static methods")
   static DriverStation& GetInstance();
 
   static constexpr int kJoystickPorts = 6;
@@ -52,7 +38,7 @@ class DriverStation {
    * @param button The button index, beginning at 1.
    * @return The state of the joystick button.
    */
-  bool GetStickButton(int stick, int button);
+  static bool GetStickButton(int stick, int button);
 
   /**
    * Whether one joystick button was pressed since the last check. Button
@@ -62,7 +48,7 @@ class DriverStation {
    * @param button The button index, beginning at 1.
    * @return Whether the joystick button was pressed since the last check.
    */
-  bool GetStickButtonPressed(int stick, int button);
+  static bool GetStickButtonPressed(int stick, int button);
 
   /**
    * Whether one joystick button was released since the last check. Button
@@ -72,7 +58,7 @@ class DriverStation {
    * @param button The button index, beginning at 1.
    * @return Whether the joystick button was released since the last check.
    */
-  bool GetStickButtonReleased(int stick, int button);
+  static bool GetStickButtonReleased(int stick, int button);
 
   /**
    * Get the value of the axis on a joystick.
@@ -84,14 +70,14 @@ class DriverStation {
    * @param axis  The analog axis value to read from the joystick.
    * @return The value of the axis on the joystick.
    */
-  double GetStickAxis(int stick, int axis);
+  static double GetStickAxis(int stick, int axis);
 
   /**
    * Get the state of a POV on the joystick.
    *
    * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
    */
-  int GetStickPOV(int stick, int pov);
+  static int GetStickPOV(int stick, int pov);
 
   /**
    * The state of the buttons on the joystick.
@@ -99,7 +85,7 @@ class DriverStation {
    * @param stick The joystick to read.
    * @return The state of the buttons on the joystick.
    */
-  int GetStickButtons(int stick) const;
+  static int GetStickButtons(int stick);
 
   /**
    * Returns the number of axes on a given joystick port.
@@ -107,7 +93,7 @@ class DriverStation {
    * @param stick The joystick port number
    * @return The number of axes on the indicated joystick
    */
-  int GetStickAxisCount(int stick) const;
+  static int GetStickAxisCount(int stick);
 
   /**
    * Returns the number of POVs on a given joystick port.
@@ -115,7 +101,7 @@ class DriverStation {
    * @param stick The joystick port number
    * @return The number of POVs on the indicated joystick
    */
-  int GetStickPOVCount(int stick) const;
+  static int GetStickPOVCount(int stick);
 
   /**
    * Returns the number of buttons on a given joystick port.
@@ -123,7 +109,7 @@ class DriverStation {
    * @param stick The joystick port number
    * @return The number of buttons on the indicated joystick
    */
-  int GetStickButtonCount(int stick) const;
+  static int GetStickButtonCount(int stick);
 
   /**
    * Returns a boolean indicating if the controller is an xbox controller.
@@ -131,7 +117,7 @@ class DriverStation {
    * @param stick The joystick port number
    * @return A boolean that is true if the controller is an xbox controller.
    */
-  bool GetJoystickIsXbox(int stick) const;
+  static bool GetJoystickIsXbox(int stick);
 
   /**
    * Returns the type of joystick at a given port.
@@ -139,7 +125,7 @@ class DriverStation {
    * @param stick The joystick port number
    * @return The HID type of joystick at the given port
    */
-  int GetJoystickType(int stick) const;
+  static int GetJoystickType(int stick);
 
   /**
    * Returns the name of the joystick at the given port.
@@ -147,7 +133,7 @@ class DriverStation {
    * @param stick The joystick port number
    * @return The name of the joystick at the given port
    */
-  std::string GetJoystickName(int stick) const;
+  static std::string GetJoystickName(int stick);
 
   /**
    * Returns the types of Axes on a given joystick port.
@@ -155,7 +141,7 @@ class DriverStation {
    * @param stick The joystick port number and the target axis
    * @return What type of axis the axis is reporting to be
    */
-  int GetJoystickAxisType(int stick, int axis) const;
+  static int GetJoystickAxisType(int stick, int axis);
 
   /**
    * Returns if a joystick is connected to the Driver Station.
@@ -166,35 +152,35 @@ class DriverStation {
    * @param stick The joystick port number
    * @return true if a joystick is connected
    */
-  bool IsJoystickConnected(int stick) const;
+  static bool IsJoystickConnected(int stick);
 
   /**
    * Check if the DS has enabled the robot.
    *
    * @return True if the robot is enabled and the DS is connected
    */
-  bool IsEnabled() const;
+  static bool IsEnabled();
 
   /**
    * Check if the robot is disabled.
    *
    * @return True if the robot is explicitly disabled or the DS is not connected
    */
-  bool IsDisabled() const;
+  static bool IsDisabled();
 
   /**
    * Check if the robot is e-stopped.
    *
    * @return True if the robot is e-stopped
    */
-  bool IsEStopped() const;
+  static bool IsEStopped();
 
   /**
    * Check if the DS is commanding autonomous mode.
    *
    * @return True if the robot is being commanded to be in autonomous mode
    */
-  bool IsAutonomous() const;
+  static bool IsAutonomous();
 
   /**
    * Check if the DS is commanding autonomous mode and if it has enabled the
@@ -203,14 +189,14 @@ class DriverStation {
    * @return True if the robot is being commanded to be in autonomous mode and
    * enabled.
    */
-  bool IsAutonomousEnabled() const;
+  static bool IsAutonomousEnabled();
 
   /**
    * Check if the DS is commanding teleop mode.
    *
    * @return True if the robot is being commanded to be in teleop mode
    */
-  bool IsOperatorControl() const;
+  static bool IsOperatorControl();
 
   /**
    * Check if the DS is commanding teleop mode and if it has enabled the robot.
@@ -218,21 +204,21 @@ class DriverStation {
    * @return True if the robot is being commanded to be in teleop mode and
    * enabled.
    */
-  bool IsOperatorControlEnabled() const;
+  static bool IsOperatorControlEnabled();
 
   /**
    * Check if the DS is commanding test mode.
    *
    * @return True if the robot is being commanded to be in test mode
    */
-  bool IsTest() const;
+  static bool IsTest();
 
   /**
    * Check if the DS is attached.
    *
    * @return True if the DS is connected to the robot
    */
-  bool IsDSAttached() const;
+  static bool IsDSAttached();
 
   /**
    * Has a new control packet from the driver station arrived since the last
@@ -243,7 +229,7 @@ class DriverStation {
    *
    * @return True if the control data has been updated since the last call.
    */
-  bool IsNewControlData() const;
+  static bool IsNewControlData();
 
   /**
    * Is the driver station attached to a Field Management System?
@@ -251,21 +237,21 @@ class DriverStation {
    * @return True if the robot is competing on a field being controlled by a
    *         Field Management System
    */
-  bool IsFMSAttached() const;
+  static bool IsFMSAttached();
 
   /**
    * Returns the game specific message provided by the FMS.
    *
    * @return A string containing the game specific message.
    */
-  std::string GetGameSpecificMessage() const;
+  static std::string GetGameSpecificMessage();
 
   /**
    * Returns the name of the competition event provided by the FMS.
    *
    * @return A string containing the event name
    */
-  std::string GetEventName() const;
+  static std::string GetEventName();
 
   /**
    * Returns the type of match being played provided by the FMS.
@@ -273,14 +259,14 @@ class DriverStation {
    * @return The match type enum (kNone, kPractice, kQualification,
    *         kElimination)
    */
-  MatchType GetMatchType() const;
+  static MatchType GetMatchType();
 
   /**
    * Returns the match number provided by the FMS.
    *
    * @return The number of the match
    */
-  int GetMatchNumber() const;
+  static int GetMatchNumber();
 
   /**
    * Returns the number of times the current match has been replayed from the
@@ -288,7 +274,7 @@ class DriverStation {
    *
    * @return The number of replays
    */
-  int GetReplayNumber() const;
+  static int GetReplayNumber();
 
   /**
    * Return the alliance that the driver station says it is on.
@@ -297,7 +283,7 @@ class DriverStation {
    *
    * @return The Alliance enum (kRed, kBlue or kInvalid)
    */
-  Alliance GetAlliance() const;
+  static Alliance GetAlliance();
 
   /**
    * Return the driver station location on the field.
@@ -306,7 +292,7 @@ class DriverStation {
    *
    * @return The location of the driver station (1-3, 0 for invalid)
    */
-  int GetLocation() const;
+  static int GetLocation();
 
   /**
    * Wait until a new packet comes from the driver station.
@@ -319,7 +305,7 @@ class DriverStation {
    * Checks if new control data has arrived since the last waitForData call
    * on the current thread. If new data has not arrived, returns immediately.
    */
-  void WaitForData();
+  static void WaitForData();
 
   /**
    * Wait until a new packet comes from the driver station, or wait for a
@@ -341,7 +327,7 @@ class DriverStation {
    *
    * @return true if new data, otherwise false
    */
-  bool WaitForData(units::second_t timeout);
+  static bool WaitForData(units::second_t timeout);
 
   /**
    * Return the approximate match time.
@@ -358,14 +344,14 @@ class DriverStation {
    *
    * @return Time remaining in current match period (auto or teleop)
    */
-  double GetMatchTime() const;
+  static double GetMatchTime();
 
   /**
    * Read the battery voltage.
    *
    * @return The battery voltage in Volts.
    */
-  double GetBatteryVoltage() const;
+  static double GetBatteryVoltage();
 
   /**
    * Only to be used to tell the Driver Station what code you claim to be
@@ -374,7 +360,7 @@ class DriverStation {
    * @param entering If true, starting disabled code; if false, leaving disabled
    *                 code.
    */
-  void InDisabled(bool entering) { m_userInDisabled = entering; }
+  static void InDisabled(bool entering);
 
   /**
    * Only to be used to tell the Driver Station what code you claim to be
@@ -383,7 +369,7 @@ class DriverStation {
    * @param entering If true, starting autonomous code; if false, leaving
    *                 autonomous code.
    */
-  void InAutonomous(bool entering) { m_userInAutonomous = entering; }
+  static void InAutonomous(bool entering);
 
   /**
    * Only to be used to tell the Driver Station what code you claim to be
@@ -392,7 +378,7 @@ class DriverStation {
    * @param entering If true, starting teleop code; if false, leaving teleop
    *                 code.
    */
-  void InOperatorControl(bool entering) { m_userInTeleop = entering; }
+  static void InOperatorControl(bool entering);
 
   /**
    * Only to be used to tell the Driver Station what code you claim to be
@@ -400,12 +386,12 @@ class DriverStation {
    *
    * @param entering If true, starting test code; if false, leaving test code.
    */
-  void InTest(bool entering) { m_userInTest = entering; }
+  static void InTest(bool entering);
 
   /**
    * Forces WaitForData() to return immediately.
    */
-  void WakeupWaitForData();
+  static void WakeupWaitForData();
 
   /**
    * Allows the user to specify whether they want joystick connection warnings
@@ -414,7 +400,7 @@ class DriverStation {
    *
    * @param silence Whether warning messages should be silenced.
    */
-  void SilenceJoystickConnectionWarning(bool silence);
+  static void SilenceJoystickConnectionWarning(bool silence);
 
   /**
    * Returns whether joystick connection warnings are silenced. This will
@@ -422,82 +408,10 @@ class DriverStation {
    *
    * @return Whether joystick connection warnings are silenced.
    */
-  bool IsJoystickConnectionWarningSilenced() const;
-
- protected:
-  /**
-   * Copy data from the DS task for the user.
-   *
-   * If no new data exists, it will just be returned, otherwise
-   * the data will be copied from the DS polling loop.
-   */
-  void GetData();
+  static bool IsJoystickConnectionWarningSilenced();
 
  private:
-  /**
-   * DriverStation constructor.
-   *
-   * This is only called once the first time GetInstance() is called
-   */
-  DriverStation();
-
-  /**
-   * Reports errors related to unplugged joysticks.
-   *
-   * Throttles the errors so that they don't overwhelm the DS.
-   */
-  void ReportJoystickUnpluggedErrorV(fmt::string_view format,
-                                     fmt::format_args args);
-
-  template <typename S, typename... Args>
-  inline void ReportJoystickUnpluggedError(const S& format, Args&&... args) {
-    ReportJoystickUnpluggedErrorV(
-        format, fmt::make_args_checked<Args...>(format, args...));
-  }
-
-  /**
-   * Reports errors related to unplugged joysticks.
-   *
-   * Throttles the errors so that they don't overwhelm the DS.
-   */
-  void ReportJoystickUnpluggedWarningV(fmt::string_view format,
-                                       fmt::format_args args);
-
-  template <typename S, typename... Args>
-  inline void ReportJoystickUnpluggedWarning(const S& format, Args&&... args) {
-    ReportJoystickUnpluggedWarningV(
-        format, fmt::make_args_checked<Args...>(format, args...));
-  }
-
-  void Run();
-
-  void SendMatchData();
-
-  std::unique_ptr<MatchDataSender> m_matchDataSender;
-
-  // Joystick button rising/falling edge flags
-  wpi::mutex m_buttonEdgeMutex;
-  std::array<HAL_JoystickButtons, kJoystickPorts> m_previousButtonStates;
-  std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
-  std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
-
-  // Internal Driver Station thread
-  std::thread m_dsThread;
-  std::atomic<bool> m_isRunning{false};
-
-  mutable wpi::mutex m_waitForDataMutex;
-  wpi::condition_variable m_waitForDataCond;
-  int m_waitForDataCounter;
-
-  bool m_silenceJoystickWarning = false;
-
-  // Robot state status variables
-  bool m_userInDisabled = false;
-  bool m_userInAutonomous = false;
-  bool m_userInTeleop = false;
-  bool m_userInTest = false;
-
-  units::second_t m_nextMessageTime = 0_s;
+  DriverStation() = default;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/GenericHID.h b/wpilibc/src/main/native/include/frc/GenericHID.h
index 880782b1d9..30c1a5638f 100644
--- a/wpilibc/src/main/native/include/frc/GenericHID.h
+++ b/wpilibc/src/main/native/include/frc/GenericHID.h
@@ -192,7 +192,6 @@ class GenericHID {
   void SetRumble(RumbleType type, double value);
 
  private:
-  DriverStation* m_ds;
   int m_port;
   int m_outputs = 0;
   uint16_t m_leftRumble = 0;
diff --git a/wpilibc/src/main/native/include/frc/Preferences.h b/wpilibc/src/main/native/include/frc/Preferences.h
index 0df03bce77..026e65b5db 100644
--- a/wpilibc/src/main/native/include/frc/Preferences.h
+++ b/wpilibc/src/main/native/include/frc/Preferences.h
@@ -6,12 +6,10 @@
 
 #include <stdint.h>
 
-#include <memory>
 #include <string>
 #include <string_view>
 #include <vector>
 
-#include <networktables/NetworkTable.h>
 #include <wpi/deprecated.h>
 
 namespace frc {
@@ -36,7 +34,9 @@ class Preferences {
    * Get the one and only {@link Preferences} object.
    *
    * @return pointer to the {@link Preferences}
+   * @deprecated Use the static methods
    */
+  WPI_DEPRECATED("Use static methods")
   static Preferences* GetInstance();
 
   /**
@@ -44,7 +44,7 @@ class Preferences {
    *
    * @return a vector of the keys
    */
-  std::vector<std::string> GetKeys();
+  static std::vector<std::string> GetKeys();
 
   /**
    * Returns the string at the given key.  If this table does not have a value
@@ -54,8 +54,8 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  std::string GetString(std::string_view key,
-                        std::string_view defaultValue = "");
+  static std::string GetString(std::string_view key,
+                               std::string_view defaultValue = "");
 
   /**
    * Returns the int at the given key.  If this table does not have a value for
@@ -65,7 +65,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  int GetInt(std::string_view key, int defaultValue = 0);
+  static int GetInt(std::string_view key, int defaultValue = 0);
 
   /**
    * Returns the double at the given key.  If this table does not have a value
@@ -75,7 +75,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  double GetDouble(std::string_view key, double defaultValue = 0.0);
+  static double GetDouble(std::string_view key, double defaultValue = 0.0);
 
   /**
    * Returns the float at the given key.  If this table does not have a value
@@ -85,7 +85,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  float GetFloat(std::string_view key, float defaultValue = 0.0);
+  static float GetFloat(std::string_view key, float defaultValue = 0.0);
 
   /**
    * Returns the boolean at the given key.  If this table does not have a value
@@ -95,7 +95,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  bool GetBoolean(std::string_view key, bool defaultValue = false);
+  static bool GetBoolean(std::string_view key, bool defaultValue = false);
 
   /**
    * Returns the long (int64_t) at the given key.  If this table does not have a
@@ -106,7 +106,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  int64_t GetLong(std::string_view key, int64_t defaultValue = 0);
+  static int64_t GetLong(std::string_view key, int64_t defaultValue = 0);
 
   /**
    * Puts the given string into the preferences table.
@@ -117,7 +117,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetString(std::string_view key, std::string_view value);
+  static void SetString(std::string_view key, std::string_view value);
 
   /**
    * Puts the given string into the preferences table.
@@ -129,13 +129,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetString instead.")
-  void PutString(std::string_view key, std::string_view value);
+  static void PutString(std::string_view key, std::string_view value);
 
   /**
    * Puts the given string into the preferences table if it doesn't
    * already exist.
    */
-  void InitString(std::string_view key, std::string_view value);
+  static void InitString(std::string_view key, std::string_view value);
 
   /**
    * Puts the given int into the preferences table.
@@ -145,7 +145,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetInt(std::string_view key, int value);
+  static void SetInt(std::string_view key, int value);
 
   /**
    * Puts the given int into the preferences table.
@@ -156,13 +156,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetInt instead.")
-  void PutInt(std::string_view key, int value);
+  static void PutInt(std::string_view key, int value);
 
   /**
    * Puts the given int into the preferences table if it doesn't
    * already exist.
    */
-  void InitInt(std::string_view key, int value);
+  static void InitInt(std::string_view key, int value);
 
   /**
    * Puts the given double into the preferences table.
@@ -172,7 +172,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetDouble(std::string_view key, double value);
+  static void SetDouble(std::string_view key, double value);
 
   /**
    * Puts the given double into the preferences table.
@@ -183,13 +183,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetDouble instead.")
-  void PutDouble(std::string_view key, double value);
+  static void PutDouble(std::string_view key, double value);
 
   /**
    * Puts the given double into the preferences table if it doesn't
    * already exist.
    */
-  void InitDouble(std::string_view key, double value);
+  static void InitDouble(std::string_view key, double value);
 
   /**
    * Puts the given float into the preferences table.
@@ -199,7 +199,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetFloat(std::string_view key, float value);
+  static void SetFloat(std::string_view key, float value);
 
   /**
    * Puts the given float into the preferences table.
@@ -210,13 +210,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetFloat instead.")
-  void PutFloat(std::string_view key, float value);
+  static void PutFloat(std::string_view key, float value);
 
   /**
    * Puts the given float into the preferences table if it doesn't
    * already exist.
    */
-  void InitFloat(std::string_view key, float value);
+  static void InitFloat(std::string_view key, float value);
 
   /**
    * Puts the given boolean into the preferences table.
@@ -226,7 +226,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetBoolean(std::string_view key, bool value);
+  static void SetBoolean(std::string_view key, bool value);
 
   /**
    * Puts the given boolean into the preferences table.
@@ -237,13 +237,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetBoolean instead.")
-  void PutBoolean(std::string_view key, bool value);
+  static void PutBoolean(std::string_view key, bool value);
 
   /**
    * Puts the given boolean into the preferences table if it doesn't
    * already exist.
    */
-  void InitBoolean(std::string_view key, bool value);
+  static void InitBoolean(std::string_view key, bool value);
 
   /**
    * Puts the given long (int64_t) into the preferences table.
@@ -253,7 +253,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetLong(std::string_view key, int64_t value);
+  static void SetLong(std::string_view key, int64_t value);
 
   /**
    * Puts the given long (int64_t) into the preferences table.
@@ -264,13 +264,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetLong instead.")
-  void PutLong(std::string_view key, int64_t value);
+  static void PutLong(std::string_view key, int64_t value);
 
   /**
    * Puts the given long into the preferences table if it doesn't
    * already exist.
    */
-  void InitLong(std::string_view key, int64_t value);
+  static void InitLong(std::string_view key, int64_t value);
 
   /**
    * Returns whether or not there is a key with the given name.
@@ -278,29 +278,22 @@ class Preferences {
    * @param key the key
    * @return if there is a value at the given key
    */
-  bool ContainsKey(std::string_view key);
+  static bool ContainsKey(std::string_view key);
 
   /**
    * Remove a preference.
    *
    * @param key the key
    */
-  void Remove(std::string_view key);
+  static void Remove(std::string_view key);
 
   /**
    * Remove all preferences.
    */
-  void RemoveAll();
-
- protected:
-  Preferences();
-
-  Preferences(Preferences&&) = default;
-  Preferences& operator=(Preferences&&) = default;
+  static void RemoveAll();
 
  private:
-  std::shared_ptr<nt::NetworkTable> m_table;
-  NT_EntryListener m_listener;
+  Preferences() = default;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/RobotBase.h b/wpilibc/src/main/native/include/frc/RobotBase.h
index 6e5d3b5137..cb67b58b28 100644
--- a/wpilibc/src/main/native/include/frc/RobotBase.h
+++ b/wpilibc/src/main/native/include/frc/RobotBase.h
@@ -215,15 +215,11 @@ class RobotBase {
    */
   RobotBase();
 
-  virtual ~RobotBase();
+  virtual ~RobotBase() = default;
 
  protected:
-  // m_ds isn't moved in these because DriverStation is a singleton; every
-  // instance of RobotBase has a reference to the same object.
-  RobotBase(RobotBase&&) noexcept;
-  RobotBase& operator=(RobotBase&&) noexcept;
-
-  DriverStation& m_ds;
+  RobotBase(RobotBase&&) = default;
+  RobotBase& operator=(RobotBase&&) = default;
 
   static std::thread::id m_threadId;
 };
diff --git a/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h b/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
index 62dd95d626..66c4c6f51e 100644
--- a/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
+++ b/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
@@ -5,7 +5,8 @@
 #pragma once
 
 #include <functional>
-#include <memory>
+
+#include <wpi/deprecated.h>
 
 namespace wpi {
 class Sendable;
@@ -19,47 +20,58 @@ namespace frc {
  */
 class LiveWindow {
  public:
-  LiveWindow(const LiveWindow&) = delete;
-  LiveWindow& operator=(const LiveWindow&) = delete;
-
-  std::function<void()> enabled;
-  std::function<void()> disabled;
-
   /**
    * Get an instance of the LiveWindow main class.
    *
    * This is a singleton to guarantee that there is only a single instance
    * regardless of how many times GetInstance is called.
+   * @deprecated Use the static methods unless guaranteeing LiveWindow is
+   * instantiated
    */
+  WPI_DEPRECATED("Use static methods")
   static LiveWindow* GetInstance();
 
+  /**
+   * Set function to be called when LiveWindow is enabled.
+   *
+   * @param func function (or nullptr for none)
+   */
+  static void SetEnabledCallback(std::function<void()> func);
+
+  /**
+   * Set function to be called when LiveWindow is disabled.
+   *
+   * @param func function (or nullptr for none)
+   */
+  static void SetDisabledCallback(std::function<void()> func);
+
   /**
    * Enable telemetry for a single component.
    *
    * @param sendable component
    */
-  void EnableTelemetry(wpi::Sendable* component);
+  static void EnableTelemetry(wpi::Sendable* component);
 
   /**
    * Disable telemetry for a single component.
    *
    * @param sendable component
    */
-  void DisableTelemetry(wpi::Sendable* component);
+  static void DisableTelemetry(wpi::Sendable* component);
 
   /**
    * Disable ALL telemetry.
    */
-  void DisableAllTelemetry();
+  static void DisableAllTelemetry();
 
-  bool IsEnabled() const;
+  static bool IsEnabled();
 
   /**
    * Change the enabled status of LiveWindow.
    *
    * If it changes to enabled, start livewindow running otherwise stop it
    */
-  void SetEnabled(bool enabled);
+  static void SetEnabled(bool enabled);
 
   /**
    * Tell all the sensors to update (send) their values.
@@ -67,18 +79,15 @@ class LiveWindow {
    * Actuators are handled through callbacks on their value changing from the
    * SmartDashboard widgets.
    */
-  void UpdateValues();
+  static void UpdateValues();
 
  private:
-  LiveWindow();
-
-  struct Impl;
-  std::unique_ptr<Impl> m_impl;
+  LiveWindow() = default;
 
   /**
    * Updates the entries, without using a mutex or lock.
    */
-  void UpdateValuesUnsafe();
+  static void UpdateValuesUnsafe();
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h b/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
index 5b35938fdd..d08833c3b6 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
@@ -11,17 +11,18 @@
 
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
 #include <wpi/span.h>
 
-#include "frc/smartdashboard/ListenerExecutor.h"
+namespace wpi {
+class Sendable;
+}  // namespace wpi
 
 namespace frc {
 
-class SmartDashboard : public wpi::Sendable,
-                       public wpi::SendableHelper<SmartDashboard> {
+class SmartDashboard {
  public:
+  SmartDashboard() = delete;
+
   static void init();
 
   /**
@@ -433,11 +434,6 @@ class SmartDashboard : public wpi::Sendable,
    * Puts all sendable data to the dashboard.
    */
   static void UpdateValues();
-
- private:
-  ~SmartDashboard() override = default;
-
-  static detail::ListenerExecutor listenerExecutor;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/test/native/cpp/DriverStationTest.cpp b/wpilibc/src/test/native/cpp/DriverStationTest.cpp
index faa7aa7a96..02710652fa 100644
--- a/wpilibc/src/test/native/cpp/DriverStationTest.cpp
+++ b/wpilibc/src/test/native/cpp/DriverStationTest.cpp
@@ -22,7 +22,7 @@ TEST_P(IsJoystickConnectedParametersTests, IsJoystickConnected) {
   frc::sim::DriverStationSim::NotifyNewData();
 
   ASSERT_EQ(std::get<3>(GetParam()),
-            frc::DriverStation::GetInstance().IsJoystickConnected(1));
+            frc::DriverStation::IsJoystickConnected(1));
 }
 
 INSTANTIATE_TEST_SUITE_P(IsConnectedTests, IsJoystickConnectedParametersTests,
@@ -43,17 +43,15 @@ TEST_P(JoystickConnectionWarningTests, JoystickConnectionWarnings) {
   // Set FMS and Silence settings
   frc::sim::DriverStationSim::SetFmsAttached(std::get<0>(GetParam()));
   frc::sim::DriverStationSim::NotifyNewData();
-  frc::DriverStation::GetInstance().SilenceJoystickConnectionWarning(
-      std::get<1>(GetParam()));
+  frc::DriverStation::SilenceJoystickConnectionWarning(std::get<1>(GetParam()));
 
   // Create joystick and attempt to retrieve button.
   frc::Joystick joystick(0);
   joystick.GetRawButton(1);
 
   frc::sim::StepTiming(1_s);
-  EXPECT_EQ(
-      frc::DriverStation::GetInstance().IsJoystickConnectionWarningSilenced(),
-      std::get<2>(GetParam()));
+  EXPECT_EQ(frc::DriverStation::IsJoystickConnectionWarningSilenced(),
+            std::get<2>(GetParam()));
   EXPECT_EQ(::testing::internal::GetCapturedStderr().substr(
                 0, std::get<3>(GetParam()).size()),
             std::get<3>(GetParam()));
diff --git a/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp b/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp
index 5e769e09c9..5a9f9938b1 100644
--- a/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp
+++ b/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp
@@ -8,7 +8,7 @@
 #include <wpi/sendable/SendableRegistry.h>
 
 MockActuatorSendable::MockActuatorSendable(std::string_view name) {
-  wpi::SendableRegistry::GetInstance().Add(this, name);
+  wpi::SendableRegistry::Add(this, name);
 }
 
 void MockActuatorSendable::InitSendable(wpi::SendableBuilder& builder) {
diff --git a/wpilibcExamples/src/main/cpp/examples/AxisCameraSample/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AxisCameraSample/cpp/Robot.cpp
index 5051fb71ed..7f4f7615d2 100644
--- a/wpilibcExamples/src/main/cpp/examples/AxisCameraSample/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AxisCameraSample/cpp/Robot.cpp
@@ -19,15 +19,15 @@ class Robot : public frc::TimedRobot {
   static void VisionThread() {
     // Get the Axis camera from CameraServer
     cs::AxisCamera camera =
-        frc::CameraServer::GetInstance()->AddAxisCamera("axis-camera.local");
+        frc::CameraServer::AddAxisCamera("axis-camera.local");
     // Set the resolution
     camera.SetResolution(640, 480);
 
     // Get a CvSink. This will capture Mats from the Camera
-    cs::CvSink cvSink = frc::CameraServer::GetInstance()->GetVideo();
+    cs::CvSink cvSink = frc::CameraServer::GetVideo();
     // Setup a CvSource. This will send images back to the Dashboard
     cs::CvSource outputStream =
-        frc::CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480);
+        frc::CameraServer::PutVideo("Rectangle", 640, 480);
 
     // Mats are very memory expensive. Lets reuse this Mat.
     cv::Mat mat;
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index 2373e269ec..6b7d2b6892 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -6,7 +6,6 @@
 #include <frc/TimedRobot.h>
 #include <frc/Timer.h>
 #include <frc/drive/DifferentialDrive.h>
-#include <frc/livewindow/LiveWindow.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 
 class Robot : public frc::TimedRobot {
@@ -50,7 +49,6 @@ class Robot : public frc::TimedRobot {
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
   frc::Joystick m_stick{0};
-  frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
   frc::Timer m_timer;
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
index f8a01e84d7..b61f86d56b 100644
--- a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
@@ -23,16 +23,15 @@ class Robot : public frc::TimedRobot {
  private:
   static void VisionThread() {
     // Get the USB camera from CameraServer
-    cs::UsbCamera camera =
-        frc::CameraServer::GetInstance()->StartAutomaticCapture();
+    cs::UsbCamera camera = frc::CameraServer::StartAutomaticCapture();
     // Set the resolution
     camera.SetResolution(640, 480);
 
     // Get a CvSink. This will capture Mats from the Camera
-    cs::CvSink cvSink = frc::CameraServer::GetInstance()->GetVideo();
+    cs::CvSink cvSink = frc::CameraServer::GetVideo();
     // Setup a CvSource. This will send images back to the Dashboard
     cs::CvSource outputStream =
-        frc::CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480);
+        frc::CameraServer::PutVideo("Rectangle", 640, 480);
 
     // Mats are very memory expensive. Lets reuse this Mat.
     cv::Mat mat;
diff --git a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
index c1d7c10fea..aae646f8db 100644
--- a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
@@ -17,7 +17,7 @@ class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override {
 #if defined(__linux__) || defined(_WIN32)
-    frc::CameraServer::GetInstance()->StartAutomaticCapture();
+    frc::CameraServer::StartAutomaticCapture();
 #else
     std::fputs("Vision only available on Linux or Windows.\n", stderr);
     std::fflush(stderr);
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
index 4650f7f039..9e1de6fff9 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
@@ -30,36 +30,36 @@ void Robot::StartCompetition() {
 
   while (!m_exit) {
     if (IsDisabled()) {
-      m_ds.InDisabled(true);
+      frc::DriverStation::InDisabled(true);
       Disabled();
-      m_ds.InDisabled(false);
+      frc::DriverStation::InDisabled(false);
       while (IsDisabled()) {
-        m_ds.WaitForData();
+        frc::DriverStation::WaitForData();
       }
     } else if (IsAutonomous()) {
-      m_ds.InAutonomous(true);
+      frc::DriverStation::InAutonomous(true);
       Autonomous();
-      m_ds.InAutonomous(false);
+      frc::DriverStation::InAutonomous(false);
       while (IsAutonomousEnabled()) {
-        m_ds.WaitForData();
+        frc::DriverStation::WaitForData();
       }
     } else if (IsTest()) {
       lw.SetEnabled(true);
       frc::Shuffleboard::EnableActuatorWidgets();
-      m_ds.InTest(true);
+      frc::DriverStation::InTest(true);
       Test();
-      m_ds.InTest(false);
+      frc::DriverStation::InTest(false);
       while (IsTest() && IsEnabled()) {
-        m_ds.WaitForData();
+        frc::DriverStation::WaitForData();
       }
       lw.SetEnabled(false);
       frc::Shuffleboard::DisableActuatorWidgets();
     } else {
-      m_ds.InOperatorControl(true);
+      frc::DriverStation::InOperatorControl(true);
       Teleop();
-      m_ds.InOperatorControl(false);
+      frc::DriverStation::InOperatorControl(false);
       while (IsOperatorControlEnabled()) {
-        m_ds.WaitForData();
+        frc::DriverStation::WaitForData();
       }
     }
   }
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/DriverStationTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/DriverStationTest.cpp
index 250293792f..e4a2721a48 100644
--- a/wpilibcIntegrationTests/src/main/native/cpp/DriverStationTest.cpp
+++ b/wpilibcIntegrationTests/src/main/native/cpp/DriverStationTest.cpp
@@ -22,7 +22,7 @@ TEST(DriverStationTest, WaitForData) {
 
   // 20ms waiting intervals * 50 = 1s
   for (int i = 0; i < 50; i++) {
-    frc::DriverStation::GetInstance().WaitForData();
+    frc::DriverStation::WaitForData();
   }
 
   units::microsecond_t finalTime(frc::RobotController::GetFPGATime());
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp b/wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
index 56fce2fba6..1f5e3602fc 100644
--- a/wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
+++ b/wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp
@@ -40,12 +40,12 @@ class TestEnvironment : public testing::Environment {
     // station returns that the robot is enabled, to ensure that tests will be
     // able to run on the hardware.
     HAL_ObserveUserProgramStarting();
-    frc::LiveWindow::GetInstance()->SetEnabled(false);
+    frc::LiveWindow::SetEnabled(false);
 
     fmt::print("Started coms\n");
 
     int enableCounter = 0;
-    while (!frc::DriverStation::GetInstance().IsEnabled()) {
+    while (!frc::DriverStation::IsEnabled()) {
       if (enableCounter > 50) {
         // Robot did not enable properly after 5 seconds.
         // Force exit
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index b714a3ce1b..cb3756d3ca 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -63,18 +63,14 @@ public class DriverStation {
   }
 
   private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
-  private double m_nextMessageTime;
+  private static double m_nextMessageTime;
 
   private static class DriverStationTask implements Runnable {
-    private final DriverStation m_ds;
-
-    DriverStationTask(DriverStation ds) {
-      m_ds = ds;
-    }
+    DriverStationTask() {}
 
     @Override
     public void run() {
-      m_ds.run();
+      DriverStation.run();
     }
   } /* DriverStationTask */
 
@@ -155,7 +151,7 @@ public class DriverStation {
       controlWord.forceSetDouble(0);
     }
 
-    private void sendMatchData(DriverStation driverStation) {
+    private void sendMatchData() {
       AllianceStationID allianceID = HAL.getAllianceStation();
       boolean isRedAlliance = false;
       int stationNumber = 1;
@@ -192,12 +188,12 @@ public class DriverStation {
       int currentReplayNumber;
       int currentMatchType;
       int currentControlWord;
-      synchronized (driverStation.m_cacheDataMutex) {
-        currentEventName = driverStation.m_matchInfo.eventName;
-        currentGameSpecificMessage = driverStation.m_matchInfo.gameSpecificMessage;
-        currentMatchNumber = driverStation.m_matchInfo.matchNumber;
-        currentReplayNumber = driverStation.m_matchInfo.replayNumber;
-        currentMatchType = driverStation.m_matchInfo.matchType;
+      synchronized (DriverStation.m_cacheDataMutex) {
+        currentEventName = DriverStation.m_matchInfo.eventName;
+        currentGameSpecificMessage = DriverStation.m_matchInfo.gameSpecificMessage;
+        currentMatchNumber = DriverStation.m_matchInfo.matchNumber;
+        currentReplayNumber = DriverStation.m_matchInfo.replayNumber;
+        currentMatchType = DriverStation.m_matchInfo.matchType;
       }
       currentControlWord = HAL.nativeGetControlWord();
 
@@ -239,56 +235,59 @@ public class DriverStation {
   private static DriverStation instance = new DriverStation();
 
   // Joystick User Data
-  private HALJoystickAxes[] m_joystickAxes = new HALJoystickAxes[kJoystickPorts];
-  private HALJoystickPOVs[] m_joystickPOVs = new HALJoystickPOVs[kJoystickPorts];
-  private HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
-  private MatchInfoData m_matchInfo = new MatchInfoData();
+  private static HALJoystickAxes[] m_joystickAxes = new HALJoystickAxes[kJoystickPorts];
+  private static HALJoystickPOVs[] m_joystickPOVs = new HALJoystickPOVs[kJoystickPorts];
+  private static HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
+  private static MatchInfoData m_matchInfo = new MatchInfoData();
 
   // Joystick Cached Data
-  private HALJoystickAxes[] m_joystickAxesCache = new HALJoystickAxes[kJoystickPorts];
-  private HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts];
-  private HALJoystickButtons[] m_joystickButtonsCache = new HALJoystickButtons[kJoystickPorts];
-  private MatchInfoData m_matchInfoCache = new MatchInfoData();
+  private static HALJoystickAxes[] m_joystickAxesCache = new HALJoystickAxes[kJoystickPorts];
+  private static HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts];
+  private static HALJoystickButtons[] m_joystickButtonsCache =
+      new HALJoystickButtons[kJoystickPorts];
+  private static MatchInfoData m_matchInfoCache = new MatchInfoData();
 
   // Joystick button rising/falling edge flags
-  private int[] m_joystickButtonsPressed = new int[kJoystickPorts];
-  private int[] m_joystickButtonsReleased = new int[kJoystickPorts];
+  private static int[] m_joystickButtonsPressed = new int[kJoystickPorts];
+  private static int[] m_joystickButtonsReleased = new int[kJoystickPorts];
 
   // preallocated byte buffer for button count
-  private final ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
+  private static final ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
 
-  private final MatchDataSender m_matchDataSender;
+  private static final MatchDataSender m_matchDataSender;
 
   // Internal Driver Station thread
-  private Thread m_thread;
+  private static Thread m_thread;
 
-  private volatile boolean m_threadKeepAlive = true;
+  private static volatile boolean m_threadKeepAlive = true;
 
-  private final ReentrantLock m_cacheDataMutex = new ReentrantLock();
+  private static final ReentrantLock m_cacheDataMutex = new ReentrantLock();
 
-  private final Lock m_waitForDataMutex;
-  private final Condition m_waitForDataCond;
-  private int m_waitForDataCount;
-  private final ThreadLocal<Integer> m_lastCount = ThreadLocal.withInitial(() -> 0);
+  private static final Lock m_waitForDataMutex;
+  private static final Condition m_waitForDataCond;
+  private static int m_waitForDataCount;
+  private static final ThreadLocal<Integer> m_lastCount = ThreadLocal.withInitial(() -> 0);
 
-  private boolean m_silenceJoystickWarning;
+  private static boolean m_silenceJoystickWarning;
 
   // Robot state status variables
-  private boolean m_userInDisabled;
-  private boolean m_userInAutonomous;
-  private boolean m_userInTeleop;
-  private boolean m_userInTest;
+  private static boolean m_userInDisabled;
+  private static boolean m_userInAutonomous;
+  private static boolean m_userInTeleop;
+  private static boolean m_userInTest;
 
   // Control word variables
-  private final Object m_controlWordMutex;
-  private final ControlWord m_controlWordCache;
-  private long m_lastControlWordUpdate;
+  private static final Object m_controlWordMutex;
+  private static final ControlWord m_controlWordCache;
+  private static long m_lastControlWordUpdate;
 
   /**
    * Gets an instance of the DriverStation.
    *
    * @return The DriverStation.
+   * @deprecated Use the static methods
    */
+  @Deprecated
   public static DriverStation getInstance() {
     return DriverStation.instance;
   }
@@ -299,7 +298,9 @@ public class DriverStation {
    * <p>The single DriverStation instance is created statically with the instance static member
    * variable.
    */
-  private DriverStation() {
+  private DriverStation() {}
+
+  static {
     HAL.initialize(500, 0);
     m_waitForDataCount = 0;
     m_waitForDataMutex = new ReentrantLock();
@@ -321,14 +322,14 @@ public class DriverStation {
 
     m_matchDataSender = new MatchDataSender();
 
-    m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
+    m_thread = new Thread(new DriverStationTask(), "FRCDriverStation");
     m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2);
 
     m_thread.start();
   }
 
   /** Kill the thread. */
-  public void release() {
+  public static synchronized void release() {
     m_threadKeepAlive = false;
     if (m_thread != null) {
       try {
@@ -425,7 +426,7 @@ public class DriverStation {
    * @param button The button index, beginning at 1.
    * @return The state of the joystick button.
    */
-  public boolean getStickButton(final int stick, final int button) {
+  public static boolean getStickButton(final int stick, final int button) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
     }
@@ -459,7 +460,7 @@ public class DriverStation {
    * @param button The button index, beginning at 1.
    * @return Whether the joystick button was pressed since the last check.
    */
-  public boolean getStickButtonPressed(final int stick, final int button) {
+  public static boolean getStickButtonPressed(final int stick, final int button) {
     if (button <= 0) {
       reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
       return false;
@@ -499,7 +500,7 @@ public class DriverStation {
    * @param button The button index, beginning at 1.
    * @return Whether the joystick button was released since the last check.
    */
-  public boolean getStickButtonReleased(final int stick, final int button) {
+  public static boolean getStickButtonReleased(final int stick, final int button) {
     if (button <= 0) {
       reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
       return false;
@@ -540,7 +541,7 @@ public class DriverStation {
    * @param axis The analog axis value to read from the joystick.
    * @return The value of the axis on the joystick.
    */
-  public double getStickAxis(int stick, int axis) {
+  public static double getStickAxis(int stick, int axis) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -573,7 +574,7 @@ public class DriverStation {
    * @param pov The POV to read.
    * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
    */
-  public int getStickPOV(int stick, int pov) {
+  public static int getStickPOV(int stick, int pov) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -605,7 +606,7 @@ public class DriverStation {
    * @param stick The joystick to read.
    * @return The state of the buttons on the joystick.
    */
-  public int getStickButtons(final int stick) {
+  public static int getStickButtons(final int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
     }
@@ -624,7 +625,7 @@ public class DriverStation {
    * @param stick The joystick port number
    * @return The number of axes on the indicated joystick
    */
-  public int getStickAxisCount(int stick) {
+  public static int getStickAxisCount(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -643,7 +644,7 @@ public class DriverStation {
    * @param stick The joystick port number
    * @return The number of POVs on the indicated joystick
    */
-  public int getStickPOVCount(int stick) {
+  public static int getStickPOVCount(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -662,7 +663,7 @@ public class DriverStation {
    * @param stick The joystick port number
    * @return The number of buttons on the indicated joystick
    */
-  public int getStickButtonCount(int stick) {
+  public static int getStickButtonCount(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -681,7 +682,7 @@ public class DriverStation {
    * @param stick The joystick port number
    * @return A boolean that returns the value of isXbox
    */
-  public boolean getJoystickIsXbox(int stick) {
+  public static boolean getJoystickIsXbox(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -695,7 +696,7 @@ public class DriverStation {
    * @param stick The joystick port number
    * @return The value of type
    */
-  public int getJoystickType(int stick) {
+  public static int getJoystickType(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -709,7 +710,7 @@ public class DriverStation {
    * @param stick The joystick port number
    * @return The value of name
    */
-  public String getJoystickName(int stick) {
+  public static String getJoystickName(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -724,7 +725,7 @@ public class DriverStation {
    * @param axis The target axis
    * @return What type of axis the axis is reporting to be
    */
-  public int getJoystickAxisType(int stick, int axis) {
+  public static int getJoystickAxisType(int stick, int axis) {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
@@ -741,7 +742,7 @@ public class DriverStation {
    * @param stick The joystick port number
    * @return true if a joystick is connected
    */
-  public boolean isJoystickConnected(int stick) {
+  public static boolean isJoystickConnected(int stick) {
     return getStickAxisCount(stick) > 0
         || getStickButtonCount(stick) > 0
         || getStickPOVCount(stick) > 0;
@@ -752,7 +753,7 @@ public class DriverStation {
    *
    * @return True if the robot is enabled, false otherwise.
    */
-  public boolean isEnabled() {
+  public static boolean isEnabled() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return m_controlWordCache.getEnabled() && m_controlWordCache.getDSAttached();
@@ -764,7 +765,7 @@ public class DriverStation {
    *
    * @return True if the robot should be disabled, false otherwise.
    */
-  public boolean isDisabled() {
+  public static boolean isDisabled() {
     return !isEnabled();
   }
 
@@ -773,7 +774,7 @@ public class DriverStation {
    *
    * @return True if the robot is e-stopped, false otherwise.
    */
-  public boolean isEStopped() {
+  public static boolean isEStopped() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return m_controlWordCache.getEStop();
@@ -786,7 +787,7 @@ public class DriverStation {
    *
    * @return True if autonomous mode should be enabled, false otherwise.
    */
-  public boolean isAutonomous() {
+  public static boolean isAutonomous() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return m_controlWordCache.getAutonomous();
@@ -799,7 +800,7 @@ public class DriverStation {
    *
    * @return True if autonomous should be set and the robot should be enabled.
    */
-  public boolean isAutonomousEnabled() {
+  public static boolean isAutonomousEnabled() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return m_controlWordCache.getAutonomous() && m_controlWordCache.getEnabled();
@@ -812,7 +813,7 @@ public class DriverStation {
    *
    * @return True if operator-controlled mode should be enabled, false otherwise.
    */
-  public boolean isOperatorControl() {
+  public static boolean isOperatorControl() {
     return !(isAutonomous() || isTest());
   }
 
@@ -822,7 +823,7 @@ public class DriverStation {
    *
    * @return True if operator-controlled mode should be set and the robot should be enabled.
    */
-  public boolean isOperatorControlEnabled() {
+  public static boolean isOperatorControlEnabled() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return !m_controlWordCache.getAutonomous()
@@ -837,7 +838,7 @@ public class DriverStation {
    *
    * @return True if test mode should be enabled, false otherwise.
    */
-  public boolean isTest() {
+  public static boolean isTest() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return m_controlWordCache.getTest();
@@ -849,7 +850,7 @@ public class DriverStation {
    *
    * @return True if Driver Station is attached, false otherwise.
    */
-  public boolean isDSAttached() {
+  public static boolean isDSAttached() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return m_controlWordCache.getDSAttached();
@@ -862,7 +863,7 @@ public class DriverStation {
    *
    * @return True if the control data has been updated since the last call.
    */
-  public boolean isNewControlData() {
+  public static boolean isNewControlData() {
     m_waitForDataMutex.lock();
     try {
       int currentCount = m_waitForDataCount;
@@ -881,7 +882,7 @@ public class DriverStation {
    *
    * @return true if the robot is competing on a field being controlled by a Field Management System
    */
-  public boolean isFMSAttached() {
+  public static boolean isFMSAttached() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
       return m_controlWordCache.getFMSAttached();
@@ -893,7 +894,7 @@ public class DriverStation {
    *
    * @return the game specific message
    */
-  public String getGameSpecificMessage() {
+  public static String getGameSpecificMessage() {
     m_cacheDataMutex.lock();
     try {
       return m_matchInfo.gameSpecificMessage;
@@ -907,7 +908,7 @@ public class DriverStation {
    *
    * @return the event name
    */
-  public String getEventName() {
+  public static String getEventName() {
     m_cacheDataMutex.lock();
     try {
       return m_matchInfo.eventName;
@@ -921,7 +922,7 @@ public class DriverStation {
    *
    * @return the match type
    */
-  public MatchType getMatchType() {
+  public static MatchType getMatchType() {
     int matchType;
     m_cacheDataMutex.lock();
     try {
@@ -946,7 +947,7 @@ public class DriverStation {
    *
    * @return the match number
    */
-  public int getMatchNumber() {
+  public static int getMatchNumber() {
     m_cacheDataMutex.lock();
     try {
       return m_matchInfo.matchNumber;
@@ -960,7 +961,7 @@ public class DriverStation {
    *
    * @return the replay number
    */
-  public int getReplayNumber() {
+  public static int getReplayNumber() {
     m_cacheDataMutex.lock();
     try {
       return m_matchInfo.replayNumber;
@@ -974,7 +975,7 @@ public class DriverStation {
    *
    * @return the current alliance
    */
-  public Alliance getAlliance() {
+  public static Alliance getAlliance() {
     AllianceStationID allianceStationID = HAL.getAllianceStation();
     if (allianceStationID == null) {
       return Alliance.Invalid;
@@ -1001,7 +1002,7 @@ public class DriverStation {
    *
    * @return the location of the team's driver station controls: 1, 2, or 3
    */
-  public int getLocation() {
+  public static int getLocation() {
     AllianceStationID allianceStationID = HAL.getAllianceStation();
     if (allianceStationID == null) {
       return 0;
@@ -1030,7 +1031,7 @@ public class DriverStation {
    * <p>Checks if new control data has arrived since the last waitForData call on the current
    * thread. If new data has not arrived, returns immediately.
    */
-  public void waitForData() {
+  public static void waitForData() {
     waitForData(0);
   }
 
@@ -1044,7 +1045,7 @@ public class DriverStation {
    * @param timeout The maximum time in seconds to wait.
    * @return true if there is new data, otherwise false
    */
-  public boolean waitForData(double timeout) {
+  public static boolean waitForData(double timeout) {
     long startTime = RobotController.getFPGATime();
     long timeoutMicros = (long) (timeout * 1000000);
     m_waitForDataMutex.lock();
@@ -1093,7 +1094,7 @@ public class DriverStation {
    *
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
-  public double getMatchTime() {
+  public static double getMatchTime() {
     return HAL.getMatchTime();
   }
 
@@ -1104,7 +1105,7 @@ public class DriverStation {
    * @param entering If true, starting disabled code; if false, leaving disabled code
    */
   @SuppressWarnings("MethodName")
-  public void InDisabled(boolean entering) {
+  public static void InDisabled(boolean entering) {
     m_userInDisabled = entering;
   }
 
@@ -1115,7 +1116,7 @@ public class DriverStation {
    * @param entering If true, starting autonomous code; if false, leaving autonomous code
    */
   @SuppressWarnings("MethodName")
-  public void InAutonomous(boolean entering) {
+  public static void InAutonomous(boolean entering) {
     m_userInAutonomous = entering;
   }
 
@@ -1126,7 +1127,7 @@ public class DriverStation {
    * @param entering If true, starting teleop code; if false, leaving teleop code
    */
   @SuppressWarnings("MethodName")
-  public void InOperatorControl(boolean entering) {
+  public static void InOperatorControl(boolean entering) {
     m_userInTeleop = entering;
   }
 
@@ -1137,12 +1138,12 @@ public class DriverStation {
    * @param entering If true, starting test code; if false, leaving test code
    */
   @SuppressWarnings("MethodName")
-  public void InTest(boolean entering) {
+  public static void InTest(boolean entering) {
     m_userInTest = entering;
   }
 
   /** Forces waitForData() to return immediately. */
-  public void wakeupWaitForData() {
+  public static void wakeupWaitForData() {
     m_waitForDataMutex.lock();
     m_waitForDataCount++;
     m_waitForDataCond.signalAll();
@@ -1156,7 +1157,7 @@ public class DriverStation {
    *
    * @param silence Whether warning messages should be silenced.
    */
-  public void silenceJoystickConnectionWarning(boolean silence) {
+  public static void silenceJoystickConnectionWarning(boolean silence) {
     m_silenceJoystickWarning = silence;
   }
 
@@ -1166,7 +1167,7 @@ public class DriverStation {
    *
    * @return Whether joystick connection warnings are silenced.
    */
-  public boolean isJoystickConnectionWarningSilenced() {
+  public static boolean isJoystickConnectionWarningSilenced() {
     return !isFMSAttached() && m_silenceJoystickWarning;
   }
 
@@ -1174,7 +1175,7 @@ public class DriverStation {
    * Copy data from the DS task for the user. If no new data exists, it will just be returned,
    * otherwise the data will be copied from the DS polling loop.
    */
-  protected void getData() {
+  protected static void getData() {
     // Get the status of all of the joysticks
     for (byte stick = 0; stick < kJoystickPorts; stick++) {
       m_joystickAxesCache[stick].m_count =
@@ -1224,14 +1225,14 @@ public class DriverStation {
     }
 
     wakeupWaitForData();
-    m_matchDataSender.sendMatchData(this);
+    m_matchDataSender.sendMatchData();
   }
 
   /**
    * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm
    * the DS.
    */
-  private void reportJoystickUnpluggedError(String message) {
+  private static void reportJoystickUnpluggedError(String message) {
     double currentTime = Timer.getFPGATimestamp();
     if (currentTime > m_nextMessageTime) {
       reportError(message, false);
@@ -1243,7 +1244,7 @@ public class DriverStation {
    * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm
    * the DS.
    */
-  private void reportJoystickUnpluggedWarning(String message) {
+  private static void reportJoystickUnpluggedWarning(String message) {
     if (isFMSAttached() || !m_silenceJoystickWarning) {
       double currentTime = Timer.getFPGATimestamp();
       if (currentTime > m_nextMessageTime) {
@@ -1254,7 +1255,7 @@ public class DriverStation {
   }
 
   /** Provides the service routine for the DS polling m_thread. */
-  private void run() {
+  private static void run() {
     int safetyCounter = 0;
     while (m_threadKeepAlive) {
       HAL.waitForDSData();
@@ -1290,7 +1291,7 @@ public class DriverStation {
    *
    * @param force True to force an update to the cache, otherwise update if 50ms have passed.
    */
-  private void updateControlWord(boolean force) {
+  private static void updateControlWord(boolean force) {
     long now = System.currentTimeMillis();
     synchronized (m_controlWordMutex) {
       if (now - m_lastControlWordUpdate > 50 || force) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
index 340c3fb92e..0ce2fee99c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -67,14 +67,12 @@ public abstract class GenericHID {
     }
   }
 
-  private DriverStation m_ds;
   private final int m_port;
   private int m_outputs;
   private short m_leftRumble;
   private short m_rightRumble;
 
   public GenericHID(int port) {
-    m_ds = DriverStation.getInstance();
     m_port = port;
   }
 
@@ -125,7 +123,7 @@ public abstract class GenericHID {
    * @return The state of the button.
    */
   public boolean getRawButton(int button) {
-    return m_ds.getStickButton(m_port, (byte) button);
+    return DriverStation.getStickButton(m_port, (byte) button);
   }
 
   /**
@@ -139,7 +137,7 @@ public abstract class GenericHID {
    * @return Whether the button was pressed since the last check.
    */
   public boolean getRawButtonPressed(int button) {
-    return m_ds.getStickButtonPressed(m_port, (byte) button);
+    return DriverStation.getStickButtonPressed(m_port, (byte) button);
   }
 
   /**
@@ -153,7 +151,7 @@ public abstract class GenericHID {
    * @return Whether the button was released since the last check.
    */
   public boolean getRawButtonReleased(int button) {
-    return m_ds.getStickButtonReleased(m_port, button);
+    return DriverStation.getStickButtonReleased(m_port, button);
   }
 
   /**
@@ -163,7 +161,7 @@ public abstract class GenericHID {
    * @return The value of the axis.
    */
   public double getRawAxis(int axis) {
-    return m_ds.getStickAxis(m_port, axis);
+    return DriverStation.getStickAxis(m_port, axis);
   }
 
   /**
@@ -176,7 +174,7 @@ public abstract class GenericHID {
    * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
    */
   public int getPOV(int pov) {
-    return m_ds.getStickPOV(m_port, pov);
+    return DriverStation.getStickPOV(m_port, pov);
   }
 
   public int getPOV() {
@@ -189,7 +187,7 @@ public abstract class GenericHID {
    * @return the number of axis for the current HID
    */
   public int getAxisCount() {
-    return m_ds.getStickAxisCount(m_port);
+    return DriverStation.getStickAxisCount(m_port);
   }
 
   /**
@@ -198,7 +196,7 @@ public abstract class GenericHID {
    * @return the number of POVs for the current HID
    */
   public int getPOVCount() {
-    return m_ds.getStickPOVCount(m_port);
+    return DriverStation.getStickPOVCount(m_port);
   }
 
   /**
@@ -207,7 +205,7 @@ public abstract class GenericHID {
    * @return the number of buttons for the current HID
    */
   public int getButtonCount() {
-    return m_ds.getStickButtonCount(m_port);
+    return DriverStation.getStickButtonCount(m_port);
   }
 
   /**
@@ -216,7 +214,7 @@ public abstract class GenericHID {
    * @return true if the HID is connected
    */
   public boolean isConnected() {
-    return m_ds.isJoystickConnected(m_port);
+    return DriverStation.isJoystickConnected(m_port);
   }
 
   /**
@@ -225,7 +223,7 @@ public abstract class GenericHID {
    * @return the type of the HID.
    */
   public HIDType getType() {
-    return HIDType.of(m_ds.getJoystickType(m_port));
+    return HIDType.of(DriverStation.getJoystickType(m_port));
   }
 
   /**
@@ -234,7 +232,7 @@ public abstract class GenericHID {
    * @return the name of the HID.
    */
   public String getName() {
-    return m_ds.getJoystickName(m_port);
+    return DriverStation.getJoystickName(m_port);
   }
 
   /**
@@ -244,7 +242,7 @@ public abstract class GenericHID {
    * @return the axis type of a joystick axis.
    */
   public int getAxisType(int axis) {
-    return m_ds.getJoystickAxisType(m_port, axis);
+    return DriverStation.getJoystickAxisType(m_port, axis);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
index 743c37c085..a15fb70b08 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
@@ -33,13 +33,15 @@ public final class Preferences {
   /** The singleton instance. */
   private static Preferences instance;
   /** The network table. */
-  private final NetworkTable m_table;
+  private static final NetworkTable m_table;
 
   /**
    * Returns the preferences instance.
    *
    * @return the preferences instance
+   * @deprecated Use the static methods
    */
+  @Deprecated
   public static synchronized Preferences getInstance() {
     if (instance == null) {
       instance = new Preferences();
@@ -48,7 +50,9 @@ public final class Preferences {
   }
 
   /** Creates a preference class. */
-  private Preferences() {
+  private Preferences() {}
+
+  static {
     m_table = NetworkTableInstance.getDefault().getTable(TABLE_NAME);
     m_table.getEntry(".type").setString("RobotPreferences");
     // Listener to set all Preferences values to persistent
@@ -64,7 +68,7 @@ public final class Preferences {
    *
    * @return a collection of the keys
    */
-  public Collection<String> getKeys() {
+  public static Collection<String> getKeys() {
     return m_table.getKeys();
   }
 
@@ -75,7 +79,7 @@ public final class Preferences {
    * @param value the value
    * @throws NullPointerException if value is null
    */
-  public void setString(String key, String value) {
+  public static void setString(String key, String value) {
     requireNonNullParam(value, "value", "setString");
 
     NetworkTableEntry entry = m_table.getEntry(key);
@@ -92,7 +96,7 @@ public final class Preferences {
    * @deprecated Use {@link #setString(String, String)}
    */
   @Deprecated
-  public void putString(String key, String value) {
+  public static void putString(String key, String value) {
     setString(key, value);
   }
 
@@ -102,7 +106,7 @@ public final class Preferences {
    * @param key The key
    * @param value The value
    */
-  public void initString(String key, String value) {
+  public static void initString(String key, String value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDefaultString(value);
   }
@@ -113,7 +117,7 @@ public final class Preferences {
    * @param key the key
    * @param value the value
    */
-  public void setInt(String key, int value) {
+  public static void setInt(String key, int value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDouble(value);
     entry.setPersistent();
@@ -127,7 +131,7 @@ public final class Preferences {
    * @deprecated Use {@link #setInt(String, int)}
    */
   @Deprecated
-  public void putInt(String key, int value) {
+  public static void putInt(String key, int value) {
     setInt(key, value);
   }
 
@@ -137,7 +141,7 @@ public final class Preferences {
    * @param key The key
    * @param value The value
    */
-  public void initInt(String key, int value) {
+  public static void initInt(String key, int value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDefaultDouble(value);
   }
@@ -148,7 +152,7 @@ public final class Preferences {
    * @param key the key
    * @param value the value
    */
-  public void setDouble(String key, double value) {
+  public static void setDouble(String key, double value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDouble(value);
     entry.setPersistent();
@@ -162,7 +166,7 @@ public final class Preferences {
    * @deprecated Use {@link #setDouble(String, double)}
    */
   @Deprecated
-  public void putDouble(String key, double value) {
+  public static void putDouble(String key, double value) {
     setDouble(key, value);
   }
 
@@ -172,7 +176,7 @@ public final class Preferences {
    * @param key The key
    * @param value The value
    */
-  public void initDouble(String key, double value) {
+  public static void initDouble(String key, double value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDefaultDouble(value);
   }
@@ -183,7 +187,7 @@ public final class Preferences {
    * @param key the key
    * @param value the value
    */
-  public void setFloat(String key, float value) {
+  public static void setFloat(String key, float value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDouble(value);
     entry.setPersistent();
@@ -197,7 +201,7 @@ public final class Preferences {
    * @deprecated Use {@link #setFloat(String, float)}
    */
   @Deprecated
-  public void putFloat(String key, float value) {
+  public static void putFloat(String key, float value) {
     setFloat(key, value);
   }
 
@@ -207,7 +211,7 @@ public final class Preferences {
    * @param key The key
    * @param value The value
    */
-  public void initFloat(String key, float value) {
+  public static void initFloat(String key, float value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDefaultDouble(value);
   }
@@ -218,7 +222,7 @@ public final class Preferences {
    * @param key the key
    * @param value the value
    */
-  public void setBoolean(String key, boolean value) {
+  public static void setBoolean(String key, boolean value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setBoolean(value);
     entry.setPersistent();
@@ -232,7 +236,7 @@ public final class Preferences {
    * @deprecated Use {@link #setBoolean(String, boolean)}
    */
   @Deprecated
-  public void putBoolean(String key, boolean value) {
+  public static void putBoolean(String key, boolean value) {
     setBoolean(key, value);
   }
 
@@ -242,7 +246,7 @@ public final class Preferences {
    * @param key The key
    * @param value The value
    */
-  public void initBoolean(String key, boolean value) {
+  public static void initBoolean(String key, boolean value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDefaultBoolean(value);
   }
@@ -253,7 +257,7 @@ public final class Preferences {
    * @param key the key
    * @param value the value
    */
-  public void setLong(String key, long value) {
+  public static void setLong(String key, long value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDouble(value);
     entry.setPersistent();
@@ -267,7 +271,7 @@ public final class Preferences {
    * @deprecated Use {@link #setLong(String, long)}
    */
   @Deprecated
-  public void putLong(String key, long value) {
+  public static void putLong(String key, long value) {
     setLong(key, value);
   }
 
@@ -277,7 +281,7 @@ public final class Preferences {
    * @param key The key
    * @param value The value
    */
-  public void initLong(String key, long value) {
+  public static void initLong(String key, long value) {
     NetworkTableEntry entry = m_table.getEntry(key);
     entry.setDefaultDouble(value);
   }
@@ -288,7 +292,7 @@ public final class Preferences {
    * @param key the key
    * @return if there is a value at the given key
    */
-  public boolean containsKey(String key) {
+  public static boolean containsKey(String key) {
     return m_table.containsKey(key);
   }
 
@@ -297,12 +301,12 @@ public final class Preferences {
    *
    * @param key the key
    */
-  public void remove(String key) {
+  public static void remove(String key) {
     m_table.delete(key);
   }
 
   /** Remove all preferences. */
-  public void removeAll() {
+  public static void removeAll() {
     for (String key : m_table.getKeys()) {
       if (!".type".equals(key)) {
         remove(key);
@@ -318,7 +322,7 @@ public final class Preferences {
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
-  public String getString(String key, String backup) {
+  public static String getString(String key, String backup) {
     return m_table.getEntry(key).getString(backup);
   }
 
@@ -330,7 +334,7 @@ public final class Preferences {
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
-  public int getInt(String key, int backup) {
+  public static int getInt(String key, int backup) {
     return (int) m_table.getEntry(key).getDouble(backup);
   }
 
@@ -342,7 +346,7 @@ public final class Preferences {
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
-  public double getDouble(String key, double backup) {
+  public static double getDouble(String key, double backup) {
     return m_table.getEntry(key).getDouble(backup);
   }
 
@@ -354,7 +358,7 @@ public final class Preferences {
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
-  public boolean getBoolean(String key, boolean backup) {
+  public static boolean getBoolean(String key, boolean backup) {
     return m_table.getEntry(key).getBoolean(backup);
   }
 
@@ -366,7 +370,7 @@ public final class Preferences {
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
-  public float getFloat(String key, float backup) {
+  public static float getFloat(String key, float backup) {
     return (float) m_table.getEntry(key).getDouble(backup);
   }
 
@@ -378,7 +382,7 @@ public final class Preferences {
    * @param backup the value to return if none exists in the table
    * @return either the value in the table, or the backup
    */
-  public long getLong(String key, long backup) {
+  public static long getLong(String key, long backup) {
     return (long) m_table.getEntry(key).getDouble(backup);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index dd941983af..cc191b54e1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -123,8 +123,6 @@ public abstract class RobotBase implements AutoCloseable {
         });
   }
 
-  protected final DriverStation m_ds;
-
   /**
    * Constructor for a generic robot program. User code should be placed in the constructor that
    * runs before the Autonomous or Operator Control period starts. The constructor will run to
@@ -144,7 +142,6 @@ public abstract class RobotBase implements AutoCloseable {
     } else {
       inst.startServer();
     }
-    m_ds = DriverStation.getInstance();
     inst.getTable("LiveWindow").getSubTable(".status").getEntry("LW Enabled").setBoolean(false);
 
     LiveWindow.setEnabled(false);
@@ -182,7 +179,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the Robot is currently disabled by the field controls.
    */
   public boolean isDisabled() {
-    return m_ds.isDisabled();
+    return DriverStation.isDisabled();
   }
 
   /**
@@ -191,7 +188,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the Robot is currently enabled by the field controls.
    */
   public boolean isEnabled() {
-    return m_ds.isEnabled();
+    return DriverStation.isEnabled();
   }
 
   /**
@@ -200,7 +197,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating Autonomously.
    */
   public boolean isAutonomous() {
-    return m_ds.isAutonomous();
+    return DriverStation.isAutonomous();
   }
 
   /**
@@ -210,7 +207,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating autonomously while enabled.
    */
   public boolean isAutonomousEnabled() {
-    return m_ds.isAutonomousEnabled();
+    return DriverStation.isAutonomousEnabled();
   }
 
   /**
@@ -219,7 +216,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating in Test mode.
    */
   public boolean isTest() {
-    return m_ds.isTest();
+    return DriverStation.isTest();
   }
 
   /**
@@ -229,7 +226,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating in Tele-Op mode.
    */
   public boolean isOperatorControl() {
-    return m_ds.isOperatorControl();
+    return DriverStation.isOperatorControl();
   }
 
   /**
@@ -239,7 +236,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating in Tele-Op mode while enabled.
    */
   public boolean isOperatorControlEnabled() {
-    return m_ds.isOperatorControlEnabled();
+    return DriverStation.isOperatorControlEnabled();
   }
 
   /**
@@ -248,7 +245,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return Has new data arrived over the network since the last time this function was called?
    */
   public boolean isNewDataAvailable() {
-    return m_ds.isNewControlData();
+    return DriverStation.isNewControlData();
   }
 
   /** Provide an alternate "main loop" via startCompetition(). */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
index c2778d8a67..d11e5bc977 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
@@ -7,27 +7,27 @@ package edu.wpi.first.wpilibj;
 @SuppressWarnings("MissingJavadocMethod")
 public final class RobotState {
   public static boolean isDisabled() {
-    return DriverStation.getInstance().isDisabled();
+    return DriverStation.isDisabled();
   }
 
   public static boolean isEnabled() {
-    return DriverStation.getInstance().isEnabled();
+    return DriverStation.isEnabled();
   }
 
   public static boolean isEStopped() {
-    return DriverStation.getInstance().isEStopped();
+    return DriverStation.isEStopped();
   }
 
   public static boolean isOperatorControl() {
-    return DriverStation.getInstance().isOperatorControl();
+    return DriverStation.isOperatorControl();
   }
 
   public static boolean isAutonomous() {
-    return DriverStation.getInstance().isAutonomous();
+    return DriverStation.isAutonomous();
   }
 
   public static boolean isTest() {
-    return DriverStation.getInstance().isTest();
+    return DriverStation.isTest();
   }
 
   private RobotState() {}
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
index 013d8068d8..b4147795ad 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
@@ -26,7 +26,7 @@ public class Timer {
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
   public static double getMatchTime() {
-    return DriverStation.getInstance().getMatchTime();
+    return DriverStation.getMatchTime();
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
index 3c919db5bf..f6da659f25 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
@@ -312,7 +312,7 @@ public final class DriverStationSim {
   /** Updates DriverStation data so that new values are visible to the user program. */
   public static void notifyNewData() {
     DriverStationDataJNI.notifyNewData();
-    DriverStation.getInstance().waitForData();
+    DriverStation.waitForData();
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java
index ba3e1e1914..b52f4edad5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java
@@ -44,7 +44,7 @@
  *
  *     {@literal @}Override
  *      public void robotInit() {
- *          usbCamera = CameraServer.getInstance().startAutomaticCapture(0);
+ *          usbCamera = CameraServer.startAutomaticCapture(0);
  *          findTotePipeline = new MyFindTotePipeline();
  *          findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
  *      }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java
index 010054abad..5a446159ae 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java
@@ -23,7 +23,7 @@ class DriverStationTest {
 
     DriverStationSim.notifyNewData();
 
-    assertEquals(expected, DriverStation.getInstance().isJoystickConnected(1));
+    assertEquals(expected, DriverStation.isJoystickConnected(1));
   }
 
   static Stream<Arguments> isConnectedProvider() {
@@ -41,8 +41,8 @@ class DriverStationTest {
     DriverStationSim.setFmsAttached(fms);
     DriverStationSim.notifyNewData();
 
-    DriverStation.getInstance().silenceJoystickConnectionWarning(silence);
-    assertEquals(expected, DriverStation.getInstance().isJoystickConnectionWarningSilenced());
+    DriverStation.silenceJoystickConnectionWarning(silence);
+    assertEquals(expected, DriverStation.isJoystickConnectionWarningSilenced());
   }
 
   static Stream<Arguments> connectionWarningProvider() {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
index e2766814a4..65eafaaec2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
@@ -28,14 +28,14 @@ public class Robot extends TimedRobot {
         new Thread(
             () -> {
               // Get the Axis camera from CameraServer
-              AxisCamera camera = CameraServer.getInstance().addAxisCamera("axis-camera.local");
+              AxisCamera camera = CameraServer.addAxisCamera("axis-camera.local");
               // Set the resolution
               camera.setResolution(640, 480);
 
               // Get a CvSink. This will capture Mats from the camera
-              CvSink cvSink = CameraServer.getInstance().getVideo();
+              CvSink cvSink = CameraServer.getVideo();
               // Setup a CvSource. This will send images back to the Dashboard
-              CvSource outputStream = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
+              CvSource outputStream = CameraServer.putVideo("Rectangle", 640, 480);
 
               // Mats are very memory expensive. Lets reuse this Mat.
               Mat mat = new Mat();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
index 57ad77e11b..e6e8b65ccd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
@@ -28,14 +28,14 @@ public class Robot extends TimedRobot {
         new Thread(
             () -> {
               // Get the UsbCamera from CameraServer
-              UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
+              UsbCamera camera = CameraServer.startAutomaticCapture();
               // Set the resolution
               camera.setResolution(640, 480);
 
               // Get a CvSink. This will capture Mats from the camera
-              CvSink cvSink = CameraServer.getInstance().getVideo();
+              CvSink cvSink = CameraServer.getVideo();
               // Setup a CvSource. This will send images back to the Dashboard
-              CvSource outputStream = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
+              CvSource outputStream = CameraServer.putVideo("Rectangle", 640, 480);
 
               // Mats are very memory expensive. Lets reuse this Mat.
               Mat mat = new Mat();
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
index dc84dc80b7..a025c5616e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
@@ -15,6 +15,6 @@ import edu.wpi.first.wpilibj.TimedRobot;
 public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
-    CameraServer.getInstance().startAutomaticCapture();
+    CameraServer.startAutomaticCapture();
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java
index 231919c8af..eabfbb879b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/educational/EducationalRobot.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj.templates.educational;
 
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /** Educational robot base class. */
@@ -38,32 +39,32 @@ public class EducationalRobot extends RobotBase {
 
     while (!Thread.currentThread().isInterrupted() && !m_exit) {
       if (isDisabled()) {
-        m_ds.InDisabled(true);
+        DriverStation.InDisabled(true);
         disabled();
-        m_ds.InDisabled(false);
+        DriverStation.InDisabled(false);
         while (isDisabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
       } else if (isAutonomous()) {
-        m_ds.InAutonomous(true);
+        DriverStation.InAutonomous(true);
         autonomous();
-        m_ds.InAutonomous(false);
+        DriverStation.InAutonomous(false);
         while (isAutonomousEnabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
       } else if (isTest()) {
-        m_ds.InTest(true);
+        DriverStation.InTest(true);
         test();
-        m_ds.InTest(false);
+        DriverStation.InTest(false);
         while (isTest() && isEnabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
       } else {
-        m_ds.InOperatorControl(true);
+        DriverStation.InOperatorControl(true);
         teleop();
-        m_ds.InOperatorControl(false);
+        DriverStation.InOperatorControl(false);
         while (isOperatorControlEnabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
       }
     }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
index e00c034e49..b4d268d1e6 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj.templates.robotbaseskeleton;
 
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -35,36 +36,36 @@ public class Robot extends RobotBase {
 
     while (!Thread.currentThread().isInterrupted() && !m_exit) {
       if (isDisabled()) {
-        m_ds.InDisabled(true);
+        DriverStation.InDisabled(true);
         disabled();
-        m_ds.InDisabled(false);
+        DriverStation.InDisabled(false);
         while (isDisabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
       } else if (isAutonomous()) {
-        m_ds.InAutonomous(true);
+        DriverStation.InAutonomous(true);
         autonomous();
-        m_ds.InAutonomous(false);
+        DriverStation.InAutonomous(false);
         while (isAutonomousEnabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
       } else if (isTest()) {
         LiveWindow.setEnabled(true);
         Shuffleboard.enableActuatorWidgets();
-        m_ds.InTest(true);
+        DriverStation.InTest(true);
         test();
-        m_ds.InTest(false);
+        DriverStation.InTest(false);
         while (isTest() && isEnabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
         LiveWindow.setEnabled(false);
         Shuffleboard.disableActuatorWidgets();
       } else {
-        m_ds.InOperatorControl(true);
+        DriverStation.InOperatorControl(true);
         teleop();
-        m_ds.InOperatorControl(false);
+        DriverStation.InOperatorControl(false);
         while (isOperatorControlEnabled()) {
-          m_ds.waitForData();
+          DriverStation.waitForData();
         }
       }
     }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
index 96f9c09c30..793c7e939e 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
@@ -66,7 +66,7 @@ public class CounterTest extends AbstractComsSetup {
     // port}.
     // These data are hard-coded into the class, but they could be
     // generated or loaded in any way you like.
-    return TestBench.getInstance().getDIOCrossConnectCollection();
+    return TestBench.getDIOCrossConnectCollection();
   }
 
   @BeforeClass
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
index 000a42de74..97405ce5ca 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
@@ -58,7 +58,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
     // port}.
     // These data are hard-coded into the class, but they could be
     // generated or loaded in any way you like.
-    return TestBench.getInstance().getDIOCrossConnectCollection();
+    return TestBench.getDIOCrossConnectCollection();
   }
 
   @AfterClass
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java
index 654e1b88a1..b2e727dac3 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java
@@ -26,7 +26,7 @@ public class DriverStationTest extends AbstractComsSetup {
 
     // Wait for data 50 times
     for (int i = 0; i < 50; i++) {
-      DriverStation.getInstance().waitForData();
+      DriverStation.waitForData();
     }
     long endTime = RobotController.getFPGATime();
     long difference = endTime - startTime;
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
index 6e2588d995..f1bfca5fbb 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
@@ -43,7 +43,7 @@ public class EncoderTest extends AbstractComsSetup {
    */
   @Parameters
   public static Collection<Integer[]> generateData() {
-    return TestBench.getInstance().getEncoderDIOCrossConnectCollection();
+    return TestBench.getEncoderDIOCrossConnectCollection();
   }
 
   /**
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
index a918f37d01..0182a00681 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
@@ -30,7 +30,7 @@ public class GyroTest extends AbstractComsSetup {
   @Before
   public void setUp() {
     logger.fine("Setup: TiltPan camera");
-    m_tpcam = TestBench.getInstance().getTiltPanCam();
+    m_tpcam = TestBench.getTiltPanCam();
     m_tpcam.setup();
   }
 
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
index 690ec42cb1..4d0b24bb18 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
@@ -58,9 +58,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
     // logger.fine("Loading the MotorList");
     return Arrays.asList(
         new MotorEncoderFixture<?>[][] {
-          {TestBench.getInstance().getTalonPair()},
-          {TestBench.getInstance().getVictorPair()},
-          {TestBench.getInstance().getJaguarPair()}
+          {TestBench.getTalonPair()}, {TestBench.getVictorPair()}, {TestBench.getJaguarPair()}
         });
   }
 
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
index af9a272254..769fa7fe98 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
@@ -46,9 +46,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
     // logger.fine("Loading the MotorList");
     return Arrays.asList(
         new MotorEncoderFixture<?>[][] {
-          {TestBench.getInstance().getTalonPair()},
-          {TestBench.getInstance().getVictorPair()},
-          {TestBench.getInstance().getJaguarPair()}
+          {TestBench.getTalonPair()}, {TestBench.getVictorPair()}, {TestBench.getJaguarPair()}
         });
   }
 
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
index 127e4c21bb..e65bce0e23 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
@@ -60,7 +60,7 @@ public class PDPTest extends AbstractComsSetup {
   @Parameters(name = "{index}: {0}, Expected Stopped Current Draw: {1}")
   public static Collection<Object[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(new Object[][] {{TestBench.getInstance().getTalonPair(), 0.0}});
+    return Arrays.asList(new Object[][] {{TestBench.getTalonPair(), 0.0}});
   }
 
   @After
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
index 98cf4cb09c..1e97a7ef61 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -72,9 +72,9 @@ public class PIDTest extends AbstractComsSetup {
       data.addAll(
           Arrays.asList(
               new Object[][] {
-                {kp, ki, kd, TestBench.getInstance().getTalonPair()},
-                {kp, ki, kd, TestBench.getInstance().getVictorPair()},
-                {kp, ki, kd, TestBench.getInstance().getJaguarPair()}
+                {kp, ki, kd, TestBench.getTalonPair()},
+                {kp, ki, kd, TestBench.getVictorPair()},
+                {kp, ki, kd, TestBench.getJaguarPair()}
               }));
     }
     return data;
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
index 728f937b4a..f447dd3193 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
@@ -41,7 +41,7 @@ public abstract class AbstractComsSetup {
         // Set some implementations so that the static methods work properly
         HAL.initialize(500, 0);
         HAL.observeUserProgramStarting();
-        DriverStation.getInstance().getAlliance();
+        DriverStation.getAlliance();
 
         ds = new MockDS();
         ds.start();
@@ -56,7 +56,7 @@ public abstract class AbstractComsSetup {
 
       // Wait until the robot is enabled before starting the tests
       int enableCounter = 0;
-      while (!DriverStation.getInstance().isEnabled()) {
+      while (!DriverStation.isEnabled()) {
         if (enableCounter > 50) {
           // Robot did not enable properly after 5 seconds.
           // Force exit
@@ -164,7 +164,7 @@ public abstract class AbstractComsSetup {
       TestBench.out().println();
       // Wait until the robot is enabled before starting the next tests
       int enableCounter = 0;
-      while (!DriverStation.getInstance().isEnabled()) {
+      while (!DriverStation.isEnabled()) {
         try {
           Thread.sleep(100);
         } catch (InterruptedException ex) {
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
index 89713c6945..96a69a4347 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
@@ -24,11 +24,7 @@ import java.util.Arrays;
 import java.util.Collection;
 import java.util.List;
 
-/**
- * This class provides access to all of the elements on the test bench, for use in fixtures. This
- * class is a singleton, you should use {@link #getInstance()} to obtain a reference to the {@code
- * TestBench}.
- */
+/** This class provides access to all of the elements on the test bench, for use in fixtures. */
 public final class TestBench {
   /**
    * The time that it takes to have a motor go from rotating at full speed to completely stopped.
@@ -71,7 +67,7 @@ public final class TestBench {
    *
    * @return a freshly allocated Talon, Encoder pair
    */
-  public MotorEncoderFixture<Talon> getTalonPair() {
+  public static MotorEncoderFixture<Talon> getTalonPair() {
     return new MotorEncoderFixture<Talon>() {
       @Override
       protected Talon giveMotorController() {
@@ -101,7 +97,7 @@ public final class TestBench {
    *
    * @return a freshly allocated Victor, Encoder pair
    */
-  public MotorEncoderFixture<Victor> getVictorPair() {
+  public static MotorEncoderFixture<Victor> getVictorPair() {
     return new MotorEncoderFixture<Victor>() {
       @Override
       protected Victor giveMotorController() {
@@ -131,7 +127,7 @@ public final class TestBench {
    *
    * @return a freshly allocated Jaguar, Encoder pair
    */
-  public MotorEncoderFixture<Jaguar> getJaguarPair() {
+  public static MotorEncoderFixture<Jaguar> getJaguarPair() {
     return new MotorEncoderFixture<Jaguar>() {
       @Override
       protected Jaguar giveMotorController() {
@@ -160,7 +156,7 @@ public final class TestBench {
    *
    * @return a freshly allocated Servo's and a freshly allocated Gyroscope
    */
-  public TiltPanCameraFixture getTiltPanCam() {
+  public static TiltPanCameraFixture getTiltPanCam() {
 
     return new TiltPanCameraFixture() {
       @Override
@@ -189,12 +185,12 @@ public final class TestBench {
     };
   }
 
-  public DIOCrossConnectFixture getDIOCrossConnectFixture(int inputPort, int outputPort) {
+  public static DIOCrossConnectFixture getDIOCrossConnectFixture(int inputPort, int outputPort) {
     return new DIOCrossConnectFixture(inputPort, outputPort);
   }
 
   /** Gets two lists of possible DIO pairs for the two pairs. */
-  private List<List<Integer[]>> getDIOCrossConnect() {
+  private static List<List<Integer[]>> getDIOCrossConnect() {
     List<List<Integer[]>> pairs = new ArrayList<List<Integer[]>>();
     List<Integer[]> setA =
         Arrays.asList(
@@ -256,7 +252,7 @@ public final class TestBench {
    *
    * @return pairs of DIOCrossConnectFixtures
    */
-  public Collection<Integer[]> getDIOCrossConnectCollection() {
+  public static Collection<Integer[]> getDIOCrossConnectCollection() {
     Collection<Integer[]> pairs = new ArrayList<Integer[]>();
     for (Collection<Integer[]> collection : getDIOCrossConnect()) {
       pairs.addAll(collection);
@@ -270,7 +266,7 @@ public final class TestBench {
    * @param flip whether this encoder needs to be flipped
    * @return A list of different inputs to use for the tests
    */
-  private Collection<Integer[]> getPairArray(
+  private static Collection<Integer[]> getPairArray(
       List<Integer[]> listA, List<Integer[]> listB, boolean flip) {
     Collection<Integer[]> encoderPortPairs = new ArrayList<Integer[]>();
     for (Integer[] portPairsA : listA) {
@@ -304,7 +300,7 @@ public final class TestBench {
    *
    * @return A collection of different input pairs to use for the encoder
    */
-  public Collection<Integer[]> getEncoderDIOCrossConnectCollection() {
+  public static Collection<Integer[]> getEncoderDIOCrossConnectCollection() {
     Collection<Integer[]> encoderPortPairs = new ArrayList<Integer[]>();
     assert getDIOCrossConnect().size() == 2;
     encoderPortPairs.addAll(
@@ -320,7 +316,9 @@ public final class TestBench {
    * new instance of it. Otherwise it returns the existing instance.
    *
    * @return The Singleton instance of the TestBench
+   * @deprecated Use the static methods instead
    */
+  @Deprecated
   public static TestBench getInstance() {
     if (instance == null) {
       instance = new TestBench();
diff --git a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
index f975aaae21..3ad39e54e0 100644
--- a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
+++ b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
@@ -16,38 +16,40 @@
 
 using namespace wpi;
 
-struct SendableRegistry::Impl {
-  struct Component {
-    Sendable* sendable = nullptr;
-    std::unique_ptr<SendableBuilder> builder;
-    std::string name;
-    std::string subsystem = "Ungrouped";
-    Sendable* parent = nullptr;
-    bool liveWindow = false;
-    wpi::SmallVector<std::shared_ptr<void>, 2> data;
+namespace {
+struct Component {
+  Sendable* sendable = nullptr;
+  std::unique_ptr<SendableBuilder> builder;
+  std::string name;
+  std::string subsystem = "Ungrouped";
+  Sendable* parent = nullptr;
+  bool liveWindow = false;
+  wpi::SmallVector<std::shared_ptr<void>, 2> data;
 
-    void SetName(std::string_view moduleType, int channel) {
-      name = fmt::format("{}[{}]", moduleType, channel);
-    }
+  void SetName(std::string_view moduleType, int channel) {
+    name = fmt::format("{}[{}]", moduleType, channel);
+  }
 
-    void SetName(std::string_view moduleType, int moduleNumber, int channel) {
-      name = fmt::format("{}[{},{}]", moduleType, moduleNumber, channel);
-    }
-  };
+  void SetName(std::string_view moduleType, int moduleNumber, int channel) {
+    name = fmt::format("{}[{},{}]", moduleType, moduleNumber, channel);
+  }
+};
 
+struct SendableRegistryInst {
   wpi::recursive_mutex mutex;
 
   std::function<std::unique_ptr<SendableBuilder>()> liveWindowFactory;
   wpi::UidVector<std::unique_ptr<Component>, 32> components;
-  wpi::DenseMap<void*, UID> componentMap;
+  wpi::DenseMap<void*, SendableRegistry::UID> componentMap;
   int nextDataHandle = 0;
 
-  Component& GetOrAdd(void* sendable, UID* uid = nullptr);
+  Component& GetOrAdd(void* sendable, SendableRegistry::UID* uid = nullptr);
 };
+}  // namespace
 
-SendableRegistry::Impl::Component& SendableRegistry::Impl::GetOrAdd(
-    void* sendable, UID* uid) {
-  UID& compUid = componentMap[sendable];
+Component& SendableRegistryInst::GetOrAdd(void* sendable,
+                                          SendableRegistry::UID* uid) {
+  SendableRegistry::UID& compUid = componentMap[sendable];
   if (compUid == 0) {
     compUid = components.emplace_back(std::make_unique<Component>()) + 1;
   }
@@ -58,54 +60,59 @@ SendableRegistry::Impl::Component& SendableRegistry::Impl::GetOrAdd(
   return *components[compUid - 1];
 }
 
-SendableRegistry& SendableRegistry::GetInstance() {
-  static SendableRegistry instance;
+static SendableRegistryInst& GetInstance() {
+  static SendableRegistryInst instance;
   return instance;
 }
 
 void SendableRegistry::SetLiveWindowBuilderFactory(
     std::function<std::unique_ptr<SendableBuilder>()> factory) {
-  m_impl->liveWindowFactory = std::move(factory);
+  GetInstance().liveWindowFactory = std::move(factory);
 }
 
 void SendableRegistry::Add(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
   comp.name = name;
 }
 
 void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
                            int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
   comp.SetName(moduleType, channel);
 }
 
 void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
                            int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
   comp.SetName(moduleType, moduleNumber, channel);
 }
 
 void SendableRegistry::Add(Sendable* sendable, std::string_view subsystem,
                            std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
   comp.name = name;
   comp.subsystem = subsystem;
 }
 
 void SendableRegistry::AddLW(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
-  if (m_impl->liveWindowFactory) {
-    comp.builder = m_impl->liveWindowFactory();
+  if (inst.liveWindowFactory) {
+    comp.builder = inst.liveWindowFactory();
   }
   comp.liveWindow = true;
   comp.name = name;
@@ -113,11 +120,12 @@ void SendableRegistry::AddLW(Sendable* sendable, std::string_view name) {
 
 void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
                              int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
-  if (m_impl->liveWindowFactory) {
-    comp.builder = m_impl->liveWindowFactory();
+  if (inst.liveWindowFactory) {
+    comp.builder = inst.liveWindowFactory();
   }
   comp.liveWindow = true;
   comp.SetName(moduleType, channel);
@@ -125,11 +133,12 @@ void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
 
 void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
                              int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
-  if (m_impl->liveWindowFactory) {
-    comp.builder = m_impl->liveWindowFactory();
+  if (inst.liveWindowFactory) {
+    comp.builder = inst.liveWindowFactory();
   }
   comp.liveWindow = true;
   comp.SetName(moduleType, moduleNumber, channel);
@@ -137,11 +146,12 @@ void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
 
 void SendableRegistry::AddLW(Sendable* sendable, std::string_view subsystem,
                              std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(sendable);
   comp.sendable = sendable;
-  if (m_impl->liveWindowFactory) {
-    comp.builder = m_impl->liveWindowFactory();
+  if (inst.liveWindowFactory) {
+    comp.builder = inst.liveWindowFactory();
   }
   comp.liveWindow = true;
   comp.name = name;
@@ -149,28 +159,31 @@ void SendableRegistry::AddLW(Sendable* sendable, std::string_view subsystem,
 }
 
 void SendableRegistry::AddChild(Sendable* parent, Sendable* child) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(child);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(child);
   comp.parent = parent;
 }
 
 void SendableRegistry::AddChild(Sendable* parent, void* child) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(child);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto& comp = inst.GetOrAdd(child);
   comp.parent = parent;
 }
 
 bool SendableRegistry::Remove(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end()) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end()) {
     return false;
   }
   UID compUid = it->getSecond();
-  m_impl->components.erase(compUid - 1);
-  m_impl->componentMap.erase(it);
+  inst.components.erase(compUid - 1);
+  inst.componentMap.erase(it);
   // update any parent pointers
-  for (auto&& comp : m_impl->components) {
+  for (auto&& comp : inst.components) {
     if (comp->parent == sendable) {
       comp->parent = nullptr;
     }
@@ -179,16 +192,16 @@ bool SendableRegistry::Remove(Sendable* sendable) {
 }
 
 void SendableRegistry::Move(Sendable* to, Sendable* from) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(from);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(from);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
   UID compUid = it->getSecond();
-  m_impl->componentMap.erase(it);
-  m_impl->componentMap[to] = compUid;
-  auto& comp = *m_impl->components[compUid - 1];
+  inst.componentMap.erase(it);
+  inst.componentMap[to] = compUid;
+  auto& comp = *inst.components[compUid - 1];
   comp.sendable = to;
   if (comp.builder && comp.builder->IsPublished()) {
     // rebuild builder, as lambda captures can point to "from"
@@ -196,110 +209,112 @@ void SendableRegistry::Move(Sendable* to, Sendable* from) {
     to->InitSendable(*comp.builder);
   }
   // update any parent pointers
-  for (auto&& comp : m_impl->components) {
+  for (auto&& comp : inst.components) {
     if (comp->parent == from) {
       comp->parent = to;
     }
   }
 }
 
-bool SendableRegistry::Contains(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  return m_impl->componentMap.count(sendable) != 0;
+bool SendableRegistry::Contains(const Sendable* sendable) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  return inst.componentMap.count(sendable) != 0;
 }
 
-std::string SendableRegistry::GetName(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+std::string SendableRegistry::GetName(const Sendable* sendable) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return {};
   }
-  return m_impl->components[it->getSecond() - 1]->name;
+  return inst.components[it->getSecond() - 1]->name;
 }
 
 void SendableRegistry::SetName(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->name = name;
+  inst.components[it->getSecond() - 1]->name = name;
 }
 
 void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
                                int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->SetName(moduleType, channel);
+  inst.components[it->getSecond() - 1]->SetName(moduleType, channel);
 }
 
 void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
                                int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->SetName(moduleType, moduleNumber,
-                                                   channel);
+  inst.components[it->getSecond() - 1]->SetName(moduleType, moduleNumber,
+                                                channel);
 }
 
 void SendableRegistry::SetName(Sendable* sendable, std::string_view subsystem,
                                std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
+  auto& comp = *inst.components[it->getSecond() - 1];
   comp.name = name;
   comp.subsystem = subsystem;
 }
 
-std::string SendableRegistry::GetSubsystem(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+std::string SendableRegistry::GetSubsystem(const Sendable* sendable) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return {};
   }
-  return m_impl->components[it->getSecond() - 1]->subsystem;
+  return inst.components[it->getSecond() - 1]->subsystem;
 }
 
 void SendableRegistry::SetSubsystem(Sendable* sendable,
                                     std::string_view subsystem) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->subsystem = subsystem;
+  inst.components[it->getSecond() - 1]->subsystem = subsystem;
 }
 
 int SendableRegistry::GetDataHandle() {
-  std::scoped_lock lock(m_impl->mutex);
-  return m_impl->nextDataHandle++;
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  return inst.nextDataHandle++;
 }
 
 std::shared_ptr<void> SendableRegistry::SetData(Sendable* sendable, int handle,
                                                 std::shared_ptr<void> data) {
+  auto& inst = GetInstance();
   assert(handle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return nullptr;
   }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
+  auto& comp = *inst.components[it->getSecond() - 1];
   std::shared_ptr<void> rv;
   if (static_cast<size_t>(handle) < comp.data.size()) {
     rv = std::move(comp.data[handle]);
@@ -312,14 +327,14 @@ std::shared_ptr<void> SendableRegistry::SetData(Sendable* sendable, int handle,
 
 std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
                                                 int handle) {
+  auto& inst = GetInstance();
   assert(handle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return nullptr;
   }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
+  auto& comp = *inst.components[it->getSecond() - 1];
   if (static_cast<size_t>(handle) >= comp.data.size()) {
     return nullptr;
   }
@@ -327,78 +342,82 @@ std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
 }
 
 void SendableRegistry::EnableLiveWindow(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->liveWindow = true;
+  inst.components[it->getSecond() - 1]->liveWindow = true;
 }
 
 void SendableRegistry::DisableLiveWindow(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  auto it = inst.componentMap.find(sendable);
+  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->liveWindow = false;
+  inst.components[it->getSecond() - 1]->liveWindow = false;
 }
 
 SendableRegistry::UID SendableRegistry::GetUniqueId(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
   UID uid;
-  auto& comp = m_impl->GetOrAdd(sendable, &uid);
+  auto& comp = inst.GetOrAdd(sendable, &uid);
   comp.sendable = sendable;
   return uid;
 }
 
 Sendable* SendableRegistry::GetSendable(UID uid) {
+  auto& inst = GetInstance();
   if (uid == 0) {
     return nullptr;
   }
-  std::scoped_lock lock(m_impl->mutex);
-  if ((uid - 1) >= m_impl->components.size() || !m_impl->components[uid - 1]) {
+  std::scoped_lock lock(inst.mutex);
+  if ((uid - 1) >= inst.components.size() || !inst.components[uid - 1]) {
     return nullptr;
   }
-  return m_impl->components[uid - 1]->sendable;
+  return inst.components[uid - 1]->sendable;
 }
 
 void SendableRegistry::Publish(UID sendableUid,
                                std::unique_ptr<SendableBuilder> builder) {
-  std::scoped_lock lock(m_impl->mutex);
-  if (sendableUid == 0 || (sendableUid - 1) >= m_impl->components.size() ||
-      !m_impl->components[sendableUid - 1]) {
+  auto& inst = GetInstance();
+  std::scoped_lock lock(inst.mutex);
+  if (sendableUid == 0 || (sendableUid - 1) >= inst.components.size() ||
+      !inst.components[sendableUid - 1]) {
     return;
   }
-  auto& comp = *m_impl->components[sendableUid - 1];
+  auto& comp = *inst.components[sendableUid - 1];
   comp.builder = std::move(builder);  // clear any current builder
   comp.sendable->InitSendable(*comp.builder);
   comp.builder->Update();
 }
 
 void SendableRegistry::Update(UID sendableUid) {
+  auto& inst = GetInstance();
   if (sendableUid == 0) {
     return;
   }
-  std::scoped_lock lock(m_impl->mutex);
-  if ((sendableUid - 1) >= m_impl->components.size() ||
-      !m_impl->components[sendableUid - 1]) {
+  std::scoped_lock lock(inst.mutex);
+  if ((sendableUid - 1) >= inst.components.size() ||
+      !inst.components[sendableUid - 1]) {
     return;
   }
-  if (m_impl->components[sendableUid - 1]->builder) {
-    m_impl->components[sendableUid - 1]->builder->Update();
+  if (inst.components[sendableUid - 1]->builder) {
+    inst.components[sendableUid - 1]->builder->Update();
   }
 }
 
 void SendableRegistry::ForeachLiveWindow(
-    int dataHandle,
-    wpi::function_ref<void(CallbackData& data)> callback) const {
+    int dataHandle, wpi::function_ref<void(CallbackData& data)> callback) {
+  auto& inst = GetInstance();
   assert(dataHandle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  wpi::SmallVector<Impl::Component*, 128> components;
-  for (auto&& comp : m_impl->components) {
+  std::scoped_lock lock(inst.mutex);
+  wpi::SmallVector<Component*, 128> components;
+  for (auto&& comp : inst.components) {
     components.emplace_back(comp.get());
   }
   for (auto comp : components) {
@@ -413,5 +432,3 @@ void SendableRegistry::ForeachLiveWindow(
     }
   }
 }
-
-SendableRegistry::SendableRegistry() : m_impl(new Impl) {}
diff --git a/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h b/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h
index 1a2831e7cb..c65f2d003b 100644
--- a/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h
+++ b/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h
@@ -28,14 +28,14 @@ class SendableHelper {
 
   SendableHelper(SendableHelper&& rhs) {
     // it is safe to call Move() multiple times with the same rhs
-    SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
-                                         static_cast<Derived*>(&rhs));
+    SendableRegistry::Move(static_cast<Derived*>(this),
+                           static_cast<Derived*>(&rhs));
   }
 
   SendableHelper& operator=(SendableHelper&& rhs) {
     // it is safe to call Move() multiple times with the same rhs
-    SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
-                                         static_cast<Derived*>(&rhs));
+    SendableRegistry::Move(static_cast<Derived*>(this),
+                           static_cast<Derived*>(&rhs));
     return *this;
   }
 
@@ -48,8 +48,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::GetName()")
   std::string GetName() const {
-    return SendableRegistry::GetInstance().GetName(
-        static_cast<const Derived*>(this));
+    return SendableRegistry::GetName(static_cast<const Derived*>(this));
   }
 
   /**
@@ -61,7 +60,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
   void SetName(std::string_view name) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this), name);
+    SendableRegistry::SetName(static_cast<Derived*>(this), name);
   }
 
   /**
@@ -74,8 +73,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
   void SetName(std::string_view subsystem, std::string_view name) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            subsystem, name);
+    SendableRegistry::SetName(static_cast<Derived*>(this), subsystem, name);
   }
 
   /**
@@ -87,8 +85,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::GetSubsystem()")
   std::string GetSubsystem() const {
-    return SendableRegistry::GetInstance().GetSubsystem(
-        static_cast<const Derived*>(this));
+    return SendableRegistry::GetSubsystem(static_cast<const Derived*>(this));
   }
 
   /**
@@ -100,8 +97,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::SetSubsystem()")
   void SetSubsystem(std::string_view subsystem) {
-    SendableRegistry::GetInstance().SetSubsystem(static_cast<Derived*>(this),
-                                                 subsystem);
+    SendableRegistry::SetSubsystem(static_cast<Derived*>(this), subsystem);
   }
 
  protected:
@@ -114,8 +110,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::AddChild()")
   void AddChild(std::shared_ptr<Sendable> child) {
-    SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
-                                             child.get());
+    SendableRegistry::AddChild(static_cast<Derived*>(this), child.get());
   }
 
   /**
@@ -127,8 +122,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::AddChild()")
   void AddChild(void* child) {
-    SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
-                                             child);
+    SendableRegistry::AddChild(static_cast<Derived*>(this), child);
   }
 
   /**
@@ -142,8 +136,7 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
   void SetName(std::string_view moduleType, int channel) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            moduleType, channel);
+    SendableRegistry::SetName(static_cast<Derived*>(this), moduleType, channel);
   }
 
   /**
@@ -159,8 +152,8 @@ class SendableHelper {
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
   void SetName(std::string_view moduleType, int moduleNumber, int channel) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            moduleType, moduleNumber, channel);
+    SendableRegistry::SetName(static_cast<Derived*>(this), moduleType,
+                              moduleNumber, channel);
   }
 
  protected:
@@ -168,7 +161,7 @@ class SendableHelper {
 
   ~SendableHelper() {
     // it is safe to call Remove() multiple times with the same object
-    SendableRegistry::GetInstance().Remove(static_cast<Derived*>(this));
+    SendableRegistry::Remove(static_cast<Derived*>(this));
   }
 };
 
diff --git a/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h b/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
index 8324cc93a2..a08f9e9eeb 100644
--- a/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
+++ b/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
@@ -22,25 +22,16 @@ class SendableBuilder;
  */
 class SendableRegistry {
  public:
-  SendableRegistry(const SendableRegistry&) = delete;
-  SendableRegistry& operator=(const SendableRegistry&) = delete;
+  SendableRegistry() = delete;
 
   using UID = size_t;
 
-  /**
-   * Gets an instance of the SendableRegistry class.
-   *
-   * This is a singleton to guarantee that there is only a single instance
-   * regardless of how many times GetInstance is called.
-   */
-  static SendableRegistry& GetInstance();
-
   /**
    * Sets the factory for LiveWindow builders.
    *
    * @param factory factory function
    */
-  void SetLiveWindowBuilderFactory(
+  static void SetLiveWindowBuilderFactory(
       std::function<std::unique_ptr<SendableBuilder>()> factory);
 
   /**
@@ -49,7 +40,7 @@ class SendableRegistry {
    * @param sendable object to add
    * @param name component name
    */
-  void Add(Sendable* sendable, std::string_view name);
+  static void Add(Sendable* sendable, std::string_view name);
 
   /**
    * Adds an object to the registry.
@@ -59,7 +50,7 @@ class SendableRegistry {
    *                     the value
    * @param channel      The channel number the device is plugged into
    */
-  void Add(Sendable* sendable, std::string_view moduleType, int channel);
+  static void Add(Sendable* sendable, std::string_view moduleType, int channel);
 
   /**
    * Adds an object to the registry.
@@ -70,8 +61,8 @@ class SendableRegistry {
    * @param moduleNumber The number of the particular module type
    * @param channel      The channel number the device is plugged into
    */
-  void Add(Sendable* sendable, std::string_view moduleType, int moduleNumber,
-           int channel);
+  static void Add(Sendable* sendable, std::string_view moduleType,
+                  int moduleNumber, int channel);
 
   /**
    * Adds an object to the registry.
@@ -80,8 +71,8 @@ class SendableRegistry {
    * @param subsystem subsystem name
    * @param name component name
    */
-  void Add(Sendable* sendable, std::string_view subsystem,
-           std::string_view name);
+  static void Add(Sendable* sendable, std::string_view subsystem,
+                  std::string_view name);
 
   /**
    * Adds an object to the registry and LiveWindow.
@@ -89,7 +80,7 @@ class SendableRegistry {
    * @param sendable object to add
    * @param name component name
    */
-  void AddLW(Sendable* sendable, std::string_view name);
+  static void AddLW(Sendable* sendable, std::string_view name);
 
   /**
    * Adds an object to the registry and LiveWindow.
@@ -99,7 +90,8 @@ class SendableRegistry {
    *                     the value
    * @param channel      The channel number the device is plugged into
    */
-  void AddLW(Sendable* sendable, std::string_view moduleType, int channel);
+  static void AddLW(Sendable* sendable, std::string_view moduleType,
+                    int channel);
 
   /**
    * Adds an object to the registry and LiveWindow.
@@ -110,8 +102,8 @@ class SendableRegistry {
    * @param moduleNumber The number of the particular module type
    * @param channel      The channel number the device is plugged into
    */
-  void AddLW(Sendable* sendable, std::string_view moduleType, int moduleNumber,
-             int channel);
+  static void AddLW(Sendable* sendable, std::string_view moduleType,
+                    int moduleNumber, int channel);
 
   /**
    * Adds an object to the registry and LiveWindow.
@@ -120,8 +112,8 @@ class SendableRegistry {
    * @param subsystem subsystem name
    * @param name component name
    */
-  void AddLW(Sendable* sendable, std::string_view subsystem,
-             std::string_view name);
+  static void AddLW(Sendable* sendable, std::string_view subsystem,
+                    std::string_view name);
 
   /**
    * Adds a child object to an object.  Adds the child object to the registry
@@ -130,7 +122,7 @@ class SendableRegistry {
    * @param parent parent object
    * @param child child object
    */
-  void AddChild(Sendable* parent, Sendable* child);
+  static void AddChild(Sendable* parent, Sendable* child);
 
   /**
    * Adds a child object to an object.  Adds the child object to the registry
@@ -139,7 +131,7 @@ class SendableRegistry {
    * @param parent parent object
    * @param child child object
    */
-  void AddChild(Sendable* parent, void* child);
+  static void AddChild(Sendable* parent, void* child);
 
   /**
    * Removes an object from the registry.
@@ -147,7 +139,7 @@ class SendableRegistry {
    * @param sendable object to remove
    * @return true if the object was removed; false if it was not present
    */
-  bool Remove(Sendable* sendable);
+  static bool Remove(Sendable* sendable);
 
   /**
    * Moves an object in the registry (for use in move constructors/assignments).
@@ -155,7 +147,7 @@ class SendableRegistry {
    * @param to new object
    * @param from old object
    */
-  void Move(Sendable* to, Sendable* from);
+  static void Move(Sendable* to, Sendable* from);
 
   /**
    * Determines if an object is in the registry.
@@ -163,7 +155,7 @@ class SendableRegistry {
    * @param sendable object to check
    * @return True if in registry, false if not.
    */
-  bool Contains(const Sendable* sendable) const;
+  static bool Contains(const Sendable* sendable);
 
   /**
    * Gets the name of an object.
@@ -171,7 +163,7 @@ class SendableRegistry {
    * @param sendable object
    * @return Name (empty if object is not in registry)
    */
-  std::string GetName(const Sendable* sendable) const;
+  static std::string GetName(const Sendable* sendable);
 
   /**
    * Sets the name of an object.
@@ -179,7 +171,7 @@ class SendableRegistry {
    * @param sendable object
    * @param name name
    */
-  void SetName(Sendable* sendable, std::string_view name);
+  static void SetName(Sendable* sendable, std::string_view name);
 
   /**
    * Sets the name of an object with a channel number.
@@ -189,7 +181,8 @@ class SendableRegistry {
    *                   the value
    * @param channel    The channel number the device is plugged into
    */
-  void SetName(Sendable* sendable, std::string_view moduleType, int channel);
+  static void SetName(Sendable* sendable, std::string_view moduleType,
+                      int channel);
 
   /**
    * Sets the name of an object with a module and channel number.
@@ -200,8 +193,8 @@ class SendableRegistry {
    * @param moduleNumber The number of the particular module type
    * @param channel      The channel number the device is plugged into
    */
-  void SetName(Sendable* sendable, std::string_view moduleType,
-               int moduleNumber, int channel);
+  static void SetName(Sendable* sendable, std::string_view moduleType,
+                      int moduleNumber, int channel);
 
   /**
    * Sets both the subsystem name and device name of an object.
@@ -210,8 +203,8 @@ class SendableRegistry {
    * @param subsystem subsystem name
    * @param name device name
    */
-  void SetName(Sendable* sendable, std::string_view subsystem,
-               std::string_view name);
+  static void SetName(Sendable* sendable, std::string_view subsystem,
+                      std::string_view name);
 
   /**
    * Gets the subsystem name of an object.
@@ -219,7 +212,7 @@ class SendableRegistry {
    * @param sendable object
    * @return Subsystem name (empty if object is not in registry)
    */
-  std::string GetSubsystem(const Sendable* sendable) const;
+  static std::string GetSubsystem(const Sendable* sendable);
 
   /**
    * Sets the subsystem name of an object.
@@ -227,14 +220,14 @@ class SendableRegistry {
    * @param sendable object
    * @param subsystem subsystem name
    */
-  void SetSubsystem(Sendable* sendable, std::string_view subsystem);
+  static void SetSubsystem(Sendable* sendable, std::string_view subsystem);
 
   /**
    * Gets a unique handle for setting/getting data with SetData() and GetData().
    *
    * @return Handle
    */
-  int GetDataHandle();
+  static int GetDataHandle();
 
   /**
    * Associates arbitrary data with an object in the registry.
@@ -244,8 +237,8 @@ class SendableRegistry {
    * @param data data to set
    * @return Previous data (may be null)
    */
-  std::shared_ptr<void> SetData(Sendable* sendable, int handle,
-                                std::shared_ptr<void> data);
+  static std::shared_ptr<void> SetData(Sendable* sendable, int handle,
+                                       std::shared_ptr<void> data);
 
   /**
    * Gets arbitrary data associated with an object in the registry.
@@ -254,21 +247,21 @@ class SendableRegistry {
    * @param handle data handle returned by GetDataHandle()
    * @return data (may be null if none associated)
    */
-  std::shared_ptr<void> GetData(Sendable* sendable, int handle);
+  static std::shared_ptr<void> GetData(Sendable* sendable, int handle);
 
   /**
    * Enables LiveWindow for an object.
    *
    * @param sendable object
    */
-  void EnableLiveWindow(Sendable* sendable);
+  static void EnableLiveWindow(Sendable* sendable);
 
   /**
    * Disables LiveWindow for an object.
    *
    * @param sendable object
    */
-  void DisableLiveWindow(Sendable* sendable);
+  static void DisableLiveWindow(Sendable* sendable);
 
   /**
    * Get unique id for an object.  Since objects can move, use this instead
@@ -277,7 +270,7 @@ class SendableRegistry {
    * @param sendable object
    * @return unique id
    */
-  UID GetUniqueId(Sendable* sendable);
+  static UID GetUniqueId(Sendable* sendable);
 
   /**
    * Get sendable object for a given unique id.
@@ -285,7 +278,7 @@ class SendableRegistry {
    * @param uid unique id
    * @return sendable object (may be null)
    */
-  Sendable* GetSendable(UID uid);
+  static Sendable* GetSendable(UID uid);
 
   /**
    * Publishes an object in the registry.
@@ -293,14 +286,15 @@ class SendableRegistry {
    * @param sendableUid sendable unique id
    * @param builder publisher backend
    */
-  void Publish(UID sendableUid, std::unique_ptr<SendableBuilder> builder);
+  static void Publish(UID sendableUid,
+                      std::unique_ptr<SendableBuilder> builder);
 
   /**
    * Updates published information from an object.
    *
    * @param sendableUid sendable unique id
    */
-  void Update(UID sendableUid);
+  static void Update(UID sendableUid);
 
   /**
    * Data passed to ForeachLiveWindow() callback function
@@ -332,15 +326,8 @@ class SendableRegistry {
    * @param dataHandle data handle to get data pointer passed to callback
    * @param callback function to call for each object
    */
-  void ForeachLiveWindow(
-      int dataHandle,
-      wpi::function_ref<void(CallbackData& cbdata)> callback) const;
-
- private:
-  SendableRegistry();
-
-  struct Impl;
-  std::unique_ptr<Impl> m_impl;
+  static void ForeachLiveWindow(
+      int dataHandle, wpi::function_ref<void(CallbackData& cbdata)> callback);
 };
 
 }  // namespace wpi