diff --git a/wpilibc/wpilibC++/include/Commands/Command.h b/wpilibc/wpilibC++/include/Commands/Command.h
index 9c6463ca9c..c9f99d1745 100644
--- a/wpilibc/wpilibC++/include/Commands/Command.h
+++ b/wpilibc/wpilibC++/include/Commands/Command.h
@@ -175,7 +175,7 @@ class Command : public ErrorBase, public NamedSendable, public ITableListener {
   static int m_commandCounter;
 
  public:
-  virtual std::string GetName();
+  virtual std::string GetName() const;
   virtual void InitTable(::std::shared_ptr<ITable> table);
   virtual ::std::shared_ptr<ITable> GetTable() const;
   virtual std::string GetSmartDashboardType() const;
diff --git a/wpilibc/wpilibC++/include/Commands/Scheduler.h b/wpilibc/wpilibC++/include/Commands/Scheduler.h
index 7e89d6d4fb..5060868c66 100644
--- a/wpilibc/wpilibC++/include/Commands/Scheduler.h
+++ b/wpilibc/wpilibC++/include/Commands/Scheduler.h
@@ -42,7 +42,7 @@ class Scheduler : public ErrorBase, public NamedSendable {
   std::string GetSmartDashboardType() const;
   void InitTable(::std::shared_ptr<ITable> subTable);
   ::std::shared_ptr<ITable> GetTable() const;
-  std::string GetName();
+  std::string GetName() const;
   std::string GetType() const;
 
  private:
diff --git a/wpilibc/wpilibC++/include/Commands/Subsystem.h b/wpilibc/wpilibC++/include/Commands/Subsystem.h
index c9581ffd6c..5858a10d2c 100644
--- a/wpilibc/wpilibC++/include/Commands/Subsystem.h
+++ b/wpilibc/wpilibC++/include/Commands/Subsystem.h
@@ -38,7 +38,7 @@ class Subsystem : public ErrorBase, public NamedSendable {
   bool m_initializedDefaultCommand = false;
 
  public:
-  virtual std::string GetName();
+  virtual std::string GetName() const;
   virtual void InitTable(::std::shared_ptr<ITable> table);
   virtual ::std::shared_ptr<ITable> GetTable() const;
   virtual std::string GetSmartDashboardType() const;
diff --git a/wpilibc/wpilibC++/include/SmartDashboard/NamedSendable.h b/wpilibc/wpilibC++/include/SmartDashboard/NamedSendable.h
index e6171b58f9..0dd1b248d9 100644
--- a/wpilibc/wpilibC++/include/SmartDashboard/NamedSendable.h
+++ b/wpilibc/wpilibC++/include/SmartDashboard/NamedSendable.h
@@ -22,7 +22,7 @@ class NamedSendable : public Sendable {
    * @return the name of the subtable of SmartDashboard that the Sendable object
    * will use
    */
-  virtual std::string GetName() = 0;
+  virtual std::string GetName() const = 0;
 };
 
 #endif /* NAMEDSENDABLE_H_ */
diff --git a/wpilibc/wpilibC++/src/Commands/Command.cpp b/wpilibc/wpilibC++/src/Commands/Command.cpp
index 4317bc4b0d..a81620a667 100644
--- a/wpilibc/wpilibC++/src/Commands/Command.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Command.cpp
@@ -23,7 +23,7 @@ int Command::m_commandCounter = 0;
  * Creates a new command.
  * The name of this command will be default.
  */
-Command::Command() : Command(nullptr, -1.0) {}
+Command::Command() : Command("", -1.0) {}
 
 /**
  * Creates a new command with the given name and no timeout.
@@ -50,7 +50,14 @@ Command::Command(const std::string &name, double timeout) {
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
 
   m_timeout = timeout;
-  m_name = name;
+
+  // If name contains an empty string
+  if (name.length() == 0) {
+    m_name = std::string("Command_") + std::string(typeid(*this).name());
+  }
+  else {
+    m_name = name;
+  }
 }
 
 Command::~Command() {  // TODO deal with cleaning up all listeners
@@ -357,10 +364,7 @@ void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
  */
 bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
 
-std::string Command::GetName() {
-  if (m_name.length() == 0) {
-    m_name = std::string("Command_") + std::string(typeid(*this).name());
-  }
+std::string Command::GetName() const {
   return m_name;
 }
 
diff --git a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
index 96a7646422..af23728265 100644
--- a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp
@@ -252,7 +252,7 @@ void Scheduler::UpdateTable() {
   }
 }
 
-std::string Scheduler::GetName() { return "Scheduler"; }
+std::string Scheduler::GetName() const { return "Scheduler"; }
 
 std::string Scheduler::GetType() const { return "Scheduler"; }
 
diff --git a/wpilibc/wpilibC++/src/Commands/Subsystem.cpp b/wpilibc/wpilibC++/src/Commands/Subsystem.cpp
index 0fb1ce7b15..bd75de3a4c 100644
--- a/wpilibc/wpilibC++/src/Commands/Subsystem.cpp
+++ b/wpilibc/wpilibC++/src/Commands/Subsystem.cpp
@@ -122,7 +122,7 @@ void Subsystem::ConfirmCommand() {
   }
 }
 
-std::string Subsystem::GetName() { return m_name; }
+std::string Subsystem::GetName() const { return m_name; }
 
 std::string Subsystem::GetSmartDashboardType() const { return "Subsystem"; }