diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
index 3dc807f57c..522e64da53 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
@@ -6,6 +6,8 @@
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
 #include <frc/controller/RamseteController.h>
+#include <frc/smartdashboard/Field2d.h>
+#include <frc/smartdashboard/SmartDashboard.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
 #include <frc2/Timer.h>
 
@@ -17,14 +19,23 @@ class Robot : public frc::TimedRobot {
     // Start the timer.
     m_timer.Start();
 
+    // Send Field2d to SmartDashboard.
+    frc::SmartDashboard::PutData(&m_field);
+
     // Reset the drivetrain's odometry to the starting pose of the trajectory.
     m_drive.ResetOdometry(m_trajectory.InitialPose());
+
+    // Send our generated trajectory to Field2d.
+    m_field.GetObject("traj")->SetTrajectory(m_trajectory);
   }
 
   void AutonomousPeriodic() override {
     // Update odometry.
     m_drive.UpdateOdometry();
 
+    // Update robot position on Field2d.
+    m_field.SetRobotPose(m_drive.GetPose());
+
     if (m_timer.Get() < m_trajectory.TotalTime()) {
       // Get the desired pose from the trajectory.
       auto desiredPose = m_trajectory.Sample(m_timer.Get());
@@ -79,6 +90,9 @@ class Robot : public frc::TimedRobot {
 
   // The timer to use during the autonomous period.
   frc2::Timer m_timer;
+
+  // Create Field2d for robot and trajectory visualizations.
+  frc::Field2d m_field;
 };
 
 #ifndef RUNNING_FRC_TESTS
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
index 14cb73ba1a..24db270833 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
@@ -17,6 +17,8 @@ import edu.wpi.first.wpilibj.SlewRateLimiter;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.util.List;
 
 public class Robot extends TimedRobot {
@@ -36,6 +38,9 @@ public class Robot extends TimedRobot {
   // The timer to use during the autonomous period.
   private Timer m_timer;
 
+  // Create Field2d for robot and trajectory visualizations.
+  private Field2d m_field;
+
   @Override
   public void robotInit() {
     // Create the trajectory to follow in autonomous. It is best to initialize
@@ -46,6 +51,13 @@ public class Robot extends TimedRobot {
             List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
             new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
             new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
+
+    // Create and push Field2d to SmartDashboard.
+    m_field = new Field2d();
+    SmartDashboard.putData(m_field);
+
+    // Push the trajectory to Field2d.
+    m_field.getObject("traj").setTrajectory(m_trajectory);
   }
 
   @Override
@@ -63,6 +75,9 @@ public class Robot extends TimedRobot {
     // Update odometry.
     m_drive.updateOdometry();
 
+    // Update robot position on Field2d.
+    m_field.setRobotPose(m_drive.getPose());
+
     if (m_timer.get() < m_trajectory.getTotalTimeSeconds()) {
       // Get the desired pose from the trajectory.
       var desiredPose = m_trajectory.sample(m_timer.get());