diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index aa125582d2..4543ad33b0 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -358,12 +358,24 @@ bool DriverStation::IsAutonomous() const {
   return controlWord.autonomous;
 }
 
+bool DriverStation::IsAutonomousEnabled() const {
+  HAL_ControlWord controlWord;
+  HAL_GetControlWord(&controlWord);
+  return controlWord.autonomous && controlWord.enabled;
+}
+
 bool DriverStation::IsOperatorControl() const {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !(controlWord.autonomous || controlWord.test);
 }
 
+bool DriverStation::IsOperatorControlEnabled() const {
+  HAL_ControlWord controlWord;
+  HAL_GetControlWord(&controlWord);
+  return !controlWord.autonomous && !controlWord.test && controlWord.enabled;
+}
+
 bool DriverStation::IsTest() const {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index fac7cf11d1..5f34e77a74 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -154,8 +154,16 @@ bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
 
 bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
 
+bool RobotBase::IsAutonomousEnabled() const {
+  return m_ds.IsAutonomousEnabled();
+}
+
 bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
 
+bool RobotBase::IsOperatorControlEnabled() const {
+  return m_ds.IsOperatorControlEnabled();
+}
+
 bool RobotBase::IsTest() const { return m_ds.IsTest(); }
 
 bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h
index ee5ac68f1a..381844266b 100644
--- a/wpilibc/src/main/native/include/frc/DriverStation.h
+++ b/wpilibc/src/main/native/include/frc/DriverStation.h
@@ -211,6 +211,15 @@ class DriverStation : public ErrorBase {
    */
   bool IsAutonomous() const;
 
+  /**
+   * Check if the DS is commanding autonomous mode and if it has enabled the
+   * robot.
+   *
+   * @return True if the robot is being commanded to be in autonomous mode and
+   * enabled.
+   */
+  bool IsAutonomousEnabled() const;
+
   /**
    * Check if the DS is commanding teleop mode.
    *
@@ -218,6 +227,14 @@ class DriverStation : public ErrorBase {
    */
   bool IsOperatorControl() const;
 
+  /**
+   * Check if the DS is commanding teleop mode and if it has enabled the robot.
+   *
+   * @return True if the robot is being commanded to be in teleop mode and
+   * enabled.
+   */
+  bool IsOperatorControlEnabled() const;
+
   /**
    * Check if the DS is commanding test mode.
    *
diff --git a/wpilibc/src/main/native/include/frc/RobotBase.h b/wpilibc/src/main/native/include/frc/RobotBase.h
index e225c185bb..a005dd80ef 100644
--- a/wpilibc/src/main/native/include/frc/RobotBase.h
+++ b/wpilibc/src/main/native/include/frc/RobotBase.h
@@ -133,6 +133,14 @@ class RobotBase {
    */
   bool IsAutonomous() const;
 
+  /**
+   * Determine if the robot is currently in Autonomous mode and enabled.
+   *
+   * @return True if the robot us currently operating Autonomously while enabled
+   * as determined by the field controls.
+   */
+  bool IsAutonomousEnabled() const;
+
   /**
    * Determine if the robot is currently in Operator Control mode.
    *
@@ -141,6 +149,14 @@ class RobotBase {
    */
   bool IsOperatorControl() const;
 
+  /**
+   * Determine if the robot is current in Operator Control mode and enabled.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode while
+   * wnabled as determined by the field-controls.
+   */
+  bool IsOperatorControlEnabled() const;
+
   /**
    * Determine if the robot is currently in Test mode.
    *
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
index de8fc3e071..4bfae1fd91 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -41,7 +41,7 @@ void Robot::StartCompetition() {
       m_ds.InAutonomous(true);
       Autonomous();
       m_ds.InAutonomous(false);
-      while (IsAutonomous() && IsEnabled()) m_ds.WaitForData();
+      while (IsAutonomousEnabled()) m_ds.WaitForData();
     } else if (IsTest()) {
       lw.SetEnabled(true);
       frc::Shuffleboard::EnableActuatorWidgets();
@@ -55,7 +55,7 @@ void Robot::StartCompetition() {
       m_ds.InOperatorControl(true);
       Teleop();
       m_ds.InOperatorControl(false);
-      while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData();
+      while (IsOperatorControlEnabled()) m_ds.WaitForData();
     }
   }
 }
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 7ceaf1f422..a20f0a52ca 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -641,6 +641,19 @@ public class DriverStation {
     }
   }
 
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * autonomous mode and enabled.
+   *
+   * @return True if autonomous should be set and the robot should be enabled.
+   */
+  public boolean isAutonomousEnabled() {
+    synchronized (m_controlWordMutex) {
+      updateControlWord(false);
+      return m_controlWordCache.getAutonomous() && m_controlWordCache.getEnabled();
+    }
+  }
+
   /**
    * Gets a value indicating whether the Driver Station requires the robot to be running in
    * operator-controlled mode.
@@ -651,6 +664,20 @@ public class DriverStation {
     return !(isAutonomous() || isTest());
   }
 
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * operator-controller mode and enabled.
+   *
+   * @return True if operator-controlled mode should be set and the robot should be enabled.
+   */
+  public boolean isOperatorControlEnabled() {
+    synchronized (m_controlWordMutex) {
+      updateControlWord(false);
+      return !m_controlWordCache.getAutonomous() && !m_controlWordCache.getTest()
+          && m_controlWordCache.getEnabled();
+    }
+  }
+
   /**
    * Gets a value indicating whether the Driver Station requires the robot to be running in test
    * mode.
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 916fc44818..8a686dd714 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -211,6 +211,16 @@ public abstract class RobotBase implements AutoCloseable {
     return m_ds.isAutonomous();
   }
 
+  /**
+   * Determine if the robot is current in Autonomous mode and enabled as determined by
+   * the field controls.
+   *
+   * @return True if the robot is currently operating autonomously while enabled.
+   */
+  public boolean isAutonomousEnabled() {
+    return m_ds.isAutonomousEnabled();
+  }
+
   /**
    * Determine if the robot is currently in Test mode as determined by the driver
    * station.
@@ -231,6 +241,16 @@ public abstract class RobotBase implements AutoCloseable {
     return m_ds.isOperatorControl();
   }
 
+  /**
+   * Determine if the robot is current in Operator Control mode and enabled as determined by
+   * the field controls.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode while enabled.
+   */
+  public boolean isOperatorControlEnabled() {
+    return m_ds.isOperatorControlEnabled();
+  }
+
   /**
    * Indicates if new data is available from the driver station.
    *
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 783f76bbc1..bfd3c46b0f 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
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -55,7 +55,7 @@ public class Robot extends RobotBase {
         m_ds.InAutonomous(true);
         autonomous();
         m_ds.InAutonomous(false);
-        while (isAutonomous() && !isDisabled()) {
+        while (isAutonomousEnabled()) {
           m_ds.waitForData();
         }
       } else if (isTest()) {
@@ -73,7 +73,7 @@ public class Robot extends RobotBase {
         m_ds.InOperatorControl(true);
         teleop();
         m_ds.InOperatorControl(false);
-        while (isOperatorControl() && !isDisabled()) {
+        while (isOperatorControlEnabled()) {
           m_ds.waitForData();
         }
       }