diff --git a/.gitignore b/.gitignore
index 7d0fcc8b08..d977b2b337 100644
--- a/.gitignore
+++ b/.gitignore
@@ -175,3 +175,6 @@ __pycache__
 
 #catkin stuff
 package.xml
+
+# Doxygen stuff
+NO
\ No newline at end of file
diff --git a/wpilibc/athena.gradle b/wpilibc/athena.gradle
index da49c5d7df..26bccfc616 100644
--- a/wpilibc/athena.gradle
+++ b/wpilibc/athena.gradle
@@ -1,5 +1,7 @@
 defineNetworkTablesProperties()
 
+def ntSourceDir = "$buildDir/ntSources"
+
 model {
     components {
         wpilib_nonshared(NativeLibrarySpec) {
@@ -93,7 +95,6 @@ tasks.whenTaskAdded { task ->
     }
 }
 
-
 // Add the hal static and shared libraries as a dependency
 project(':hal').tasks.whenTaskAdded { task ->
     if (task.name == 'hALAthenaStaticLibrary' || task.name == 'hALAthenaSharedLibrary') {
@@ -101,10 +102,72 @@ project(':hal').tasks.whenTaskAdded { task ->
     }
 }
 
+if (checkDoxygen()) {
+
+    def ntSourcesDependency = project.dependencies.create('edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:sources@zip')
+    def ntSourcesConfig = project.configurations.detachedConfiguration(ntSourcesDependency)
+    ntSourcesDependency.setTransitive(false)
+    def ntSources = ntSourcesConfig.singleFile
+
+    task unzipCppNtSources(type: Copy) {
+        description = 'Unzips the C++ networktables sources for doc creation'
+        group = 'WPILib'
+        from zipTree(ntSources)
+        exclude 'META-INF/*'
+        into ntSourceDir
+    }
+
+    doxygen {
+        def halLocation = '../hal'
+        source file("${project.shared}/src")
+        source file("${project.shared}/include")
+        source file("${project.athena}/src")
+        source file("${project.athena}/include")
+        source file("$ntSourceDir/src")
+        source file("$ntSourceDir/include")
+        source file("$halLocation/shared")
+        source file("$halLocation/Athena")
+        source file("$halLocation/include")
+        // template file('cpp.doxy')
+        exclude 'pcre.h'
+        exclude 'nivision.h'
+        project_name 'WPILibC++'
+        javadoc_autobrief true
+        recursive true
+        quiet true
+        warnings false
+        warn_if_doc_error false
+        warn_no_paramdoc false
+        warn_format false
+        warn_logfile false
+        warn_if_undocumented false
+        generate_latex false
+        html_timestamp true
+        generate_treeview true
+        outputDir file("$buildDir/docs")
+    }
+
+    doxygen.dependsOn unzipCppNtSources
+
+    task doxygenZip(type: Zip) {
+        description = 'Generates doxygen zip file for publishing'
+        group = 'WPILib'
+        dependsOn doxygen
+        from doxygen.outputDir
+    }
+}
+
 publishing {
     publications {
         wpilibc(MavenPublication) {
             artifact wpilibcZip
+
+            if (checkDoxygen()) {
+                artifact (doxygenZip) {
+                    classifier = 'doxygen'
+                }
+            }
+
             groupId 'edu.wpi.first.wpilib.cmake'
             artifactId 'cpp-root'
             version '1.0.0'
@@ -113,3 +176,7 @@ publishing {
 
     setupWpilibRepo(it)
 }
+
+clean {
+    ntSourceDir
+}
diff --git a/wpilibc/build.gradle b/wpilibc/build.gradle
index b535cad0ad..959aaefe68 100644
--- a/wpilibc/build.gradle
+++ b/wpilibc/build.gradle
@@ -1,5 +1,8 @@
-apply plugin: 'cpp'
-apply plugin: 'maven-publish'
+plugins {
+    id 'org.ysb33r.doxygen' version '0.2'
+    id 'cpp'
+    id 'maven-publish'
+}
 
 evaluationDependsOn(':hal')
 
@@ -9,7 +12,7 @@ ext.simulation = 'simluation'
 
 // Attempts to execute the doxygen command. If there is no exception, doxygen exists, so return true. If there's
 // an IOException, it doesn't exist, so return false
-boolean checkDoxygen() {
+ext.checkDoxygen = {
     try {
         'doxygen'.execute()
         true
diff --git a/wpilibj/athena.gradle b/wpilibj/athena.gradle
index d30d3f654a..9193557a0d 100644
--- a/wpilibj/athena.gradle
+++ b/wpilibj/athena.gradle
@@ -2,6 +2,7 @@ apply plugin: 'cpp'
 
 def jniDir = 'src/athena/cpp'
 def generatedJNIHeaderLoc = "$buildDir/include"
+def ntSourceDir = "$buildDir/ntSources"
 
 sourceSets {
     athena
@@ -103,8 +104,23 @@ task wpilibjSources(type: Jar, dependsOn: classes) {
     from sourceSets.shared.allJava
 }
 
+def ntSourcesDependency =
+    project.dependencies.create('edu.wpi.first.wpilib.networktables.java:NetworkTables:3.0.0-SNAPSHOT:sources@jar')
+def ntSourcesConfig = project.configurations.detachedConfiguration(ntSourcesDependency)
+ntSourcesDependency.setTransitive(false)
+def ntSources = ntSourcesConfig.singleFile
+
+task unzipJavaNtSources(type: Copy) {
+    description = 'Unzips the java networktables sources for doc creation'
+    group = 'WPILib'
+    from zipTree(ntSources)
+    exclude 'META-INF/*'
+    into ntSourceDir
+}
+
 task javadoc(type: Javadoc, overwrite: true) {
-    source sourceSets.athena.allJava, sourceSets.shared.allJava
+    dependsOn unzipJavaNtSources
+    source sourceSets.athena.allJava, sourceSets.shared.allJava, unzipJavaNtSources.outputs.files
     classpath = files([sourceSets.athena.compileClasspath, sourceSets.shared.compileClasspath])
     javadoc.options.links("http://docs.oracle.com/javase/8/docs/api/")
     options.addStringOption "tag", "pre:a:Pre-Condition"
@@ -158,4 +174,5 @@ task jniHeaders {
 
 clean {
     delete generatedJNIHeaderLoc
+    delete ntSourceDir
 }