diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index f6ad6de0ac..69306afac3 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -6,6 +6,9 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.controller.HolonomicDriveController;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -15,9 +18,6 @@ import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
 import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
index 2ad335373a..dcf8decc40 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.math.controller.PIDController;
 import java.util.Set;
 import java.util.function.DoubleConsumer;
 import java.util.function.DoubleSupplier;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index 40ee91bff0..ad9bb7759a 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.math.controller.PIDController;
 
 /**
  * A subsystem that uses a {@link PIDController} to control an output. The controller is run
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
index a3d874f721..df56561955 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj2.command;
 import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import java.util.Set;
 import java.util.function.BiConsumer;
 import java.util.function.DoubleSupplier;
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
index f960f8b63d..85ece1f44a 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj2.command;
 import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 
 /**
  * A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index d63c770512..8d8d4d3254 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.RamseteController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -14,7 +15,6 @@ import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import java.util.function.BiConsumer;
 import java.util.function.Supplier;
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
index 52cc658925..95b42eed66 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
@@ -6,15 +6,15 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.math.controller.HolonomicDriveController;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
index 953368c268..ac158c23d4 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
@@ -8,6 +8,8 @@ import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -18,8 +20,6 @@ import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
 import java.util.ArrayList;
 import org.junit.jupiter.api.AfterEach;
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
index a33a8adf81..0cf6d67f4e 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
@@ -8,6 +8,8 @@ import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -18,8 +20,6 @@ import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
 import java.util.ArrayList;
 import org.junit.jupiter.api.AfterEach;
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java
index de5e07846d..ea7e98da71 100644
--- a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -16,7 +16,7 @@ import edu.wpi.first.util.sendable.SendableBuilder;
  * and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
  * given set of PID constants.
  *
- * @deprecated Use {@link edu.wpi.first.wpilibj.controller.PIDController} instead.
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} instead.
  */
 @Deprecated(since = "2020", forRemoval = true)
 public class PIDController extends PIDBase implements Controller {
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index 4710670338..6d09fbdb56 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -114,6 +114,13 @@ class WPILibMathShared : public wpi::math::MathShared {
         HAL_Report(HALUsageReporting::kResourceType_Odometry,
                    HALUsageReporting::kOdometry_MecanumDrive);
         break;
+      case wpi::math::MathUsageId::kController_PIDController2:
+        HAL_Report(HALUsageReporting::kResourceType_PIDController2, count);
+        break;
+      case wpi::math::MathUsageId::kController_ProfiledPIDController:
+        HAL_Report(HALUsageReporting::kResourceType_ProfiledPIDController,
+                   count);
+        break;
     }
   }
 };
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 cc191b54e1..f3bac72d44 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -116,6 +116,12 @@ public abstract class RobotBase implements AutoCloseable {
               case kOdometry_MecanumDrive:
                 HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_MecanumDrive);
                 break;
+              case kController_PIDController2:
+                HAL.report(tResourceType.kResourceType_PIDController2, count);
+                break;
+              case kController_ProfiledPIDController:
+                HAL.report(tResourceType.kResourceType_ProfiledPIDController, count);
+                break;
               default:
                 break;
             }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
index b59b438960..2be9e01952 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
@@ -8,12 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.junit.jupiter.api.Test;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
index ad2f053550..ff39b12674 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.commands.pidcommand;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
index a8db6be4b5..0876d94a11 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.commands.pidsubsystem2;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
 
 public class ReplaceMePIDSubsystem extends PIDSubsystem {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
index b1d194d024..f3d44102db 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpilibj.commands.profiledpidcommand;
 
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
index 38240a9c52..60eda3508c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpilibj.commands.profiledpidsubsystem;
 
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
 
 public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
index 12d56c2a79..298b2d52f3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.examples.armbot.subsystems;
 
 import edu.wpi.first.math.controller.ArmFeedforward;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
index ad376e7528..56c72565c2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
@@ -5,13 +5,13 @@
 package edu.wpi.first.wpilibj.examples.armsimulation;
 
 import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
index cdb5a90b87..07b4881e82 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.differentialdrivebot;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
@@ -11,7 +12,6 @@ import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
index 4a33a898a0..3b5d9e2f12 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
 
 import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -15,7 +16,6 @@ import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
index 44771bc936..15d5e2314f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
 
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
index f8166c0720..30690af9dd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
@@ -5,13 +5,13 @@
 package edu.wpi.first.wpilibj.examples.elevatorsimulation;
 
 import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.simulation.BatterySim;
 import edu.wpi.first.wpilibj.simulation.ElevatorSim;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
index 8f23abcccd..f6f85f700a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
@@ -4,9 +4,9 @@
 
 package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.PIDSubsystem;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
index 780e33f942..4be4ac1335 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
index 588099e8da..ad152b329a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
index ceb809f550..e174595a60 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
index 661e3944fd..f176316195 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
index e6f7d33bf5..e2f66bb48a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
 
 import static edu.wpi.first.wpilibj.XboxController.Button;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngle;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
index 481df5cb13..053c64430f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
 
-import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.PIDCommand;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
index 671298c146..1481fab5cd 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
 
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
index 602d381c33..c660ae2fa0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.mecanumbot;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -12,7 +13,6 @@ import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
 import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
index 1e5d63193a..1e48075888 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand;
 
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -13,8 +15,6 @@ import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.OIConstants;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
index f4a6b1068a..ba544b2de5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
 
 import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.estimator.MecanumDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -16,7 +17,6 @@ import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
index 72d06fc0d3..a1bb38fcb2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpilibj.examples.potentiometerpid;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
index a51672b26e..e9995a1771 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand;
 
 import static edu.wpi.first.wpilibj.XboxController.Button;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.RamseteController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -17,7 +18,6 @@ import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
index ad2b14ec70..e119080207 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.ramsetecontroller;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -12,7 +13,6 @@ import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
index 0d88c42cc6..ea80fd2ce2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -17,7 +18,6 @@ import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
index b2999708c0..01694ae2e5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.RamseteController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -16,7 +17,6 @@ import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstrai
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index 5647cfe4c9..9749c2df8e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj.examples.swervebot;
 
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
index 1455b4b56b..b86d3e5e14 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj.examples.swervecontrollercommand;
 
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -12,8 +14,6 @@ import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index fee563f33a..6bf039ae25 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -4,12 +4,12 @@
 
 package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
 
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
index bc5d89e38d..d7c43dd052 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj.examples.swervedriveposeestimator;
 
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
index 61e2bf7818..526ac53919 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
@@ -4,10 +4,10 @@
 
 package edu.wpi.first.wpilibj.examples.ultrasonicpid;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.filter.MedianFilter;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
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 4d0b24bb18..72c2c55aad 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
@@ -9,8 +9,8 @@ import static org.junit.Assert.assertFalse;
 import static org.junit.Assert.assertTrue;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.filter.LinearFilter;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
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 1e97a7ef61..fc1b808cf7 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -8,9 +8,9 @@ import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertFalse;
 import static org.junit.Assert.assertTrue;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java b/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java
index b0da433e99..a3cc299875 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java
@@ -12,5 +12,7 @@ public enum MathUsageId {
   kFilter_Linear,
   kOdometry_DifferentialDrive,
   kOdometry_SwerveDrive,
-  kOdometry_MecanumDrive
+  kOdometry_MecanumDrive,
+  kController_PIDController2,
+  kController_ProfiledPIDController,
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
similarity index 99%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
rename to wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
index 6cadf487b9..7a20b6f76b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
similarity index 97%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
rename to wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index f5282133fc..12c4175570 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
@@ -88,7 +88,7 @@ public class PIDController implements Sendable, AutoCloseable {
     instances++;
     SendableRegistry.addLW(this, "PIDController", instances);
 
-    HAL.report(tResourceType.kResourceType_PIDController2, instances);
+    MathSharedStore.reportUsage(MathUsageId.kController_PIDController2, instances);
   }
 
   @Override
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
similarity index 98%
rename from wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
rename to wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
index 34a32dda71..3ebcbd877a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.util.sendable.Sendable;
@@ -54,7 +54,7 @@ public class ProfiledPIDController implements Sendable {
     m_controller = new PIDController(Kp, Ki, Kd, period);
     m_constraints = constraints;
     instances++;
-    HAL.report(tResourceType.kResourceType_ProfiledPIDController, instances);
+    MathSharedStore.reportUsage(MathUsageId.kController_ProfiledPIDController, instances);
   }
 
   /**
diff --git a/wpilibc/src/main/native/cpp/controller/HolonomicDriveController.cpp b/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
similarity index 98%
rename from wpilibc/src/main/native/cpp/controller/HolonomicDriveController.cpp
rename to wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
index a4b11f247e..71e5b42ed9 100644
--- a/wpilibc/src/main/native/cpp/controller/HolonomicDriveController.cpp
+++ b/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
@@ -6,7 +6,7 @@
 
 #include <utility>
 
-#include <units/angular_velocity.h>
+#include "units/angular_velocity.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
similarity index 93%
rename from wpilibc/src/main/native/cpp/controller/PIDController.cpp
rename to wpimath/src/main/native/cpp/controller/PIDController.cpp
index fc04b73414..bfcea7d7b5 100644
--- a/wpilibc/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/PIDController.cpp
@@ -7,12 +7,11 @@
 #include <algorithm>
 #include <cmath>
 
-#include <hal/FRCUsageReporting.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
-#include "frc/Errors.h"
 #include "frc/MathUtil.h"
+#include "wpimath/MathShared.h"
 
 using namespace frc2;
 
@@ -20,17 +19,18 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
                              units::second_t period)
     : m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
   if (period <= 0_s) {
-    FRC_ReportError(
-        frc::err::Error,
+    wpi::math::MathSharedStore::ReportError(
         "Controller period must be a non-zero positive number, got {}!",
         period.to<double>());
     m_period = 20_ms;
-    FRC_ReportError(frc::warn::Warning, "{}",
-                    "Controller period defaulted to 20ms.");
+    wpi::math::MathSharedStore::ReportWarning(
+        "{}", "Controller period defaulted to 20ms.");
   }
   static int instances = 0;
   instances++;
-  HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);
+
+  wpi::math::MathSharedStore::ReportUsage(
+      wpi::math::MathUsageId::kController_PIDController2, instances);
   wpi::SendableRegistry::Add(this, "PIDController", instances);
 }
 
diff --git a/wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp b/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
similarity index 74%
rename from wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp
rename to wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
index 0254a2d593..fa5842763c 100644
--- a/wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
@@ -4,10 +4,9 @@
 
 #include "frc/controller/ProfiledPIDController.h"
 
-#include <hal/FRCUsageReporting.h>
-
 void frc::detail::ReportProfiledPIDController() {
   static int instances = 0;
   ++instances;
-  HAL_Report(HALUsageReporting::kResourceType_ProfiledPIDController, instances);
+  wpi::math::MathSharedStore::ReportUsage(
+      wpi::math::MathUsageId::kController_ProfiledPIDController, instances);
 }
diff --git a/wpilibc/src/main/native/cpp/controller/RamseteController.cpp b/wpimath/src/main/native/cpp/controller/RamseteController.cpp
similarity index 99%
rename from wpilibc/src/main/native/cpp/controller/RamseteController.cpp
rename to wpimath/src/main/native/cpp/controller/RamseteController.cpp
index 2371165d3c..22469a577e 100644
--- a/wpilibc/src/main/native/cpp/controller/RamseteController.cpp
+++ b/wpimath/src/main/native/cpp/controller/RamseteController.cpp
@@ -6,7 +6,7 @@
 
 #include <cmath>
 
-#include <units/math.h>
+#include "units/math.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
similarity index 98%
rename from wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h
rename to wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
index b85eac51ed..483e5d1430 100644
--- a/wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h
+++ b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
@@ -4,15 +4,14 @@
 
 #pragma once
 
-#include <units/angle.h>
-#include <units/velocity.h>
-
 #include "frc/controller/PIDController.h"
 #include "frc/controller/ProfiledPIDController.h"
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/trajectory/Trajectory.h"
+#include "units/angle.h"
+#include "units/velocity.h"
 
 namespace frc {
 /**
diff --git a/wpilibc/src/main/native/include/frc/controller/PIDController.h b/wpimath/src/main/native/include/frc/controller/PIDController.h
similarity index 99%
rename from wpilibc/src/main/native/include/frc/controller/PIDController.h
rename to wpimath/src/main/native/include/frc/controller/PIDController.h
index a496ac54a2..9c1703edf0 100644
--- a/wpilibc/src/main/native/include/frc/controller/PIDController.h
+++ b/wpimath/src/main/native/include/frc/controller/PIDController.h
@@ -7,10 +7,11 @@
 #include <functional>
 #include <limits>
 
-#include <units/time.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
+#include "units/time.h"
+
 namespace frc2 {
 
 /**
diff --git a/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h b/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
similarity index 99%
rename from wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
rename to wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
index 6b010ba7cf..60f5b85e72 100644
--- a/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
+++ b/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -9,7 +9,6 @@
 #include <functional>
 #include <limits>
 
-#include <units/time.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -17,6 +16,7 @@
 #include "frc/MathUtil.h"
 #include "frc/controller/PIDController.h"
 #include "frc/trajectory/TrapezoidProfile.h"
+#include "units/time.h"
 
 namespace frc {
 namespace detail {
diff --git a/wpilibc/src/main/native/include/frc/controller/RamseteController.h b/wpimath/src/main/native/include/frc/controller/RamseteController.h
similarity index 98%
rename from wpilibc/src/main/native/include/frc/controller/RamseteController.h
rename to wpimath/src/main/native/include/frc/controller/RamseteController.h
index 99e0cb8481..c548ef6882 100644
--- a/wpilibc/src/main/native/include/frc/controller/RamseteController.h
+++ b/wpimath/src/main/native/include/frc/controller/RamseteController.h
@@ -4,12 +4,11 @@
 
 #pragma once
 
-#include <units/angular_velocity.h>
-#include <units/velocity.h>
-
 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/trajectory/Trajectory.h"
+#include "units/angular_velocity.h"
+#include "units/velocity.h"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpimath/MathShared.h b/wpimath/src/main/native/include/wpimath/MathShared.h
index 53ef770b7d..3a66fa8c2d 100644
--- a/wpimath/src/main/native/include/wpimath/MathShared.h
+++ b/wpimath/src/main/native/include/wpimath/MathShared.h
@@ -18,7 +18,9 @@ enum class MathUsageId {
   kFilter_Linear,
   kOdometry_DifferentialDrive,
   kOdometry_SwerveDrive,
-  kOdometry_MecanumDrive
+  kOdometry_MecanumDrive,
+  kController_PIDController2,
+  kController_ProfiledPIDController,
 };
 
 class MathShared {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
similarity index 98%
rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java
rename to wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
index 3e99fa0113..de5ed9b769 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/HolonomicDriveControllerTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDInputOutputTest.java
similarity index 97%
rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
rename to wpimath/src/test/java/edu/wpi/first/math/controller/PIDInputOutputTest.java
index 49bb4593a6..1fe4cb16f3 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDInputOutputTest.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
similarity index 97%
rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
rename to wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
index f9583df1af..b525f49e0f 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/ProfiledPIDControllerTest.java
similarity index 94%
rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java
rename to wpimath/src/test/java/edu/wpi/first/math/controller/ProfiledPIDControllerTest.java
index c13e8b856e..d87943ab6a 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDControllerTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/ProfiledPIDControllerTest.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/ProfiledPIDInputOutputTest.java
similarity index 98%
rename from wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java
rename to wpimath/src/test/java/edu/wpi/first/math/controller/ProfiledPIDInputOutputTest.java
index 12f6c0b888..e0a4945d79 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/ProfiledPIDInputOutputTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/ProfiledPIDInputOutputTest.java
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj.controller;
+package edu.wpi.first.math.controller;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;