diff --git a/wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java b/wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java
index 0746f5c531..f3e7739aeb 100644
--- a/wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java
+++ b/wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java
@@ -115,9 +115,8 @@ public abstract class OpModeRobot extends RobotBase {
     Optional<ConstructorMatch<T>> ctor;
 
     // try 2-parameter constructor
-    if (m_userControlsInstance != null) {
-      ctor =
-          ConstructorMatch.findBestConstructor(cls, getClass(), m_userControlsInstance.getClass());
+    if (m_userControlsBaseClass.isPresent()) {
+      ctor = ConstructorMatch.findBestConstructor(cls, getClass(), m_userControlsBaseClass.get());
       if (ctor.isPresent()) {
         return ctor;
       }
@@ -130,8 +129,8 @@ public abstract class OpModeRobot extends RobotBase {
     }
 
     // try 1-parameter constructor with UserControls parameter
-    if (m_userControlsInstance != null) {
-      ctor = ConstructorMatch.findBestConstructor(cls, m_userControlsInstance.getClass());
+    if (m_userControlsBaseClass.isPresent()) {
+      ctor = ConstructorMatch.findBestConstructor(cls, m_userControlsBaseClass.get());
       if (ctor.isPresent()) {
         return ctor;
       }
diff --git a/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java b/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
index a73a6aa67a..bf890ce2a7 100644
--- a/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
+++ b/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
@@ -294,12 +294,15 @@ public abstract class RobotBase implements AutoCloseable {
     UserControlsInstance userControlsAttribute =
         robotClass.getDeclaredAnnotation(UserControlsInstance.class);
     UserControls userControlsInstance = null;
-    Optional<ConstructorMatch<T>> constructorMatch;
+    Optional<ConstructorMatch<T>> constructorMatch = Optional.empty();
     if (userControlsAttribute != null) {
       var userControlsClass = userControlsAttribute.value();
       userControlsInstance = userControlsClass.getDeclaredConstructor().newInstance();
       constructorMatch = ConstructorMatch.findBestConstructor(robotClass, userControlsClass);
-    } else {
+    }
+
+    if (constructorMatch.isEmpty()) {
+      // Try to find a constructor with no parameters if there is no UserControls constructor
       constructorMatch = ConstructorMatch.findBestConstructor(robotClass);
     }
 
@@ -310,7 +313,7 @@ public abstract class RobotBase implements AutoCloseable {
 
     T robot = constructorMatch.get().newInstance(userControlsInstance);
 
-    if (robot instanceof OpModeRobot opModeRobot) {
+    if (userControlsInstance != null && robot instanceof OpModeRobot opModeRobot) {
       // Insert the UserControls instance into the opModeRobot for use when constructing opmodes
       opModeRobot.setUserControlsInstance(userControlsInstance);
     }
diff --git a/wpilibjExamples/build.gradle b/wpilibjExamples/build.gradle
index 2eec1d8cc2..fec10b45ad 100644
--- a/wpilibjExamples/build.gradle
+++ b/wpilibjExamples/build.gradle
@@ -47,6 +47,16 @@ eclipse {
     }
 }
 
+tasks.withType(JavaExec).configureEach {
+    // Commands v3 needs reflective access to the continuation classes
+    jvmArgs += [
+        '--add-opens',
+        'java.base/jdk.internal.vm=ALL-UNNAMED',
+        '--add-opens',
+        'java.base/java.lang=ALL-UNNAMED',
+    ]
+}
+
 jacoco {
     toolVersion = "0.8.14"
 }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultAutoMode.java b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultAutoMode.java
index b769b570c5..2690ce1853 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultAutoMode.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultAutoMode.java
@@ -4,9 +4,11 @@
 
 package org.wpilib.examples.expansionhubsample;
 
+import org.wpilib.opmode.Autonomous;
 import org.wpilib.opmode.PeriodicOpMode;
 import org.wpilib.system.Timer;
 
+@Autonomous
 public class DefaultAutoMode extends PeriodicOpMode {
   private final Robot robot;
   private final Timer timer = new Timer();
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java
index 9649835aab..a3225ef7a3 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java
@@ -6,7 +6,9 @@ package org.wpilib.examples.expansionhubsample;
 
 import org.wpilib.driverstation.DefaultUserControls;
 import org.wpilib.opmode.PeriodicOpMode;
+import org.wpilib.opmode.Teleop;
 
+@Teleop
 public class DefaultTeleMode extends PeriodicOpMode {
   private final Robot robot;
   private final DefaultUserControls userControls;
diff --git a/wpiutil/src/main/java/org/wpilib/util/ConstructorMatch.java b/wpiutil/src/main/java/org/wpilib/util/ConstructorMatch.java
index b279d48261..523632c15d 100644
--- a/wpiutil/src/main/java/org/wpilib/util/ConstructorMatch.java
+++ b/wpiutil/src/main/java/org/wpilib/util/ConstructorMatch.java
@@ -57,8 +57,8 @@ public class ConstructorMatch<T> {
   /**
    * Creates a new instance of the constructor's class using the given arguments. The arguments must
    * match the parameter types of the constructor, and must not be assignable to each other. The
-   * order of the arguments does not matter, as they will be matched to the parameter types.
-   * Duplicate arguments are ignored, as the first match will match.
+   * order of the arguments does matter, as they will be matched to the constructor parameter types
+   * in order.
    *
    * @param args the arguments to pass to the constructor
    * @return a new instance of the constructor's class
@@ -90,8 +90,8 @@ public class ConstructorMatch<T> {
    * types must not be assignable to each other. If multiple constructors match, the one with the
    * most specific parameter types is chosen. If there is still a tie, the one with the most
    * specific first parameter type is chosen, then the second parameter type, and so on. The order
-   * of the parameter types does not matter, as they will be matched to the constructor's parameter
-   * types. Duplicate parameter types are ignored, as the first match will match.
+   * of the parameter types does matter, as they will be matched to the constructor parameter types
+   * in order.
    *
    * @param <T> the type of the class to find the constructor for
    * @param clazz the class to find the constructor for