diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java
new file mode 100644
index 0000000000..5ae76b058b
--- /dev/null
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java
@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogAccelerometer;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/** Wrapper so that PIDSource is implemented for AnalogAccelerometer for old PIDController. */
+public class PIDAnalogAccelerometer extends AnalogAccelerometer implements PIDSource {
+  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  public PIDAnalogAccelerometer(int channel) {
+    super(channel);
+  }
+
+  public PIDAnalogAccelerometer(AnalogInput channel) {
+    super(channel);
+  }
+
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Get the Acceleration for the PID Source parent.
+   *
+   * @return The current acceleration in Gs.
+   */
+  @Override
+  public double pidGet() {
+    return getAcceleration();
+  }
+}
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java
new file mode 100644
index 0000000000..1d58edf86c
--- /dev/null
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java
@@ -0,0 +1,65 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/** Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController. */
+public class PIDAnalogGyro extends AnalogGyro implements PIDSource {
+  private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  public PIDAnalogGyro(int channel) {
+    super(channel);
+  }
+
+  public PIDAnalogGyro(AnalogInput channel) {
+    super(channel);
+  }
+
+  public PIDAnalogGyro(int channel, int center, double offset) {
+    super(channel, center, offset);
+  }
+
+  public PIDAnalogGyro(AnalogInput channel, int center, double offset) {
+    super(channel, center, offset);
+  }
+
+  /**
+   * Set which parameter of the gyro you are using as a process control variable. The Gyro class
+   * supports the rate and displacement parameters
+   *
+   * @param pidSource An enum to select the parameter.
+   */
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Get the output of the gyro for use with PIDControllers. May be the angle or rate depending on
+   * the set PIDSourceType
+   *
+   * @return the output according to the gyro
+   */
+  @Override
+  public double pidGet() {
+    switch (m_pidSource) {
+      case kRate:
+        return getRate();
+      case kDisplacement:
+        return getAngle();
+      default:
+        return 0.0;
+    }
+  }
+}
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java
new file mode 100644
index 0000000000..fd1d9b216b
--- /dev/null
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java
@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/** Wrapper so that PIDSource is implemented for AnalogInput for old PIDController. */
+public class PIDAnalogInput extends AnalogInput implements PIDSource {
+  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  public PIDAnalogInput(int channel) {
+    super(channel);
+  }
+
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Get the average voltage for use with PIDController.
+   *
+   * @return the average voltage
+   */
+  @Override
+  public double pidGet() {
+    return getAverageVoltage();
+  }
+}
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java
new file mode 100644
index 0000000000..e6fc8adf77
--- /dev/null
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java
@@ -0,0 +1,62 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/** Wrapper so that PIDSource is implemented for AnalogPotentiometer for old PIDController. */
+public class PIDAnalogPotentiometer extends AnalogPotentiometer implements PIDSource {
+  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  public PIDAnalogPotentiometer(int channel, double fullRange, double offset) {
+    super(channel, fullRange, offset);
+  }
+
+  public PIDAnalogPotentiometer(AnalogInput input, double fullRange, double offset) {
+    super(input, fullRange, offset);
+  }
+
+  public PIDAnalogPotentiometer(int channel, double scale) {
+    super(channel, scale);
+  }
+
+  public PIDAnalogPotentiometer(AnalogInput input, double scale) {
+    super(input, scale);
+  }
+
+  public PIDAnalogPotentiometer(int channel) {
+    super(channel);
+  }
+
+  public PIDAnalogPotentiometer(AnalogInput input) {
+    super(input);
+  }
+
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    if (!pidSource.equals(PIDSourceType.kDisplacement)) {
+      throw new IllegalArgumentException("Only displacement PID is allowed for potentiometers.");
+    }
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Implement the PIDSource interface.
+   *
+   * @return The current reading.
+   */
+  @Override
+  public double pidGet() {
+    return get();
+  }
+}
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java
new file mode 100644
index 0000000000..76ed04fe33
--- /dev/null
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java
@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.pidwrappers;
+
+import edu.wpi.first.wpilibj.DigitalSource;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/** Wrapper so that PIDSource is implemented for Encoder for old PIDController. */
+public class PIDEncoder extends Encoder implements PIDSource {
+  private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  public PIDEncoder(final int channelA, final int channelB, boolean reverseDirection) {
+    super(channelA, channelB, reverseDirection, EncodingType.k4X);
+  }
+
+  public PIDEncoder(final int channelA, final int channelB) {
+    super(channelA, channelB, false);
+  }
+
+  public PIDEncoder(
+      final int channelA,
+      final int channelB,
+      boolean reverseDirection,
+      final EncodingType encodingType) {
+    super(channelA, channelB, reverseDirection, encodingType);
+  }
+
+  public PIDEncoder(
+      final int channelA, final int channelB, final int indexChannel, boolean reverseDirection) {
+    super(channelA, channelB, indexChannel, reverseDirection);
+  }
+
+  public PIDEncoder(final int channelA, final int channelB, final int indexChannel) {
+    super(channelA, channelB, indexChannel, false);
+  }
+
+  public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection) {
+    super(sourceA, sourceB, reverseDirection, EncodingType.k4X);
+  }
+
+  public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB) {
+    super(sourceA, sourceB, false);
+  }
+
+  public PIDEncoder(
+      DigitalSource sourceA,
+      DigitalSource sourceB,
+      boolean reverseDirection,
+      final EncodingType encodingType) {
+    super(sourceA, sourceB, reverseDirection, encodingType);
+  }
+
+  public PIDEncoder(
+      DigitalSource sourceA,
+      DigitalSource sourceB,
+      DigitalSource indexSource,
+      boolean reverseDirection) {
+    super(sourceA, sourceB, indexSource, reverseDirection);
+  }
+
+  public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource) {
+    super(sourceA, sourceB, indexSource, false);
+  }
+
+  /**
+   * Set which parameter of the encoder you are using as a process control variable. The encoder
+   * class supports the rate and distance parameters.
+   *
+   * @param pidSource An enum to select the parameter.
+   */
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Implement the PIDSource interface.
+   *
+   * @return The current value of the selected source parameter.
+   */
+  @Override
+  public double pidGet() {
+    switch (m_pidSource) {
+      case kDisplacement:
+        return getDistance();
+      case kRate:
+        return getRate();
+      default:
+        return 0.0;
+    }
+  }
+}
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java
new file mode 100644
index 0000000000..85df7cd850
--- /dev/null
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java
@@ -0,0 +1,108 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.pidwrappers;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+
+/** Wrapper so that PIDOutput is implemented for MotorController for old PIDController. */
+public class PIDMotorController implements PIDOutput, MotorController, Sendable {
+  private final MotorController m_motorController;
+
+  public PIDMotorController(MotorController motorController) {
+    m_motorController = motorController;
+  }
+
+  /**
+   * Write out the PID value as seen in the PIDOutput base object.
+   *
+   * @param output Write out the PWM value as was found in the PIDController
+   */
+  @Override
+  public void pidWrite(double output) {
+    m_motorController.set(output);
+  }
+
+  /**
+   * Common interface for setting the speed of a motor controller.
+   *
+   * @param speed The speed to set. Value should be between -1.0 and 1.0.
+   */
+  @Override
+  public void set(double speed) {
+    m_motorController.set(speed);
+  }
+
+  /**
+   * Sets the voltage output of the MotorController. Compensates for the current bus voltage to
+   * ensure that the desired voltage is output even if the battery voltage is below 12V - highly
+   * useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward
+   * calculation).
+   *
+   * <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
+   * properly - unlike the ordinary set function, it is not "set it and forget it."
+   *
+   * @param outputVolts The voltage to output.
+   */
+  @Override
+  public void setVoltage(double outputVolts) {
+    m_motorController.setVoltage(outputVolts);
+  }
+
+  /**
+   * Common interface for getting the current set speed of a motor controller.
+   *
+   * @return The current set speed. Value is between -1.0 and 1.0.
+   */
+  @Override
+  public double get() {
+    return m_motorController.get();
+  }
+
+  /**
+   * Common interface for inverting direction of a motor controller.
+   *
+   * @param isInverted The state of inversion true is inverted.
+   */
+  @Override
+  public void setInverted(boolean isInverted) {
+    m_motorController.setInverted(isInverted);
+  }
+
+  /**
+   * Common interface for returning if a motor controller is in the inverted state or not.
+   *
+   * @return isInverted The state of the inversion true is inverted.
+   */
+  @Override
+  public boolean getInverted() {
+    return m_motorController.getInverted();
+  }
+
+  /** Disable the motor controller. */
+  @Override
+  public void disable() {
+    m_motorController.disable();
+  }
+
+  /**
+   * Stops motor movement. Motor can be moved again by calling set without having to re-enable the
+   * motor.
+   */
+  @Override
+  public void stopMotor() {
+    m_motorController.stopMotor();
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Motor Controller");
+    builder.setActuator(true);
+    builder.setSafeState(this::disable);
+    builder.addDoubleProperty("Value", this::get, this::set);
+  }
+}
diff --git a/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java
new file mode 100644
index 0000000000..48cb1e6f40
--- /dev/null
+++ b/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java
@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.pidwrappers;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.Ultrasonic;
+
+/** Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController. */
+public class PIDUltrasonic extends Ultrasonic implements PIDSource {
+  protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  public PIDUltrasonic(int pingChannel, int echoChannel) {
+    super(pingChannel, echoChannel);
+  }
+
+  public PIDUltrasonic(DigitalOutput pingChannel, DigitalInput echoChannel) {
+    super(pingChannel, echoChannel);
+  }
+
+  @Override
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    if (!pidSource.equals(PIDSourceType.kDisplacement)) {
+      throw new IllegalArgumentException("Only displacement PID is allowed for ultrasonics.");
+    }
+    m_pidSource = pidSource;
+  }
+
+  @Override
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Get the range in the inches for the PIDSource base object.
+   *
+   * @return The range in inches
+   */
+  @Override
+  public double pidGet() {
+    return getRangeInches();
+  }
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogAccelerometer.cpp b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogAccelerometer.cpp
new file mode 100644
index 0000000000..62801e75d6
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogAccelerometer.cpp
@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#include "frc/pidwrappers/PIDAnalogAccelerometer.h"
+
+using namespace frc;
+
+double PIDAnalogAccelerometer::PIDGet() {
+  return GetAcceleration();
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogGyro.cpp b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogGyro.cpp
new file mode 100644
index 0000000000..d6a9ace5d1
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogGyro.cpp
@@ -0,0 +1,18 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#include "frc/pidwrappers/PIDAnalogGyro.h"
+
+using namespace frc;
+
+double PIDAnalogGyro::PIDGet() {
+  switch (GetPIDSourceType()) {
+    case PIDSourceType::kRate:
+      return GetRate();
+    case PIDSourceType::kDisplacement:
+      return GetAngle();
+    default:
+      return 0;
+  }
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogInput.cpp b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogInput.cpp
new file mode 100644
index 0000000000..d8dc7165aa
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogInput.cpp
@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#include "frc/pidwrappers/PIDAnalogInput.h"
+
+using namespace frc;
+
+double PIDAnalogInput::PIDGet() {
+  return GetAverageVoltage();
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogPotentiometer.cpp b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogPotentiometer.cpp
new file mode 100644
index 0000000000..7b44f6b177
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogPotentiometer.cpp
@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#include "frc/pidwrappers/PIDAnalogPotentiometer.h"
+
+using namespace frc;
+
+double PIDAnalogPotentiometer::PIDGet() {
+  return Get();
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDEncoder.cpp b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDEncoder.cpp
new file mode 100644
index 0000000000..b98d1c9753
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDEncoder.cpp
@@ -0,0 +1,18 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#include "frc/pidwrappers/PIDEncoder.h"
+
+using namespace frc;
+
+double PIDEncoder::PIDGet() {
+  switch (GetPIDSourceType()) {
+    case PIDSourceType::kDisplacement:
+      return GetDistance();
+    case PIDSourceType::kRate:
+      return GetRate();
+    default:
+      return 0.0;
+  }
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDMotorController.cpp b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDMotorController.cpp
new file mode 100644
index 0000000000..68d0be301f
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDMotorController.cpp
@@ -0,0 +1,50 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#include "frc/pidwrappers/PIDMotorController.h"
+
+#include <fmt/format.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+using namespace frc;
+
+PIDMotorController::PIDMotorController(MotorController& motorController)
+    : m_motorController(motorController) {}
+
+void PIDMotorController::Set(double speed) {
+  m_motorController.Set(m_isInverted ? -speed : speed);
+}
+
+double PIDMotorController::Get() const {
+  return m_motorController.Get() * (m_isInverted ? -1.0 : 1.0);
+}
+
+void PIDMotorController::SetInverted(bool isInverted) {
+  m_isInverted = isInverted;
+}
+
+bool PIDMotorController::GetInverted() const {
+  return m_isInverted;
+}
+
+void PIDMotorController::Disable() {
+  m_motorController.Disable();
+}
+
+void PIDMotorController::StopMotor() {
+  Disable();
+}
+
+void PIDMotorController::PIDWrite(double output) {
+  m_motorController.Set(output);
+}
+
+void PIDMotorController::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Motor Controller");
+  builder.SetActuator(true);
+  builder.SetSafeState([=] { Disable(); });
+  builder.AddDoubleProperty(
+      "Value", [=] { return Get(); }, [=](double value) { Set(value); });
+}
diff --git a/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDUltrasonic.cpp b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDUltrasonic.cpp
new file mode 100644
index 0000000000..4c02f17c6a
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDUltrasonic.cpp
@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#include "frc/pidwrappers/PIDUltrasonic.h"
+
+using namespace frc;
+
+double PIDUltrasonic::PIDGet() {
+  return GetRange().value();
+}
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h
new file mode 100644
index 0000000000..67a3bedb36
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include "frc/AnalogAccelerometer.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogAccelerometer for old
+ * PIDController
+ */
+class PIDAnalogAccelerometer : public PIDSource, public AnalogAccelerometer {
+  using AnalogAccelerometer::AnalogAccelerometer;
+
+ public:
+  /**
+   * Get the Acceleration for the PID Source parent.
+   *
+   * @return The current acceleration in Gs.
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h
new file mode 100644
index 0000000000..7c46156b38
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include "frc/AnalogGyro.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController
+ */
+class PIDAnalogGyro : public PIDSource, public AnalogGyro {
+  using AnalogGyro::AnalogGyro;
+
+ public:
+  /**
+   * Get the PIDOutput for the PIDSource base object. Can be set to return
+   * angle or rate using SetPIDSourceType(). Defaults to angle.
+   *
+   * @return The PIDOutput (angle or rate, defaults to angle)
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h
new file mode 100644
index 0000000000..b7a293fcc6
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include "frc/AnalogInput.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogInput for old
+ * PIDController
+ */
+class PIDAnalogInput : public PIDSource, public AnalogInput {
+  using AnalogInput::AnalogInput;
+
+ public:
+  /**
+   * Get the Average value for the PID Source base object.
+   *
+   * @return The average voltage.
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h
new file mode 100644
index 0000000000..c857ccb8b9
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include "frc/AnalogPotentiometer.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogPotentiometer for old
+ * PIDController
+ */
+class PIDAnalogPotentiometer : public PIDSource, public AnalogPotentiometer {
+  using AnalogPotentiometer::AnalogPotentiometer;
+
+ public:
+  /**
+   * Implement the PIDSource interface.
+   *
+   * @return The current reading.
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h
new file mode 100644
index 0000000000..2c21118d89
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h
@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include "frc/Encoder.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for Encoder for old PIDController
+ */
+class PIDEncoder : public PIDSource, public Encoder {
+  using Encoder::Encoder;
+
+ public:
+  /**
+   * Get the PIDOutput for the PIDSource base object. Can be set to return
+   * distance or rate using SetPIDSourceType(). Defaults to distance.
+   *
+   * @return The PIDOutput (distance or rate, defaults to distance)
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h
new file mode 100644
index 0000000000..c764c7fa69
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h
@@ -0,0 +1,63 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "frc/PIDOutput.h"
+#include "frc/motorcontrol/MotorController.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDOutput is implemented for MotorController for old
+ * PIDController
+ */
+class PIDMotorController : public PIDOutput,
+                           public MotorController,
+                           public wpi::Sendable {
+ public:
+  explicit PIDMotorController(MotorController& motorController);
+
+  /**
+   * Set the PWM value.
+   *
+   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
+   * the value for the FPGA.
+   *
+   * @param value The speed value between -1.0 and 1.0 to set.
+   */
+  void Set(double value) override;
+
+  /**
+   * Get the recently set value of the PWM. This value is affected by the
+   * inversion property. If you want the value that is sent directly to the
+   * MotorController, use PWM::GetSpeed() instead.
+   *
+   * @return The most recently set value for the PWM between -1.0 and 1.0.
+   */
+  double Get() const override;
+
+  void SetInverted(bool isInverted) override;
+
+  bool GetInverted() const override;
+
+  void Disable() override;
+
+  void StopMotor() override;
+
+  void PIDWrite(double output) override;
+
+ protected:
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  bool m_isInverted = false;
+
+  MotorController& m_motorController;
+};
+
+}  // namespace frc
diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h
new file mode 100644
index 0000000000..a26491e748
--- /dev/null
+++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h
@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include "frc/PIDSource.h"
+#include "frc/Ultrasonic.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController
+ */
+class PIDUltrasonic : public PIDSource, public Ultrasonic {
+  using Ultrasonic::Ultrasonic;
+
+ public:
+  /**
+   * Get the range for the PIDSource base object.
+   *
+   * @return The range
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc