diff --git a/hal/include/HAL/HAL.h b/hal/include/HAL/HAL.h
index 0a5642841b..53e058814a 100644
--- a/hal/include/HAL/HAL.h
+++ b/hal/include/HAL/HAL.h
@@ -33,7 +33,6 @@
 #include "HAL/SPI.h"
 #include "HAL/SerialPort.h"
 #include "HAL/Solenoid.h"
-#include "HAL/Task.h"
 #include "HAL/Types.h"
 
 namespace HALUsageReporting = nUsageReporting;
diff --git a/hal/include/HAL/Task.h b/hal/include/HAL/Task.h
deleted file mode 100644
index dce8dcba47..0000000000
--- a/hal/include/HAL/Task.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <pthread.h>
-#include <stdint.h>
-
-#ifndef _STATUS_DEFINED
-#define _STATUS_DEFINED
-typedef int32_t STATUS;
-#endif /* _STATUS_DEFINED */
-
-#ifndef OK
-#define OK 0
-#endif /* OK */
-#ifndef ERROR
-#define ERROR (-1)
-#endif /* ERROR */
-
-typedef pthread_t* TASK;
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-// Note: These constants used to be declared extern and were defined in
-// Task.cpp. This caused issues with the JNI bindings for java, and so the
-// instantiations were moved here.
-const int32_t HAL_TaskLib_ILLEGAL_PRIORITY = 22;  // 22 is EINVAL
-
-STATUS HAL_VerifyTaskID(TASK task);
-
-// valid priority [1..99]
-STATUS HAL_SetTaskPriority(TASK task, int32_t priority);
-
-STATUS HAL_GetTaskPriority(TASK task, int32_t* priority);
-#ifdef __cplusplus
-}
-#endif
diff --git a/hal/lib/athena/Task.cpp b/hal/lib/athena/Task.cpp
deleted file mode 100644
index c91d6cada2..0000000000
--- a/hal/lib/athena/Task.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "HAL/Task.h"
-
-#include <signal.h>
-
-#ifndef OK
-#define OK 0
-#endif /* OK */
-#ifndef ERROR
-#define ERROR (-1)
-#endif /* ERROR */
-
-extern "C" {
-
-STATUS HAL_VerifyTaskID(TASK task) {
-  if (task != nullptr && pthread_kill(*task, 0) == 0) {
-    return OK;
-  } else {
-    return ERROR;
-  }
-}
-
-STATUS HAL_SetTaskPriority(TASK task, int32_t priority) {
-  int32_t policy = 0;
-  struct sched_param param;
-
-  if (HAL_VerifyTaskID(task) == OK &&
-      pthread_getschedparam(*task, &policy, &param) == 0) {
-    param.sched_priority = priority;
-    if (pthread_setschedparam(*task, SCHED_FIFO, &param) == 0) {
-      return OK;
-    } else {
-      return ERROR;
-    }
-  } else {
-    return ERROR;
-  }
-}
-
-STATUS HAL_GetTaskPriority(TASK task, int32_t* priority) {
-  int32_t policy = 0;
-  struct sched_param param;
-
-  if (HAL_VerifyTaskID(task) == OK &&
-      pthread_getschedparam(*task, &policy, &param) == 0) {
-    *priority = param.sched_priority;
-    return OK;
-  } else {
-    return ERROR;
-  }
-}
-
-}  // extern "C"
diff --git a/wpilibc/athena/include/DriverStation.h b/wpilibc/athena/include/DriverStation.h
index 7e7dee66d1..c5ce54fb9d 100644
--- a/wpilibc/athena/include/DriverStation.h
+++ b/wpilibc/athena/include/DriverStation.h
@@ -11,15 +11,13 @@
 #include <condition_variable>
 #include <memory>
 #include <string>
+#include <thread>
 
+#include "HAL/DriverStation.h"
 #include "HAL/cpp/priority_condition_variable.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "RobotState.h"
 #include "SensorBase.h"
-#include "Task.h"
-
-struct HALControlWord;
-class AnalogInput;
 
 /**
  * Provide access to the network communication data to / from the Driver
@@ -114,7 +112,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
   std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
 
   // Internal Driver Station thread
-  Task m_task;
+  std::thread m_dsThread;
   std::atomic<bool> m_isRunning{false};
 
   // WPILib WaitForData control variables
diff --git a/wpilibc/athena/include/Preferences.h b/wpilibc/athena/include/Preferences.h
index 2a7a49c09e..dcb3905e99 100644
--- a/wpilibc/athena/include/Preferences.h
+++ b/wpilibc/athena/include/Preferences.h
@@ -13,7 +13,6 @@
 #include <vector>
 
 #include "ErrorBase.h"
-#include "Task.h"
 #include "networktables/NetworkTable.h"
 #include "tables/ITableListener.h"
 
diff --git a/wpilibc/athena/include/Ultrasonic.h b/wpilibc/athena/include/Ultrasonic.h
index b363a23d66..99fd8846fe 100644
--- a/wpilibc/athena/include/Ultrasonic.h
+++ b/wpilibc/athena/include/Ultrasonic.h
@@ -11,12 +11,12 @@
 #include <memory>
 #include <set>
 #include <string>
+#include <thread>
 
 #include "Counter.h"
 #include "LiveWindow/LiveWindowSendable.h"
 #include "PIDSource.h"
 #include "SensorBase.h"
-#include "Task.h"
 
 class DigitalInput;
 class DigitalOutput;
@@ -83,7 +83,8 @@ class Ultrasonic : public SensorBase,
   static constexpr double kMaxUltrasonicTime = 0.1;
   static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
 
-  static Task m_task;  // task doing the round-robin automatic sensing
+  static std::thread
+      m_thread;  // thread doing the round-robin automatic sensing
   static std::set<Ultrasonic*> m_sensors;       // ultrasonic sensors
   static std::atomic<bool> m_automaticEnabled;  // automatic round robin mode
 
diff --git a/wpilibc/athena/src/ADXRS450_Gyro.cpp b/wpilibc/athena/src/ADXRS450_Gyro.cpp
index bf847aeba3..e07354abff 100644
--- a/wpilibc/athena/src/ADXRS450_Gyro.cpp
+++ b/wpilibc/athena/src/ADXRS450_Gyro.cpp
@@ -8,6 +8,7 @@
 #include "ADXRS450_Gyro.h"
 
 #include "DriverStation.h"
+#include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
 
diff --git a/wpilibc/athena/src/DriverStation.cpp b/wpilibc/athena/src/DriverStation.cpp
index 54fbfd6474..db7a8b3730 100644
--- a/wpilibc/athena/src/DriverStation.cpp
+++ b/wpilibc/athena/src/DriverStation.cpp
@@ -11,6 +11,7 @@
 
 #include "AnalogInput.h"
 #include "FRC_NetworkCommunication/FRCComm.h"
+#include "HAL/HAL.h"
 #include "HAL/cpp/Log.h"
 #include "MotorSafetyHelper.h"
 #include "Timer.h"
@@ -23,7 +24,7 @@ const int DriverStation::kJoystickPorts;
 
 DriverStation::~DriverStation() {
   m_isRunning = false;
-  m_task.join();
+  m_dsThread.join();
 }
 
 /**
@@ -585,7 +586,7 @@ DriverStation::DriverStation() {
     m_joystickDescriptorCache[i].name[0] = '\0';
   }
 
-  m_task = Task("DriverStation", &DriverStation::Run, this);
+  m_dsThread = std::thread(&DriverStation::Run, this);
 }
 
 /**
diff --git a/wpilibc/athena/src/Joystick.cpp b/wpilibc/athena/src/Joystick.cpp
index 1011240ca4..8ab0a8a1c7 100644
--- a/wpilibc/athena/src/Joystick.cpp
+++ b/wpilibc/athena/src/Joystick.cpp
@@ -10,6 +10,7 @@
 #include <cmath>
 
 #include "DriverStation.h"
+#include "HAL/HAL.h"
 #include "WPIErrors.h"
 
 const int Joystick::kDefaultXAxis;
diff --git a/wpilibc/athena/src/Task.cpp b/wpilibc/athena/src/Task.cpp
deleted file mode 100644
index 8d7b236960..0000000000
--- a/wpilibc/athena/src/Task.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "Task.h"
-
-#include <cerrno>
-#include <cstdio>
-
-#include "WPIErrors.h"
-
-#ifndef OK
-#define OK 0
-#endif /* OK */
-#ifndef ERROR
-#define ERROR (-1)
-#endif /* ERROR */
-
-const int Task::kDefaultPriority;
-
-Task& Task::operator=(Task&& task) {
-  m_thread.swap(task.m_thread);
-  m_taskName = std::move(task.m_taskName);
-
-  return *this;
-}
-
-Task::~Task() {
-  if (m_thread.joinable()) {
-    std::cout << "[HAL] Exited task " << m_taskName << std::endl;
-  }
-}
-
-bool Task::joinable() const noexcept { return m_thread.joinable(); }
-
-void Task::join() { m_thread.join(); }
-
-void Task::detach() { m_thread.detach(); }
-
-std::thread::id Task::get_id() const noexcept { return m_thread.get_id(); }
-
-std::thread::native_handle_type Task::native_handle() {
-  return m_thread.native_handle();
-}
-
-/**
- * Verifies a task still exists.
- *
- * @return true on success.
- */
-bool Task::Verify() {
-  auto id = m_thread.native_handle();
-  return HAL_VerifyTaskID(&id) == OK;
-}
-
-/**
- * Gets the priority of a task.
- *
- * @return task priority or 0 if an error occured
- */
-int Task::GetPriority() {
-  int priority;
-  auto id = m_thread.native_handle();
-  if (HandleError(HAL_GetTaskPriority(&id, &priority)))
-    return priority;
-  else
-    return 0;
-}
-
-/**
- * This routine changes a task's priority to a specified priority.
- * Priorities range from 1, the lowest priority, to 99, the highest priority.
- * Default task priority is 60.
- *
- * @param priority The priority at which the internal thread should run.
- * @return true on success.
- */
-bool Task::SetPriority(int priority) {
-  auto id = m_thread.native_handle();
-  return HandleError(HAL_SetTaskPriority(&id, priority));
-}
-
-/**
- * Returns the name of the task.
- *
- * @return The name of the task.
- */
-std::string Task::GetName() const { return m_taskName; }
-
-/**
- * Handles errors generated by task related code.
- */
-bool Task::HandleError(STATUS results) {
-  if (results != ERROR) return true;
-  int errsv = errno;
-  if (errsv == HAL_TaskLib_ILLEGAL_PRIORITY) {
-    wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
-  } else {
-    std::printf("ERROR: errno=%i", errsv);
-    wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
-  }
-  return false;
-}
diff --git a/wpilibc/athena/src/Ultrasonic.cpp b/wpilibc/athena/src/Ultrasonic.cpp
index 5403d1f979..75712c0820 100644
--- a/wpilibc/athena/src/Ultrasonic.cpp
+++ b/wpilibc/athena/src/Ultrasonic.cpp
@@ -10,6 +10,7 @@
 #include "Counter.h"
 #include "DigitalInput.h"
 #include "DigitalOutput.h"
+#include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
 #include "Utility.h"
@@ -22,7 +23,6 @@ const int Ultrasonic::kPriority;
 // Max time (ms) between readings.
 constexpr double Ultrasonic::kMaxUltrasonicTime;
 constexpr double Ultrasonic::kSpeedOfSoundInchesPerSec;
-Task Ultrasonic::m_task;
 // automatic round robin mode
 std::atomic<bool> Ultrasonic::m_automaticEnabled{false};
 std::set<Ultrasonic*> Ultrasonic::m_sensors;
@@ -208,7 +208,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
       sensor->m_counter.Reset();
     }
 
-    m_task = Task("UltrasonicChecker", &Ultrasonic::UltrasonicChecker);
+    m_thread = std::thread(&Ultrasonic::UltrasonicChecker);
 
     // TODO: Currently, lvuser does not have permissions to set task priorities.
     // Until that is the case, uncommenting this will break user code that calls
@@ -216,7 +216,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
     // m_task.SetPriority(kPriority);
   } else {
     // Wait for background task to stop running
-    m_task.join();
+    m_thread.join();
 
     /* Clear all the counters (data now invalid) since automatic mode is
      * disabled. No synchronization is needed because the background task is
diff --git a/wpilibc/athena/src/Utility.cpp b/wpilibc/athena/src/Utility.cpp
index 5bac39be10..bcd09eb745 100644
--- a/wpilibc/athena/src/Utility.cpp
+++ b/wpilibc/athena/src/Utility.cpp
@@ -12,10 +12,11 @@
 
 #include <cstdio>
 #include <cstdlib>
+#include <cstring>
 #include <sstream>
 
+#include "ErrorBase.h"
 #include "HAL/HAL.h"
-#include "Task.h"
 #include "nivision.h"
 
 /**
diff --git a/wpilibc/shared/include/Task.h b/wpilibc/shared/include/Task.h
deleted file mode 100644
index 3941710ce3..0000000000
--- a/wpilibc/shared/include/Task.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <iostream>
-#include <string>
-#include <thread>
-
-#include "ErrorBase.h"
-#include "HAL/Task.h"
-
-/**
- * Wrapper class around std::thread that allows changing thread priority
- */
-class Task : public ErrorBase {
- public:
-  static const int kDefaultPriority = 60;
-
-  Task() = default;
-  Task(const Task&) = delete;
-  Task& operator=(const Task&) = delete;
-  Task& operator=(Task&& task);
-
-  template <class Function, class... Args>
-  Task(const std::string& name, Function&& function, Args&&... args);
-
-  virtual ~Task();
-
-  bool joinable() const noexcept;
-  void join();
-  void detach();
-  std::thread::id get_id() const noexcept;
-  std::thread::native_handle_type native_handle();
-
-  bool Verify();
-
-  int GetPriority();
-
-  bool SetPriority(int priority);
-
-  std::string GetName() const;
-
- private:
-  std::thread m_thread;
-  std::string m_taskName;
-  bool HandleError(STATUS results);
-};
-
-#include "Task.inc"
diff --git a/wpilibc/shared/include/Task.inc b/wpilibc/shared/include/Task.inc
deleted file mode 100644
index 5a81a19e54..0000000000
--- a/wpilibc/shared/include/Task.inc
+++ /dev/null
@@ -1,39 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <atomic>
-#include <string>
-#include <utility>
-
-#include "HAL/HAL.h"
-
-/**
- * Create and launch a task.
- *
- * @param name The name of the task. "FRC_" will be prepended to the task name.
- * @param function The address of the function to run as the new task.
- * @param args A parameter pack of arguments to pass to the function.
- */
-template <class Function, class... Args>
-Task::Task(const std::string& name, Function&& function, Args&&... args) {
-  m_taskName = "FRC_";
-  m_taskName += name;
-
-  std::cout << "[HAL] Starting task " << m_taskName << "..." << std::endl;
-
-  m_thread = std::thread(std::forward<std::decay_t<Function>>(function),
-                         std::forward<Args>(args)...);
-  // TODO: lvuser does not currently have permissions to set the priority.
-  // SetPriority(kDefaultPriority);
-
-  static std::atomic<int32_t> instances{0};
-  instances++;
-  HAL_Report(HALUsageReporting::kResourceType_Task, instances, 0,
-             m_taskName.c_str());
-}
diff --git a/wpilibcIntegrationTests/src/TestEnvironment.cpp b/wpilibcIntegrationTests/src/TestEnvironment.cpp
index 6d19ede5df..0c98ff3254 100644
--- a/wpilibcIntegrationTests/src/TestEnvironment.cpp
+++ b/wpilibcIntegrationTests/src/TestEnvironment.cpp
@@ -8,6 +8,7 @@
 #include <cstdlib>
 
 #include "DriverStation.h"
+#include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
 #include "gtest/gtest.h"