diff --git a/shared/examplecheck.gradle b/shared/examplecheck.gradle
index 89106cb158..a071660b76 100644
--- a/shared/examplecheck.gradle
+++ b/shared/examplecheck.gradle
@@ -66,7 +66,9 @@ def tagList = [
 
         /* --- Misc --- */
         /* (try to keep this section minimal) */
-        "EventLoop", "Mechanism2d", "Preferences", "Skeleton"
+        "EventLoop", "Mechanism2d", "Preferences", "Skeleton",
+
+        "FTC", "ExpansionHub", "OpModes"
 ]
 
 task checkTemplates(type: Task) {
diff --git a/wpilibjExamples/example_projects.bzl b/wpilibjExamples/example_projects.bzl
index 9a50696f18..bf6d01c9f8 100644
--- a/wpilibjExamples/example_projects.bzl
+++ b/wpilibjExamples/example_projects.bzl
@@ -11,6 +11,7 @@ EXAMPLE_FOLDERS = [
     "elevatorsimulation",
     "elevatortrapezoidprofile",
     "encoder",
+    "expansionhubsample",
     "gettingstarted",
     "gyro",
     "hatchbotcmdv3",
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json b/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
index 12ddf341c5..4d7839cfde 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/examples.json
@@ -23,6 +23,21 @@
     "robotclass": "Robot",
     "commandversion": 2
   },
+  {
+    "name": "Expansion Hub Sample",
+    "description": "Sample the functionality of the Expansion Hub motors.",
+    "tags": [
+      "Hardware",
+      "ExpansionHub",
+      "FTC",
+      "OpModes",
+      "SmartDashboard"
+    ],
+    "foldername": "expansionhubsample",
+    "gradlebase": "java",
+    "robotclass": "Robot",
+    "commandversion": 2
+  },
   {
     "name": "Elevator with trapezoid profiled PID",
     "description": "Reach elevator position setpoints with trapezoid profiles and smart motor controller PID.",
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultAutoMode.java b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultAutoMode.java
new file mode 100644
index 0000000000..b769b570c5
--- /dev/null
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultAutoMode.java
@@ -0,0 +1,37 @@
+// 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 org.wpilib.examples.expansionhubsample;
+
+import org.wpilib.opmode.PeriodicOpMode;
+import org.wpilib.system.Timer;
+
+public class DefaultAutoMode extends PeriodicOpMode {
+  private final Robot robot;
+  private final Timer timer = new Timer();
+
+  public DefaultAutoMode(Robot robot) {
+    this.robot = robot;
+  }
+
+  @Override
+  public void start() {
+    timer.reset();
+    timer.start();
+  }
+
+  @Override
+  public void periodic() {
+    if (timer.get() < 2.0) {
+      robot.motor0.setThrottle(0.5);
+      robot.motor1.setThrottle(0.5);
+    } else if (timer.get() < 4.0) {
+      robot.motor0.setThrottle(0.9);
+      robot.motor1.setThrottle(0.9);
+    } else {
+      robot.motor0.setThrottle(0.0);
+      robot.motor1.setThrottle(0.0);
+    }
+  }
+}
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java
new file mode 100644
index 0000000000..9649835aab
--- /dev/null
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java
@@ -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.
+
+package org.wpilib.examples.expansionhubsample;
+
+import org.wpilib.driverstation.DefaultUserControls;
+import org.wpilib.opmode.PeriodicOpMode;
+
+public class DefaultTeleMode extends PeriodicOpMode {
+  private final Robot robot;
+  private final DefaultUserControls userControls;
+
+  public DefaultTeleMode(Robot robot, DefaultUserControls userControls) {
+    this.robot = robot;
+    this.userControls = userControls;
+  }
+
+  @Override
+  public void periodic() {
+    robot.motor0.setThrottle(-userControls.getGamepad(0).getLeftY());
+    robot.motor1.setThrottle(-userControls.getGamepad(0).getRightY());
+    robot.motor2.setThrottle(-userControls.getGamepad(0).getLeftX());
+    robot.motor3.setThrottle(-userControls.getGamepad(0).getRightX());
+    robot.servo0.setPosition(userControls.getGamepad(0).getLeftTriggerAxis());
+    robot.servo1.setPosition(userControls.getGamepad(0).getRightTriggerAxis());
+  }
+}
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/Robot.java
new file mode 100644
index 0000000000..90760bd81b
--- /dev/null
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/Robot.java
@@ -0,0 +1,29 @@
+// 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 org.wpilib.examples.expansionhubsample;
+
+import org.wpilib.driverstation.DefaultUserControls;
+import org.wpilib.driverstation.UserControlsInstance;
+import org.wpilib.framework.OpModeRobot;
+import org.wpilib.hardware.expansionhub.ExpansionHubMotor;
+import org.wpilib.hardware.expansionhub.ExpansionHubServo;
+
+/**
+ * This is a demo program showing the use of the Expansion Hub motors and servos. The motors and
+ * servos are driven using the controllers in the telop opmode, and timed in the auto op mode.
+ */
+@UserControlsInstance(DefaultUserControls.class)
+public class Robot extends OpModeRobot {
+  public final ExpansionHubMotor motor0 = new ExpansionHubMotor(0, 0);
+  public final ExpansionHubMotor motor1 = new ExpansionHubMotor(0, 1);
+  public final ExpansionHubMotor motor2 = new ExpansionHubMotor(0, 2);
+  public final ExpansionHubMotor motor3 = new ExpansionHubMotor(0, 3);
+
+  public final ExpansionHubServo servo0 = new ExpansionHubServo(0, 0);
+  public final ExpansionHubServo servo1 = new ExpansionHubServo(0, 1);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {}
+}