diff --git a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
index 7df57472e7..551dc78335 100644
--- a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
@@ -11,6 +11,8 @@
 #include <frc/smartdashboard/Mechanism2d.h>
 #include <frc/smartdashboard/MechanismLigament2d.h>
 #include <frc/smartdashboard/SmartDashboard.h>
+#include <frc/util/Color.h>
+#include <frc/util/Color8Bit.h>
 #include <units/angle.h>
 
 /**
@@ -57,13 +59,14 @@ class Robot : public frc::TimedRobot {
   // the main mechanism object
   frc::Mechanism2d m_mech{3, 3};
   // the mechanism root node
-  frc::MechanismRoot2d* m_root = m_mech.GetRoot("climber", 3, 3);
+  frc::MechanismRoot2d* m_root = m_mech.GetRoot("climber", 2, 0);
   // MechanismLigament2d objects represent each "section"/"stage" of the
   // mechanism, and are based off the root node or another ligament object
   frc::MechanismLigament2d* m_elevator =
       m_root->Append<frc::MechanismLigament2d>("elevator", 1, 90_deg);
   frc::MechanismLigament2d* m_wrist =
-      m_elevator->Append<frc::MechanismLigament2d>("wrist", 0.5, 90_deg);
+      m_elevator->Append<frc::MechanismLigament2d>(
+          "wrist", 0.5, 90_deg, 6, frc::Color8Bit{frc::Color::kPurple});
 };
 
 #ifndef RUNNING_FRC_TESTS
diff --git a/wpilibcExamples/src/main/cpp/examples/examples.json b/wpilibcExamples/src/main/cpp/examples/examples.json
index f598e1e74d..19bc1a7eb0 100644
--- a/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -56,7 +56,7 @@
     "foldername":"Mechanism2d",
     "gradlebase":"cpp",
     "description":"An example usage of Mechanism2d to display mechanism states on a dashboard.",
-    "tags":[],
+    "tags":["Mechanism2d"],
     "commandversion": 2
   },
   {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
index 8e05a1570e..b31e6d0c4e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
@@ -211,7 +211,7 @@
   },
   {"name": "Mechanism2d",
     "description": "An example usage of Mechanism2d to display mechanism states on a dashboard.",
-    "tags": [],
+    "tags": ["Mechanism2d"],
     "foldername": "mechanism2d",
     "gradlebase": "java",
     "mainclass": "Main",
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
index b4d638fe06..264b8ad9fe 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
@@ -13,6 +13,8 @@ import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
 import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
 import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj.util.Color8Bit;
 
 /**
  * This sample program shows how to use Mechanism2d - a visual representation of arms, elevators,
@@ -39,14 +41,16 @@ public class Robot extends TimedRobot {
     m_elevatorEncoder.setDistancePerPulse(kMetersPerPulse);
 
     // the main mechanism object
-    Mechanism2d mech = new Mechanism2d(200, 200);
+    Mechanism2d mech = new Mechanism2d(3, 3);
     // the mechanism root node
-    MechanismRoot2d root = mech.getRoot("climber", 80, 100);
+    MechanismRoot2d root = mech.getRoot("climber", 2, 0);
 
     // MechanismLigament2d objects represent each "section"/"stage" of the mechanism, and are based
     // off the root node or another ligament object
-    m_elevator = root.append(new MechanismLigament2d("elevator", 10, 90));
-    m_wrist = m_elevator.append(new MechanismLigament2d("wrist", 6, 90));
+    m_elevator = root.append(new MechanismLigament2d("elevator", kElevatorMinimumLength, 90));
+    m_wrist =
+        m_elevator.append(
+            new MechanismLigament2d("wrist", 0.5, 90, 6, new Color8Bit(Color.kPurple)));
 
     // post the mechanism to the dashboard
     SmartDashboard.putData("Mech2d", mech);