Split Sendable into NT and non-NT portions (#3432)

The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).

SendableBuilder similarly split and moved.

SendableRegistry moved to wpiutil.

In C++, SendableHelper also moved to wpiutil.

This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.

wpilibc/src/main/native/cpp/ADXL345_I2C.cpp

@@ -5,9 +5,8 @@
 #include "frc/ADXL345_I2C.h"
 
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -30,7 +29,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_I2C, 0);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
 }
 
 void ADXL345_I2C::SetRange(Range range) {
@@ -84,7 +83,7 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
   return data;
 }
 
-void ADXL345_I2C::InitSendable(SendableBuilder& builder) {
+void ADXL345_I2C::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   auto x = builder.GetEntry("X").GetHandle();
   auto y = builder.GetEntry("Y").GetHandle();

wpilibc/src/main/native/cpp/ADXL345_SPI.cpp

@@ -5,9 +5,8 @@
 #include "frc/ADXL345_SPI.h"
 
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -38,7 +37,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_SPI);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
 }
 
 void ADXL345_SPI::SetRange(Range range) {
@@ -115,7 +114,7 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
   return data;
 }
 
-void ADXL345_SPI::InitSendable(SendableBuilder& builder) {
+void ADXL345_SPI::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   auto x = builder.GetEntry("X").GetHandle();
   auto y = builder.GetEntry("Y").GetHandle();

wpilibc/src/main/native/cpp/ADXL362.cpp

@@ -5,10 +5,10 @@
 #include "frc/ADXL362.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -72,7 +72,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
 
   HAL_Report(HALUsageReporting::kResourceType_ADXL362, port + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
 }
 
 void ADXL362::SetRange(Range range) {
@@ -178,7 +178,7 @@ ADXL362::AllAxes ADXL362::GetAccelerations() {
   return data;
 }
 
-void ADXL362::InitSendable(SendableBuilder& builder) {
+void ADXL362::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   auto x = builder.GetEntry("X").GetHandle();
   auto y = builder.GetEntry("Y").GetHandle();

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -5,11 +5,11 @@
 #include "frc/ADXRS450_Gyro.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -58,7 +58,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
 
   HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
 }
 
 static bool CalcParity(int v) {
@@ -136,7 +136,7 @@ int ADXRS450_Gyro::GetPort() const {
   return m_port;
 }
 
-void ADXRS450_Gyro::InitSendable(SendableBuilder& builder) {
+void ADXRS450_Gyro::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Gyro");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAngle(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp

@@ -6,16 +6,16 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
 AnalogAccelerometer::AnalogAccelerometer(int channel)
     : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
-  SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
 }
 
 AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
@@ -46,7 +46,7 @@ void AnalogAccelerometer::SetZero(double zero) {
   m_zeroGVoltage = zero;
 }
 
-void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
+void AnalogAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Accelerometer");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAcceleration(); }, nullptr);
@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
              m_analogInput->GetChannel() + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
-                                        m_analogInput->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
+                                             m_analogInput->GetChannel());
 }

wpilibc/src/main/native/cpp/AnalogEncoder.cpp

@@ -5,11 +5,11 @@
 #include "frc/AnalogEncoder.h"
 
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/AnalogInput.h"
 #include "frc/Counter.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -50,8 +50,8 @@ void AnalogEncoder::Init() {
   m_counter.SetDownSource(
       m_analogTrigger.CreateOutput(AnalogTriggerType::kFallingPulse));
 
-  SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
-                                        m_analogInput->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
+                                             m_analogInput->GetChannel());
 }
 
 units::turn_t AnalogEncoder::Get() const {
@@ -105,7 +105,7 @@ int AnalogEncoder::GetChannel() const {
   return m_analogInput->GetChannel();
 }
 
-void AnalogEncoder::InitSendable(SendableBuilder& builder) {
+void AnalogEncoder::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("AbsoluteEncoder");
   builder.AddDoubleProperty(
       "Distance", [this] { return this->GetDistance(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogGyro.cpp

@@ -12,18 +12,18 @@
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/AnalogInput.h"
 #include "frc/Errors.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
 AnalogGyro::AnalogGyro(int channel)
     : AnalogGyro(std::make_shared<AnalogInput>(channel)) {
-  SendableRegistry::GetInstance().AddChild(this, m_analog.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
 }
 
 AnalogGyro::AnalogGyro(AnalogInput* channel)
@@ -41,7 +41,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
 
 AnalogGyro::AnalogGyro(int channel, int center, double offset)
     : AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
-  SendableRegistry::GetInstance().AddChild(this, m_analog.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
 }
 
 AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
@@ -124,8 +124,8 @@ void AnalogGyro::InitGyro() {
 
   HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel() + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
-                                        m_analog->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
+                                             m_analog->GetChannel());
 }
 
 void AnalogGyro::Calibrate() {
@@ -138,7 +138,7 @@ std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
   return m_analog;
 }
 
-void AnalogGyro::InitSendable(SendableBuilder& builder) {
+void AnalogGyro::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Gyro");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAngle(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogInput.cpp

@@ -10,12 +10,12 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -34,7 +34,7 @@ AnalogInput::AnalogInput(int channel) {
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
 }
 
 AnalogInput::~AnalogInput() {
@@ -194,7 +194,7 @@ void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetAnalogInputSimDevice(m_port, device);
 }
 
-void AnalogInput::InitSendable(SendableBuilder& builder) {
+void AnalogInput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAverageVoltage(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogOutput.cpp

@@ -12,11 +12,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -34,7 +34,7 @@ AnalogOutput::AnalogOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
-  SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
 }
 
 AnalogOutput::~AnalogOutput() {
@@ -58,7 +58,7 @@ int AnalogOutput::GetChannel() const {
   return m_channel;
 }
 
-void AnalogOutput::InitSendable(SendableBuilder& builder) {
+void AnalogOutput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Output");
   builder.AddDoubleProperty(
       "Value", [=] { return GetVoltage(); },

wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp

@@ -7,10 +7,10 @@
 #include <utility>
 
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/RobotController.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -18,7 +18,7 @@ AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
                                          double offset)
     : AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
                           offset) {
-  SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
 }
 
 AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
@@ -32,8 +32,8 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
     : m_analog_input(std::move(input)),
       m_fullRange(fullRange),
       m_offset(offset) {
-  SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
-                                        m_analog_input->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
+                                             m_analog_input->GetChannel());
 }
 
 double AnalogPotentiometer::Get() const {
@@ -43,7 +43,7 @@ double AnalogPotentiometer::Get() const {
          m_offset;
 }
 
-void AnalogPotentiometer::InitSendable(SendableBuilder& builder) {
+void AnalogPotentiometer::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(
       "Value", [=] { return Get(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogTrigger.cpp

@@ -9,18 +9,18 @@
 #include <hal/AnalogTrigger.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/AnalogInput.h"
 #include "frc/DutyCycle.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
 AnalogTrigger::AnalogTrigger(int channel)
     : AnalogTrigger(new AnalogInput(channel)) {
   m_ownsAnalog = true;
-  SendableRegistry::GetInstance().AddChild(this, m_analogInput);
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput);
 }
 
 AnalogTrigger::AnalogTrigger(AnalogInput* input) {
@@ -31,7 +31,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::AnalogTrigger(DutyCycle* input) {
@@ -42,7 +42,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) {
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::~AnalogTrigger() {
@@ -113,7 +113,7 @@ std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
       wpi::NullDeleter<AnalogTriggerOutput>());
 }
 
-void AnalogTrigger::InitSendable(SendableBuilder& builder) {
+void AnalogTrigger::InitSendable(wpi::SendableBuilder& builder) {
   if (m_ownsAnalog) {
     m_analogInput->InitSendable(builder);
   }

wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp

@@ -38,7 +38,7 @@ int AnalogTriggerOutput::GetChannel() const {
   return m_trigger->GetIndex();
 }
 
-void AnalogTriggerOutput::InitSendable(SendableBuilder&) {}
+void AnalogTriggerOutput::InitSendable(wpi::SendableBuilder&) {}
 
 AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
                                          AnalogTriggerType outputType)

wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp

@@ -6,10 +6,10 @@
 
 #include <hal/Accelerometer.h>
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -18,7 +18,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
 
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
              "Built-in accelerometer");
-  SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
+  wpi::SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
 }
 
 void BuiltInAccelerometer::SetRange(Range range) {
@@ -44,7 +44,7 @@ double BuiltInAccelerometer::GetZ() {
   return HAL_GetAccelerometerZ();
 }
 
-void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
+void BuiltInAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   builder.AddDoubleProperty(
       "X", [=] { return GetX(); }, nullptr);

wpilibc/src/main/native/cpp/Counter.cpp

@@ -9,12 +9,12 @@
 #include <hal/Counter.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/DigitalInput.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
   SetMaxPeriod(0.5_s);
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
-  SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
 }
 
 Counter::Counter(int channel) : Counter(kTwoPulse) {
@@ -97,7 +97,7 @@ Counter::~Counter() {
 
 void Counter::SetUpSource(int channel) {
   SetUpSource(std::make_shared<DigitalInput>(channel));
-  SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
 }
 
 void Counter::SetUpSource(AnalogTrigger* analogTrigger,
@@ -152,7 +152,7 @@ void Counter::ClearUpSource() {
 
 void Counter::SetDownSource(int channel) {
   SetDownSource(std::make_shared<DigitalInput>(channel));
-  SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
 }
 
 void Counter::SetDownSource(AnalogTrigger* analogTrigger,
@@ -306,7 +306,7 @@ bool Counter::GetDirection() const {
   return value;
 }
 
-void Counter::InitSendable(SendableBuilder& builder) {
+void Counter::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Counter");
   builder.AddDoubleProperty(
       "Value", [=] { return Get(); }, nullptr);

wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp

@@ -11,12 +11,12 @@
 #include <hal/Constants.h>
 #include <hal/DIO.h>
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Counter.h"
 #include "frc/Encoder.h"
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -35,8 +35,8 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
              m_channelIndex + 1);
-  SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
-                                        m_channelIndex);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
+                                             m_channelIndex);
 }
 
 DigitalGlitchFilter::~DigitalGlitchFilter() {
@@ -125,4 +125,4 @@ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
          static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);
 }
 
-void DigitalGlitchFilter::InitSendable(SendableBuilder&) {}
+void DigitalGlitchFilter::InitSendable(wpi::SendableBuilder&) {}

wpilibc/src/main/native/cpp/DigitalInput.cpp

@@ -12,11 +12,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -33,7 +33,7 @@ DigitalInput::DigitalInput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
-  SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
 }
 
 DigitalInput::~DigitalInput() {
@@ -67,7 +67,7 @@ int DigitalInput::GetChannel() const {
   return m_channel;
 }
 
-void DigitalInput::InitSendable(SendableBuilder& builder) {
+void DigitalInput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Digital Input");
   builder.AddBooleanProperty(
       "Value", [=] { return Get(); }, nullptr);

wpilibc/src/main/native/cpp/DigitalOutput.cpp

@@ -11,11 +11,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
-  SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
 }
 
 DigitalOutput::~DigitalOutput() {
@@ -140,7 +140,7 @@ void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetDIOSimDevice(m_handle, device);
 }
 
-void DigitalOutput::InitSendable(SendableBuilder& builder) {
+void DigitalOutput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Digital Output");
   builder.AddBooleanProperty(
       "Value", [=] { return Get(); }, [=](bool value) { Set(value); });

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -10,11 +10,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -53,7 +53,7 @@ DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
              m_module->GetModuleNumber() + 1);
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
              m_module->GetModuleNumber() + 1);
-  SendableRegistry::GetInstance().AddLW(
+  wpi::SendableRegistry::GetInstance().AddLW(
       this, "DoubleSolenoid", m_module->GetModuleNumber(), m_forwardChannel);
 }
 
@@ -115,7 +115,7 @@ bool DoubleSolenoid::IsRevSolenoidDisabled() const {
   return (m_module->GetSolenoidDisabledList() & m_reverseMask) != 0;
 }
 
-void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
+void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Double Solenoid");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Set(kOff); });

wpilibc/src/main/native/cpp/DutyCycle.cpp

@@ -7,10 +7,10 @@
 #include <hal/DutyCycle.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/DigitalSource.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -49,7 +49,7 @@ void DutyCycle::InitDutyCycle() {
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
   int index = GetFPGAIndex();
   HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
-  SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
 }
 
 int DutyCycle::GetFPGAIndex() const {
@@ -91,7 +91,7 @@ int DutyCycle::GetSourceChannel() const {
   return m_source->GetChannel();
 }
 
-void DutyCycle::InitSendable(SendableBuilder& builder) {
+void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Duty Cycle");
   builder.AddDoubleProperty(
       "Frequency", [this] { return this->GetFrequency(); }, nullptr);

wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp

@@ -5,13 +5,13 @@
 #include "frc/DutyCycleEncoder.h"
 
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/Counter.h"
 #include "frc/DigitalInput.h"
 #include "frc/DigitalSource.h"
 #include "frc/DutyCycle.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -72,8 +72,8 @@ void DutyCycleEncoder::Init() {
         m_analogTrigger->CreateOutput(AnalogTriggerType::kFallingPulse));
   }
 
-  SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
-                                        m_dutyCycle->GetSourceChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
+                                             m_dutyCycle->GetSourceChannel());
 }
 
 units::turn_t DutyCycleEncoder::Get() const {
@@ -148,7 +148,7 @@ int DutyCycleEncoder::GetSourceChannel() const {
   return m_dutyCycle->GetSourceChannel();
 }
 
-void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
+void DutyCycleEncoder::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("AbsoluteEncoder");
   builder.AddDoubleProperty(
       "Distance", [this] { return this->GetDistance(); }, nullptr);

wpilibc/src/main/native/cpp/Encoder.cpp

@@ -9,11 +9,11 @@
 #include <hal/Encoder.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/DigitalInput.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -22,7 +22,7 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
   m_aSource = std::make_shared<DigitalInput>(aChannel);
   m_bSource = std::make_shared<DigitalInput>(bChannel);
   InitEncoder(reverseDirection, encodingType);
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_aSource.get());
   registry.AddChild(this, m_bSource.get());
 }
@@ -181,7 +181,7 @@ int Encoder::GetSamplesToAverage() const {
 void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
   // Force digital input if just given an index
   m_indexSource = std::make_shared<DigitalInput>(channel);
-  SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
   SetIndexSource(*m_indexSource.get(), type);
 }
 
@@ -207,7 +207,7 @@ int Encoder::GetFPGAIndex() const {
   return val;
 }
 
-void Encoder::InitSendable(SendableBuilder& builder) {
+void Encoder::InitSendable(wpi::SendableBuilder& builder) {
   int32_t status = 0;
   HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
   FRC_CheckErrorStatus(status, "{}", "GetEncodingType");
@@ -240,8 +240,8 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
 
   HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
              encodingType);
-  SendableRegistry::GetInstance().AddLW(this, "Encoder",
-                                        m_aSource->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Encoder",
+                                             m_aSource->GetChannel());
 }
 
 double Encoder::DecodingScaleFactor() const {

wpilibc/src/main/native/cpp/PWM.cpp

@@ -11,11 +11,11 @@
 #include <hal/PWM.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
   if (registerSendable) {
-    SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
+    wpi::SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
   }
 }
 
@@ -163,7 +163,7 @@ int PWM::GetChannel() const {
   return m_channel;
 }
 
-void PWM::InitSendable(SendableBuilder& builder) {
+void PWM::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PWM");
   builder.SetActuator(true);
   builder.SetSafeState([=] { SetDisabled(); });

wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp

@@ -8,11 +8,11 @@
 #include <hal/FRCUsageReporting.h>
 #include <hal/PDP.h>
 #include <hal/Ports.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -24,7 +24,8 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
   FRC_CheckErrorStatus(status, "Module {}", module);
 
   HAL_Report(HALUsageReporting::kResourceType_PDP, module + 1);
-  SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel", module);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel",
+                                             module);
 }
 
 double PowerDistributionPanel::GetVoltage() const {
@@ -93,7 +94,7 @@ int PowerDistributionPanel::GetModule() const {
   return m_module;
 }
 
-void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
+void PowerDistributionPanel::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PowerDistributionPanel");
   for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {
     builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/Relay.cpp

@@ -12,11 +12,11 @@
 #include <hal/Ports.h>
 #include <hal/Relay.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -56,7 +56,7 @@ Relay::Relay(int channel, Relay::Direction direction)
     FRC_CheckErrorStatus(status, "Channel {}", m_channel);
   }
 
-  SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
 }
 
 Relay::~Relay() {
@@ -172,7 +172,7 @@ std::string Relay::GetDescription() const {
   return fmt::format("Relay {}", GetChannel());
 }
 
-void Relay::InitSendable(SendableBuilder& builder) {
+void Relay::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Relay");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Set(kOff); });

wpilibc/src/main/native/cpp/Servo.cpp

@@ -5,9 +5,8 @@
 #include "frc/Servo.h"
 
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -25,7 +24,7 @@ Servo::Servo(int channel) : PWM(channel) {
   SetPeriodMultiplier(kPeriodMultiplier_4X);
 
   HAL_Report(HALUsageReporting::kResourceType_Servo, channel + 1);
-  SendableRegistry::GetInstance().SetName(this, "Servo", channel);
+  wpi::SendableRegistry::GetInstance().SetName(this, "Servo", channel);
 }
 
 void Servo::Set(double value) {
@@ -62,7 +61,7 @@ double Servo::GetMinAngle() const {
   return kMinServoAngle;
 }
 
-void Servo::InitSendable(SendableBuilder& builder) {
+void Servo::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Servo");
   builder.AddDoubleProperty(
       "Value", [=] { return Get(); }, [=](double value) { Set(value); });

wpilibc/src/main/native/cpp/Solenoid.cpp

@@ -8,11 +8,11 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -36,8 +36,8 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
 
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
              m_module->GetModuleNumber() + 1);
-  SendableRegistry::GetInstance().AddLW(this, "Solenoid",
-                                        m_module->GetModuleNumber(), m_channel);
+  wpi::SendableRegistry::GetInstance().AddLW(
+      this, "Solenoid", m_module->GetModuleNumber(), m_channel);
 }
 
 Solenoid::~Solenoid() {}
@@ -72,7 +72,7 @@ void Solenoid::StartPulse() {
   m_module->FireOneShot(m_channel);
 }
 
-void Solenoid::InitSendable(SendableBuilder& builder) {
+void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Solenoid");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Set(false); });

wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp

@@ -4,8 +4,8 @@
 
 #include "frc/SpeedControllerGroup.h"
 
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -20,11 +20,12 @@ SpeedControllerGroup::SpeedControllerGroup(
 
 void SpeedControllerGroup::Initialize() {
   for (auto& speedController : m_speedControllers) {
-    SendableRegistry::GetInstance().AddChild(this, &speedController.get());
+    wpi::SendableRegistry::GetInstance().AddChild(this, &speedController.get());
   }
   static int instances = 0;
   ++instances;
-  SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup", instances);
+  wpi::SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup",
+                                           instances);
 }
 
 void SpeedControllerGroup::Set(double speed) {
@@ -60,7 +61,7 @@ void SpeedControllerGroup::StopMotor() {
   }
 }
 
-void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
+void SpeedControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Speed Controller");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/Ultrasonic.cpp

@@ -8,14 +8,14 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Counter.h"
 #include "frc/DigitalInput.h"
 #include "frc/DigitalOutput.h"
 #include "frc/Errors.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -30,7 +30,7 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
       m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
       m_counter(m_echoChannel) {
   Initialize();
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_pingChannel.get());
   registry.AddChild(this, m_echoChannel.get());
 }
@@ -156,7 +156,7 @@ void Ultrasonic::SetEnabled(bool enable) {
   m_enabled = enable;
 }
 
-void Ultrasonic::InitSendable(SendableBuilder& builder) {
+void Ultrasonic::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Ultrasonic");
   builder.AddDoubleProperty(
       "Value", [=] { return units::inch_t{GetRange()}.to<double>(); }, nullptr);
@@ -185,8 +185,8 @@ void Ultrasonic::Initialize() {
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
-  SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
-                                        m_echoChannel->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
+                                             m_echoChannel->GetChannel());
 }
 
 void Ultrasonic::UltrasonicChecker() {

wpilibc/src/main/native/cpp/controller/PIDController.cpp

@@ -8,11 +8,11 @@
 #include <cmath>
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/MathUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc2;
 
@@ -31,7 +31,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);
-  frc::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
+  wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
 }
 
 void PIDController::SetPID(double Kp, double Ki, double Kd) {
@@ -161,7 +161,7 @@ void PIDController::Reset() {
   m_totalError = 0;
 }
 
-void PIDController::InitSendable(frc::SendableBuilder& builder) {
+void PIDController::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PIDController");
   builder.AddDoubleProperty(
       "p", [this] { return GetP(); }, [this](double value) { SetP(value); });

wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp

@@ -8,10 +8,10 @@
 #include <cmath>
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/SpeedController.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -26,7 +26,7 @@ using namespace frc;
 DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
                                      SpeedController& rightMotor)
     : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_leftMotor);
   registry.AddChild(this, m_rightMotor);
   static int instances = 0;
@@ -193,7 +193,7 @@ std::string DifferentialDrive::GetDescription() const {
   return "DifferentialDrive";
 }
 
-void DifferentialDrive::InitSendable(SendableBuilder& builder) {
+void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("DifferentialDrive");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp

@@ -9,10 +9,10 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/numbers>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/SpeedController.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -43,7 +43,7 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
                 std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
   m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
                std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_leftMotor);
   registry.AddChild(this, m_rightMotor);
   registry.AddChild(this, m_backMotor);
@@ -118,7 +118,7 @@ std::string KilloughDrive::GetDescription() const {
   return "KilloughDrive";
 }
 
-void KilloughDrive::InitSendable(SendableBuilder& builder) {
+void KilloughDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("KilloughDrive");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp

@@ -9,11 +9,11 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/numbers>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/SpeedController.h"
 #include "frc/drive/Vector2d.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -33,7 +33,7 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
       m_rearLeftMotor(&rearLeftMotor),
       m_frontRightMotor(&frontRightMotor),
       m_rearRightMotor(&rearRightMotor) {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_frontLeftMotor);
   registry.AddChild(this, m_rearLeftMotor);
   registry.AddChild(this, m_frontRightMotor);
@@ -113,7 +113,7 @@ std::string MecanumDrive::GetDescription() const {
   return "MecanumDrive";
 }
 
-void MecanumDrive::InitSendable(SendableBuilder& builder) {
+void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("MecanumDrive");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp

@@ -8,10 +8,10 @@
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableRegistry.h>
 
-#include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableBuilderImpl.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -25,7 +25,7 @@ struct LiveWindow::Impl {
 
   wpi::mutex mutex;
 
-  SendableRegistry& registry;
+  wpi::SendableRegistry& registry;
   int dataHandle;
 
   std::shared_ptr<nt::NetworkTable> liveWindowTable;
@@ -36,20 +36,22 @@ struct LiveWindow::Impl {
   bool liveWindowEnabled = false;
   bool telemetryEnabled = true;
 
-  std::shared_ptr<Component> GetOrAdd(Sendable* sendable);
+  std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
 };
 
 LiveWindow::Impl::Impl()
-    : registry(SendableRegistry::GetInstance()),
+    : registry(wpi::SendableRegistry::GetInstance()),
       dataHandle(registry.GetDataHandle()),
       liveWindowTable(
           nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
+  registry.SetLiveWindowBuilderFactory(
+      [] { return std::make_unique<SendableBuilderImpl>(); });
   statusTable = liveWindowTable->GetSubTable(".status");
   enabledEntry = statusTable->GetEntry("LW Enabled");
 }
 
 std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
-    Sendable* sendable) {
+    wpi::Sendable* sendable) {
   auto data = std::static_pointer_cast<Component>(
       registry.GetData(sendable, dataHandle));
   if (!data) {
@@ -64,14 +66,14 @@ LiveWindow* LiveWindow::GetInstance() {
   return &instance;
 }
 
-void LiveWindow::EnableTelemetry(Sendable* sendable) {
+void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
   std::scoped_lock lock(m_impl->mutex);
   // Re-enable global setting in case DisableAllTelemetry() was called.
   m_impl->telemetryEnabled = true;
   m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
 }
 
-void LiveWindow::DisableTelemetry(Sendable* sendable) {
+void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
   std::scoped_lock lock(m_impl->mutex);
   m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
 }
@@ -108,7 +110,7 @@ void LiveWindow::SetEnabled(bool enabled) {
     }
   } else {
     m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
-      cbdata.builder.StopLiveWindowMode();
+      static_cast<SendableBuilderImpl&>(cbdata.builder).StopLiveWindowMode();
     });
     if (this->disabled) {
       this->disabled();
@@ -160,7 +162,7 @@ void LiveWindow::UpdateValuesUnsafe() {
         table = ssTable->GetSubTable(cbdata.name);
       }
       table->GetEntry(".name").SetString(cbdata.name);
-      cbdata.builder.SetTable(table);
+      static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
       cbdata.sendable->InitSendable(cbdata.builder);
       ssTable->GetEntry(".type").SetString("LW Subsystem");
 
@@ -168,9 +170,9 @@ void LiveWindow::UpdateValuesUnsafe() {
     }
 
     if (m_impl->startLiveWindow) {
-      cbdata.builder.StartLiveWindowMode();
+      static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
     }
-    cbdata.builder.UpdateTable();
+    cbdata.builder.Update();
   });
 
   m_impl->startLiveWindow = false;

wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp

@@ -4,8 +4,8 @@
 
 #include "frc/motorcontrol/MotorControllerGroup.h"
 
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -20,11 +20,12 @@ MotorControllerGroup::MotorControllerGroup(
 
 void MotorControllerGroup::Initialize() {
   for (auto& motorController : m_motorControllers) {
-    SendableRegistry::GetInstance().AddChild(this, &motorController.get());
+    wpi::SendableRegistry::GetInstance().AddChild(this, &motorController.get());
   }
   static int instances = 0;
   ++instances;
-  SendableRegistry::GetInstance().Add(this, "MotorControllerGroup", instances);
+  wpi::SendableRegistry::GetInstance().Add(this, "MotorControllerGroup",
+                                           instances);
 }
 
 void MotorControllerGroup::Set(double speed) {
@@ -60,7 +61,7 @@ void MotorControllerGroup::StopMotor() {
   }
 }
 
-void MotorControllerGroup::InitSendable(SendableBuilder& builder) {
+void MotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp

@@ -6,15 +6,14 @@
 
 #include <fmt/format.h>
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
 NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
     : m_dio(dioChannel), m_pwm(pwmChannel) {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, &m_dio);
   registry.AddChild(this, &m_pwm);
   SetExpiration(0_s);
@@ -72,7 +71,7 @@ int NidecBrushless::GetChannel() const {
   return m_pwm.GetChannel();
 }
 
-void NidecBrushless::InitSendable(SendableBuilder& builder) {
+void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Nidec Brushless");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp

@@ -5,8 +5,8 @@
 #include "frc/motorcontrol/PWMMotorController.h"
 
 #include <fmt/format.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -44,10 +44,10 @@ int PWMMotorController::GetChannel() const {
 
 PWMMotorController::PWMMotorController(std::string_view name, int channel)
     : m_pwm(channel, false) {
-  SendableRegistry::GetInstance().AddLW(this, name, channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, name, channel);
 }
 
-void PWMMotorController::InitSendable(SendableBuilder& builder) {
+void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Disable(); });

wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp

@@ -6,8 +6,6 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
 PWMSparkMax::PWMSparkMax(int channel)

wpilibc/src/main/native/cpp/shuffleboard/ComplexWidget.cpp

@@ -4,36 +4,41 @@
 
 #include "frc/shuffleboard/ComplexWidget.h"
 
-#include "frc/smartdashboard/Sendable.h"
+#include <wpi/sendable/Sendable.h>
+
+#include "frc/smartdashboard/SendableBuilderImpl.h"
 
 using namespace frc;
 
 ComplexWidget::ComplexWidget(ShuffleboardContainer& parent,
-                             std::string_view title, Sendable& sendable)
+                             std::string_view title, wpi::Sendable& sendable)
     : ShuffleboardValue(title),
       ShuffleboardWidget(parent, title),
       m_sendable(sendable) {}
 
+ComplexWidget::~ComplexWidget() = default;
+
 void ComplexWidget::EnableIfActuator() {
-  if (m_builder.IsActuator()) {
-    m_builder.StartLiveWindowMode();
+  if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
+    static_cast<SendableBuilderImpl&>(*m_builder).StartLiveWindowMode();
   }
 }
 
 void ComplexWidget::DisableIfActuator() {
-  if (m_builder.IsActuator()) {
-    m_builder.StopLiveWindowMode();
+  if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
+    static_cast<SendableBuilderImpl&>(*m_builder).StopLiveWindowMode();
   }
 }
 
 void ComplexWidget::BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
                               std::shared_ptr<nt::NetworkTable> metaTable) {
   BuildMetadata(metaTable);
-  if (!m_builderInit) {
-    m_builder.SetTable(parentTable->GetSubTable(GetTitle()));
-    m_sendable.InitSendable(m_builder);
-    m_builder.StartListeners();
-    m_builderInit = true;
+  if (!m_builder) {
+    m_builder = std::make_unique<SendableBuilderImpl>();
+    static_cast<SendableBuilderImpl&>(*m_builder)
+        .SetTable(parentTable->GetSubTable(GetTitle()));
+    m_sendable.InitSendable(static_cast<SendableBuilderImpl&>(*m_builder));
+    static_cast<SendableBuilderImpl&>(*m_builder).StartListeners();
   }
-  m_builder.UpdateTable();
+  m_builder->Update();
 }

wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp

@@ -9,9 +9,8 @@
 #include <string>
 
 #include <wpi/DenseMap.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 namespace frc {
 namespace detail {
@@ -21,12 +20,12 @@ std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
   return wrappers[static_cast<int>(source)];
 }
 
-void AddToSendableRegistry(frc::Sendable* sendable, std::string name) {
-  SendableRegistry::GetInstance().Add(sendable, name);
+void AddToSendableRegistry(wpi::Sendable* sendable, std::string name) {
+  wpi::SendableRegistry::GetInstance().Add(sendable, name);
 }
 }  // namespace detail
 
-void SendableCameraWrapper::InitSendable(SendableBuilder& builder) {
+void SendableCameraWrapper::InitSendable(wpi::SendableBuilder& builder) {
   builder.AddStringProperty(
       ".ShuffleboardURI", [this] { return m_uri; }, nullptr);
 }

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp

@@ -4,12 +4,13 @@
 
 #include "frc/shuffleboard/ShuffleboardContainer.h"
 
+#include <wpi/sendable/SendableRegistry.h>
+
 #include "frc/Errors.h"
 #include "frc/shuffleboard/ComplexWidget.h"
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 #include "frc/shuffleboard/ShuffleboardLayout.h"
 #include "frc/shuffleboard/SimpleWidget.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -57,7 +58,7 @@ ShuffleboardLayout& ShuffleboardContainer::GetLayout(std::string_view title) {
 }
 
 ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
-                                          Sendable& sendable) {
+                                          wpi::Sendable& sendable) {
   CheckTitle(title);
   auto widget = std::make_unique<ComplexWidget>(*this, title, sendable);
   auto ptr = widget.get();
@@ -65,8 +66,8 @@ ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
   return *ptr;
 }
 
-ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
-  auto name = SendableRegistry::GetInstance().GetName(&sendable);
+ComplexWidget& ShuffleboardContainer::Add(wpi::Sendable& sendable) {
+  auto name = wpi::SendableRegistry::GetInstance().GetName(&sendable);
   if (name.empty()) {
     FRC_ReportError(err::Error, "{}", "Sendable must have a name");
   }

wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp

@@ -4,8 +4,8 @@
 
 #include "frc/smartdashboard/Field2d.h"
 
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -13,7 +13,7 @@ Field2d::Field2d() {
   m_objects.emplace_back(
       std::make_unique<FieldObject2d>("Robot", FieldObject2d::private_init{}));
   m_objects[0]->SetPose(Pose2d{});
-  SendableRegistry::GetInstance().Add(this, "Field");
+  wpi::SendableRegistry::GetInstance().Add(this, "Field");
 }
 
 Field2d::Field2d(Field2d&& rhs) : SendableHelper(std::move(rhs)) {
@@ -67,7 +67,7 @@ FieldObject2d* Field2d::GetRobotObject() {
   return m_objects[0].get();
 }
 
-void Field2d::InitSendable(SendableBuilder& builder) {
+void Field2d::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Field2d");
   m_table = builder.GetTable();
 

wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp

@@ -6,7 +6,7 @@
 
 #include <cstdio>
 
-#include "frc/smartdashboard/SendableBuilder.h"
+#include <networktables/NTSendableBuilder.h>
 
 using namespace frc;
 
@@ -41,7 +41,7 @@ void Mechanism2d::SetBackgroundColor(const Color8Bit& color) {
   }
 }
 
-void Mechanism2d::InitSendable(SendableBuilder& builder) {
+void Mechanism2d::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Mechanism2d");
   m_table = builder.GetTable();
 

wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp

@@ -4,8 +4,6 @@
 
 #include "frc/smartdashboard/MechanismRoot2d.h"
 
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 #include "frc/util/Color8Bit.h"
 
 using namespace frc;

wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp

@@ -20,7 +20,7 @@ std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
   return m_table;
 }
 
-bool SendableBuilderImpl::HasTable() const {
+bool SendableBuilderImpl::IsPublished() const {
   return m_table != nullptr;
 }
 
@@ -28,7 +28,7 @@ bool SendableBuilderImpl::IsActuator() const {
   return m_actuator;
 }
 
-void SendableBuilderImpl::UpdateTable() {
+void SendableBuilderImpl::Update() {
   uint64_t time = nt::Now();
   for (auto& property : m_properties) {
     if (property.update) {

wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp

@@ -4,14 +4,14 @@
 
 #include "frc/smartdashboard/SendableChooserBase.h"
 
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
 std::atomic_int SendableChooserBase::s_instances{0};
 
 SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
-  SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
+  wpi::SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
 }
 
 SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)

wpilibc/src/main/native/cpp/smartdashboard/SendableRegistry.cpp

@@ -1,400 +0,0 @@
-// 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/smartdashboard/SendableRegistry.h"
-
-#include <memory>
-
-#include <fmt/format.h>
-#include <wpi/DenseMap.h>
-#include <wpi/SmallVector.h>
-#include <wpi/UidVector.h>
-#include <wpi/mutex.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableBuilderImpl.h"
-
-using namespace frc;
-
-struct SendableRegistry::Impl {
-  struct Component {
-    Sendable* sendable = nullptr;
-    SendableBuilderImpl builder;
-    std::string name;
-    std::string subsystem = "Ungrouped";
-    Sendable* parent = nullptr;
-    bool liveWindow = false;
-    wpi::SmallVector<std::shared_ptr<void>, 2> data;
-
-    void SetName(std::string_view moduleType, int channel) {
-      name = fmt::format("{}[{}]", moduleType, channel);
-    }
-
-    void SetName(std::string_view moduleType, int moduleNumber, int channel) {
-      name = fmt::format("{}[{},{}]", moduleType, moduleNumber, channel);
-    }
-  };
-
-  wpi::recursive_mutex mutex;
-
-  wpi::UidVector<std::unique_ptr<Component>, 32> components;
-  wpi::DenseMap<void*, UID> componentMap;
-  int nextDataHandle = 0;
-
-  Component& GetOrAdd(void* sendable, UID* uid = nullptr);
-};
-
-SendableRegistry::Impl::Component& SendableRegistry::Impl::GetOrAdd(
-    void* sendable, UID* uid) {
-  UID& compUid = componentMap[sendable];
-  if (compUid == 0) {
-    compUid = components.emplace_back(std::make_unique<Component>()) + 1;
-  }
-  if (uid) {
-    *uid = compUid;
-  }
-
-  return *components[compUid - 1];
-}
-
-SendableRegistry& SendableRegistry::GetInstance() {
-  static SendableRegistry instance;
-  return instance;
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.name = name;
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
-                           int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.SetName(moduleType, channel);
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
-                           int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.SetName(moduleType, moduleNumber, channel);
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view subsystem,
-                           std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.name = name;
-  comp.subsystem = subsystem;
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.name = name;
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
-                             int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.SetName(moduleType, channel);
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
-                             int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.SetName(moduleType, moduleNumber, channel);
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view subsystem,
-                             std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.name = name;
-  comp.subsystem = subsystem;
-}
-
-void SendableRegistry::AddChild(Sendable* parent, Sendable* child) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(child);
-  comp.parent = parent;
-}
-
-void SendableRegistry::AddChild(Sendable* parent, void* child) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(child);
-  comp.parent = parent;
-}
-
-bool SendableRegistry::Remove(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end()) {
-    return false;
-  }
-  UID compUid = it->getSecond();
-  m_impl->components.erase(compUid - 1);
-  m_impl->componentMap.erase(it);
-  // update any parent pointers
-  for (auto&& comp : m_impl->components) {
-    if (comp->parent == sendable) {
-      comp->parent = nullptr;
-    }
-  }
-  return true;
-}
-
-void SendableRegistry::Move(Sendable* to, Sendable* from) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(from);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  UID compUid = it->getSecond();
-  m_impl->componentMap.erase(it);
-  m_impl->componentMap[to] = compUid;
-  auto& comp = *m_impl->components[compUid - 1];
-  comp.sendable = to;
-  if (comp.builder.HasTable()) {
-    // rebuild builder, as lambda captures can point to "from"
-    comp.builder.ClearProperties();
-    to->InitSendable(comp.builder);
-  }
-  // update any parent pointers
-  for (auto&& comp : m_impl->components) {
-    if (comp->parent == from) {
-      comp->parent = to;
-    }
-  }
-}
-
-bool SendableRegistry::Contains(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  return m_impl->componentMap.count(sendable) != 0;
-}
-
-std::string SendableRegistry::GetName(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return {};
-  }
-  return m_impl->components[it->getSecond() - 1]->name;
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->name = name;
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
-                               int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->SetName(moduleType, channel);
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
-                               int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->SetName(moduleType, moduleNumber,
-                                                   channel);
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view subsystem,
-                               std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
-  comp.name = name;
-  comp.subsystem = subsystem;
-}
-
-std::string SendableRegistry::GetSubsystem(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return {};
-  }
-  return m_impl->components[it->getSecond() - 1]->subsystem;
-}
-
-void SendableRegistry::SetSubsystem(Sendable* sendable,
-                                    std::string_view subsystem) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->subsystem = subsystem;
-}
-
-int SendableRegistry::GetDataHandle() {
-  std::scoped_lock lock(m_impl->mutex);
-  return m_impl->nextDataHandle++;
-}
-
-std::shared_ptr<void> SendableRegistry::SetData(Sendable* sendable, int handle,
-                                                std::shared_ptr<void> data) {
-  assert(handle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return nullptr;
-  }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
-  std::shared_ptr<void> rv;
-  if (static_cast<size_t>(handle) < comp.data.size()) {
-    rv = std::move(comp.data[handle]);
-  } else {
-    comp.data.resize(handle + 1);
-  }
-  comp.data[handle] = std::move(data);
-  return rv;
-}
-
-std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
-                                                int handle) {
-  assert(handle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return nullptr;
-  }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
-  if (static_cast<size_t>(handle) >= comp.data.size()) {
-    return nullptr;
-  }
-  return comp.data[handle];
-}
-
-void SendableRegistry::EnableLiveWindow(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->liveWindow = true;
-}
-
-void SendableRegistry::DisableLiveWindow(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->liveWindow = false;
-}
-
-SendableRegistry::UID SendableRegistry::GetUniqueId(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  UID uid;
-  auto& comp = m_impl->GetOrAdd(sendable, &uid);
-  comp.sendable = sendable;
-  return uid;
-}
-
-Sendable* SendableRegistry::GetSendable(UID uid) {
-  if (uid == 0) {
-    return nullptr;
-  }
-  std::scoped_lock lock(m_impl->mutex);
-  if ((uid - 1) >= m_impl->components.size() || !m_impl->components[uid - 1]) {
-    return nullptr;
-  }
-  return m_impl->components[uid - 1]->sendable;
-}
-
-void SendableRegistry::Publish(UID sendableUid,
-                               std::shared_ptr<nt::NetworkTable> table) {
-  std::scoped_lock lock(m_impl->mutex);
-  if (sendableUid == 0 || (sendableUid - 1) >= m_impl->components.size() ||
-      !m_impl->components[sendableUid - 1]) {
-    return;
-  }
-  auto& comp = *m_impl->components[sendableUid - 1];
-  comp.builder = SendableBuilderImpl{};  // clear any current builder
-  comp.builder.SetTable(table);
-  comp.sendable->InitSendable(comp.builder);
-  comp.builder.UpdateTable();
-  comp.builder.StartListeners();
-}
-
-void SendableRegistry::Update(UID sendableUid) {
-  if (sendableUid == 0) {
-    return;
-  }
-  std::scoped_lock lock(m_impl->mutex);
-  if ((sendableUid - 1) >= m_impl->components.size() ||
-      !m_impl->components[sendableUid - 1]) {
-    return;
-  }
-  m_impl->components[sendableUid - 1]->builder.UpdateTable();
-}
-
-void SendableRegistry::ForeachLiveWindow(
-    int dataHandle,
-    wpi::function_ref<void(CallbackData& data)> callback) const {
-  assert(dataHandle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  wpi::SmallVector<Impl::Component*, 128> components;
-  for (auto&& comp : m_impl->components) {
-    components.emplace_back(comp.get());
-  }
-  for (auto comp : components) {
-    if (comp && comp->sendable && comp->liveWindow) {
-      if (static_cast<size_t>(dataHandle) >= comp->data.size()) {
-        comp->data.resize(dataHandle + 1);
-      }
-      CallbackData cbdata{comp->sendable,         comp->name,
-                          comp->subsystem,        comp->parent,
-                          comp->data[dataHandle], comp->builder};
-      callback(cbdata);
-    }
-  }
-}
-
-SendableRegistry::SendableRegistry() : m_impl(new Impl) {}

wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp

@@ -9,9 +9,10 @@
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include "frc/smartdashboard/SendableBuilderImpl.h"
 
 using namespace frc;
 
@@ -21,7 +22,7 @@ class Singleton {
   static Singleton& GetInstance();
 
   std::shared_ptr<nt::NetworkTable> table;
-  wpi::StringMap<SendableRegistry::UID> tablesToData;
+  wpi::StringMap<wpi::SendableRegistry::UID> tablesToData;
   wpi::mutex tablesToDataMutex;
 
  private:
@@ -84,41 +85,45 @@ nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
   return Singleton::GetInstance().table->GetEntry(key);
 }
 
-void SmartDashboard::PutData(std::string_view key, Sendable* data) {
+void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
   if (!data) {
     throw FRC_MakeError(err::NullParameter, "{}", "value");
   }
   auto& inst = Singleton::GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto& uid = inst.tablesToData[key];
-  auto& registry = SendableRegistry::GetInstance();
-  Sendable* sddata = registry.GetSendable(uid);
+  auto& registry = wpi::SendableRegistry::GetInstance();
+  wpi::Sendable* sddata = registry.GetSendable(uid);
   if (sddata != data) {
     uid = registry.GetUniqueId(data);
     auto dataTable = inst.table->GetSubTable(key);
-    registry.Publish(uid, dataTable);
+    auto builder = std::make_unique<SendableBuilderImpl>();
+    auto builderPtr = builder.get();
+    builderPtr->SetTable(dataTable);
+    registry.Publish(uid, std::move(builder));
+    builderPtr->StartListeners();
     dataTable->GetEntry(".name").SetString(key);
   }
 }
 
-void SmartDashboard::PutData(Sendable* value) {
+void SmartDashboard::PutData(wpi::Sendable* value) {
   if (!value) {
     throw FRC_MakeError(err::NullParameter, "{}", "value");
   }
-  auto name = SendableRegistry::GetInstance().GetName(value);
+  auto name = wpi::SendableRegistry::GetInstance().GetName(value);
   if (!name.empty()) {
     PutData(name, value);
   }
 }
 
-Sendable* SmartDashboard::GetData(std::string_view key) {
+wpi::Sendable* SmartDashboard::GetData(std::string_view key) {
   auto& inst = Singleton::GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto it = inst.tablesToData.find(key);
   if (it == inst.tablesToData.end()) {
     throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
   }
-  return SendableRegistry::GetInstance().GetSendable(it->getValue());
+  return wpi::SendableRegistry::GetInstance().GetSendable(it->getValue());
 }
 
 bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
@@ -257,7 +262,7 @@ void SmartDashboard::PostListenerTask(std::function<void()> task) {
 }
 
 void SmartDashboard::UpdateValues() {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   auto& inst = Singleton::GetInstance();
   listenerExecutor.RunListenerTasks();
   std::scoped_lock lock(inst.tablesToDataMutex);

wpilibc/src/main/native/include/frc/ADXL345_I2C.h

@@ -5,16 +5,14 @@
 #pragma once
 
 #include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/I2C.h"
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * ADXL345 Accelerometer on I2C.
  *
@@ -23,8 +21,8 @@ class SendableBuilder;
  * 0x1D (7-bit address).
  */
 class ADXL345_I2C : public Accelerometer,
-                    public Sendable,
-                    public SendableHelper<ADXL345_I2C> {
+                    public nt::NTSendable,
+                    public wpi::SendableHelper<ADXL345_I2C> {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
@@ -70,7 +68,7 @@ class ADXL345_I2C : public Accelerometer,
    */
   virtual AllAxes GetAccelerations();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  protected:
   I2C m_i2c;

wpilibc/src/main/native/include/frc/ADXL345_SPI.h

@@ -5,11 +5,11 @@
 #pragma once
 
 #include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -20,8 +20,8 @@ namespace frc {
  * via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
  */
 class ADXL345_SPI : public Accelerometer,
-                    public Sendable,
-                    public SendableHelper<ADXL345_SPI> {
+                    public nt::NTSendable,
+                    public wpi::SendableHelper<ADXL345_SPI> {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
@@ -66,7 +66,7 @@ class ADXL345_SPI : public Accelerometer,
    */
   virtual AllAxes GetAccelerations();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  protected:
   SPI m_spi;

wpilibc/src/main/native/include/frc/ADXL362.h

@@ -5,24 +5,22 @@
 #pragma once
 
 #include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * ADXL362 SPI Accelerometer.
  *
  * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
 class ADXL362 : public Accelerometer,
-                public Sendable,
-                public SendableHelper<ADXL362> {
+                public nt::NTSendable,
+                public wpi::SendableHelper<ADXL362> {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
   struct AllAxes {
@@ -74,7 +72,7 @@ class ADXL362 : public Accelerometer,
    */
   virtual AllAxes GetAccelerations();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
   SPI m_spi;

wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h

@@ -7,11 +7,11 @@
 #include <stdint.h>
 
 #include <hal/SimDevice.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
 #include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -29,8 +29,8 @@ namespace frc {
  * Only one instance of an ADXRS Gyro is supported.
  */
 class ADXRS450_Gyro : public Gyro,
-                      public Sendable,
-                      public SendableHelper<ADXRS450_Gyro> {
+                      public wpi::Sendable,
+                      public wpi::SendableHelper<ADXRS450_Gyro> {
  public:
   /**
    * Gyro constructor on onboard CS0.
@@ -100,7 +100,7 @@ class ADXRS450_Gyro : public Gyro,
    */
   int GetPort() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SPI m_spi;

wpilibc/src/main/native/include/frc/AnalogAccelerometer.h

@@ -6,14 +6,13 @@
 
 #include <memory>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/AnalogInput.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Handle operation of an analog accelerometer.
  *
@@ -21,8 +20,8 @@ class SendableBuilder;
  * sensors have multiple axis and can be treated as multiple devices. Each is
  * calibrated by finding the center value over a period of time.
  */
-class AnalogAccelerometer : public Sendable,
-                            public SendableHelper<AnalogAccelerometer> {
+class AnalogAccelerometer : public wpi::Sendable,
+                            public wpi::SendableHelper<AnalogAccelerometer> {
  public:
   /**
    * Create a new instance of an accelerometer.
@@ -93,7 +92,7 @@ class AnalogAccelerometer : public Sendable,
    */
   void SetZero(double zero);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   /**

wpilibc/src/main/native/include/frc/AnalogEncoder.h

@@ -9,11 +9,11 @@
 #include <hal/SimDevice.h>
 #include <hal/Types.h>
 #include <units/angle.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 class AnalogInput;
@@ -21,7 +21,8 @@ class AnalogInput;
 /**
  * Class for supporting continuous analog encoders, such as the US Digital MA3.
  */
-class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
+class AnalogEncoder : public wpi::Sendable,
+                      public wpi::SendableHelper<AnalogEncoder> {
  public:
   /**
    * Construct a new AnalogEncoder attached to a specific AnalogIn channel.
@@ -116,7 +117,7 @@ class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
    */
   int GetChannel() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   void Init();

wpilibc/src/main/native/include/frc/AnalogGyro.h

@@ -7,10 +7,10 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -30,8 +30,8 @@ class AnalogInput;
  * This class is for gyro sensors that connect to an analog input.
  */
 class AnalogGyro : public Gyro,
-                   public Sendable,
-                   public SendableHelper<AnalogGyro> {
+                   public wpi::Sendable,
+                   public wpi::SendableHelper<AnalogGyro> {
  public:
   static constexpr int kOversampleBits = 10;
   static constexpr int kAverageBits = 0;
@@ -192,7 +192,7 @@ class AnalogGyro : public Gyro,
    */
   std::shared_ptr<AnalogInput> GetAnalogInput() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   std::shared_ptr<AnalogInput> m_analog;

wpilibc/src/main/native/include/frc/AnalogInput.h

@@ -7,13 +7,11 @@
 #include <stdint.h>
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
-class SendableBuilder;
 class DMA;
 class DMASample;
 
@@ -29,7 +27,8 @@ class DMASample;
  * are divided by the number of samples to retain the resolution, but get more
  * stable values.
  */
-class AnalogInput : public Sendable, public SendableHelper<AnalogInput> {
+class AnalogInput : public wpi::Sendable,
+                    public wpi::SendableHelper<AnalogInput> {
   friend class AnalogTrigger;
   friend class AnalogGyro;
   friend class DMA;
@@ -282,7 +281,7 @@ class AnalogInput : public Sendable, public SendableHelper<AnalogInput> {
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/AnalogOutput.h

@@ -5,18 +5,16 @@
 #pragma once
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * MXP analog output class.
  */
-class AnalogOutput : public Sendable, public SendableHelper<AnalogOutput> {
+class AnalogOutput : public wpi::Sendable,
+                     public wpi::SendableHelper<AnalogOutput> {
  public:
   /**
    * Construct an analog output on the given channel.
@@ -51,7 +49,7 @@ class AnalogOutput : public Sendable, public SendableHelper<AnalogOutput> {
    */
   int GetChannel() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   int m_channel;

wpilibc/src/main/native/include/frc/AnalogPotentiometer.h

@@ -6,22 +6,21 @@
 
 #include <memory>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/AnalogInput.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class for reading analog potentiometers. Analog potentiometers read in an
  * analog voltage that corresponds to a position. The position is in whichever
  * units you choose, by way of the scaling and offset constants passed to the
  * constructor.
  */
-class AnalogPotentiometer : public Sendable,
-                            public SendableHelper<AnalogPotentiometer> {
+class AnalogPotentiometer : public wpi::Sendable,
+                            public wpi::SendableHelper<AnalogPotentiometer> {
  public:
   /**
    * Construct an Analog Potentiometer object from a channel number.
@@ -103,7 +102,7 @@ class AnalogPotentiometer : public Sendable,
    */
   double Get() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<AnalogInput> m_analog_input;

wpilibc/src/main/native/include/frc/AnalogTrigger.h

@@ -7,18 +7,18 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTriggerOutput.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class AnalogInput;
 class DutyCycle;
-class SendableBuilder;
 
-class AnalogTrigger : public Sendable, public SendableHelper<AnalogTrigger> {
+class AnalogTrigger : public wpi::Sendable,
+                      public wpi::SendableHelper<AnalogTrigger> {
   friend class AnalogTriggerOutput;
 
  public:
@@ -148,7 +148,7 @@ class AnalogTrigger : public Sendable, public SendableHelper<AnalogTrigger> {
   std::shared_ptr<AnalogTriggerOutput> CreateOutput(
       AnalogTriggerType type) const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int GetSourceChannel() const;

wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h

@@ -4,9 +4,10 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -44,8 +45,8 @@ class AnalogTrigger;
  * may help with this, but rotational speeds of the sensor will then be limited.
  */
 class AnalogTriggerOutput : public DigitalSource,
-                            public Sendable,
-                            public SendableHelper<AnalogTriggerOutput> {
+                            public wpi::Sendable,
+                            public wpi::SendableHelper<AnalogTriggerOutput> {
   friend class AnalogTrigger;
 
  public:
@@ -77,7 +78,7 @@ class AnalogTriggerOutput : public DigitalSource,
    */
   int GetChannel() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   /**

wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h

@@ -4,22 +4,21 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Built-in accelerometer.
  *
  * This class allows access to the roboRIO's internal accelerometer.
  */
 class BuiltInAccelerometer : public Accelerometer,
-                             public Sendable,
-                             public SendableHelper<BuiltInAccelerometer> {
+                             public wpi::Sendable,
+                             public wpi::SendableHelper<BuiltInAccelerometer> {
  public:
   /**
    * Constructor.
@@ -56,7 +55,7 @@ class BuiltInAccelerometer : public Accelerometer,
    */
   double GetZ() override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/Counter.h

@@ -8,16 +8,15 @@
 
 #include <hal/Types.h>
 #include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/CounterBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class DigitalGlitchFilter;
-class SendableBuilder;
 class DMA;
 class DMASample;
 
@@ -32,8 +31,8 @@ class DMASample;
  * to be zeroed before use.
  */
 class Counter : public CounterBase,
-                public Sendable,
-                public SendableHelper<Counter> {
+                public wpi::Sendable,
+                public wpi::SendableHelper<Counter> {
   friend class DMA;
   friend class DMASample;
 
@@ -421,7 +420,7 @@ class Counter : public CounterBase,
    */
   bool GetDirection() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   // Makes the counter count up.

wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h

@@ -9,10 +9,10 @@
 #include <array>
 
 #include <wpi/mutex.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -26,8 +26,8 @@ class Counter;
  * filter. The filter lets the user configure the time that an input must remain
  * high or low before it is classified as high or low.
  */
-class DigitalGlitchFilter : public Sendable,
-                            public SendableHelper<DigitalGlitchFilter> {
+class DigitalGlitchFilter : public wpi::Sendable,
+                            public wpi::SendableHelper<DigitalGlitchFilter> {
  public:
   DigitalGlitchFilter();
   ~DigitalGlitchFilter() override;
@@ -114,7 +114,7 @@ class DigitalGlitchFilter : public Sendable,
    */
   uint64_t GetPeriodNanoSeconds();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   // Sets the filter for the input to be the requested index. A value of 0

wpilibc/src/main/native/include/frc/DigitalInput.h

@@ -4,14 +4,14 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class DigitalGlitchFilter;
-class SendableBuilder;
 
 /**
  * Class to read a digital input.
@@ -23,8 +23,8 @@ class SendableBuilder;
  * implemented anywhere else.
  */
 class DigitalInput : public DigitalSource,
-                     public Sendable,
-                     public SendableHelper<DigitalInput> {
+                     public wpi::Sendable,
+                     public wpi::SendableHelper<DigitalInput> {
  public:
   /**
    * Create an instance of a Digital Input class.
@@ -75,7 +75,7 @@ class DigitalInput : public DigitalSource,
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/DigitalOutput.h

@@ -5,15 +5,13 @@
 #pragma once
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class to write to digital outputs.
  *
@@ -22,8 +20,8 @@ class SendableBuilder;
  * shouldn't be done here.
  */
 class DigitalOutput : public DigitalSource,
-                      public Sendable,
-                      public SendableHelper<DigitalOutput> {
+                      public wpi::Sendable,
+                      public wpi::SendableHelper<DigitalOutput> {
  public:
   /**
    * Create an instance of a digital output.
@@ -145,7 +143,7 @@ class DigitalOutput : public DigitalSource,
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/DoubleSolenoid.h

@@ -7,15 +7,13 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/PneumaticsBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
  * (PCM).
@@ -23,7 +21,8 @@ class SendableBuilder;
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.
  */
-class DoubleSolenoid : public Sendable, public SendableHelper<DoubleSolenoid> {
+class DoubleSolenoid : public wpi::Sendable,
+                       public wpi::SendableHelper<DoubleSolenoid> {
  public:
   enum Value { kOff, kForward, kReverse };
 
@@ -98,7 +97,7 @@ class DoubleSolenoid : public Sendable, public SendableHelper<DoubleSolenoid> {
    */
   bool IsRevSolenoidDisabled() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_forwardChannel;  // The forward channel on the module to control.

wpilibc/src/main/native/include/frc/DutyCycle.h

@@ -7,9 +7,8 @@
 #include <memory>
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 class DigitalSource;
@@ -28,7 +27,7 @@ class DMASample;
  * order to implement rollover checking.
  *
  */
-class DutyCycle : public Sendable, public SendableHelper<DutyCycle> {
+class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
   friend class AnalogTrigger;
   friend class DMA;
   friend class DMASample;
@@ -119,7 +118,7 @@ class DutyCycle : public Sendable, public SendableHelper<DutyCycle> {
   int GetSourceChannel() const;
 
  protected:
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   void InitDutyCycle();

wpilibc/src/main/native/include/frc/DutyCycleEncoder.h

@@ -9,11 +9,11 @@
 #include <hal/SimDevice.h>
 #include <hal/Types.h>
 #include <units/angle.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 class DutyCycle;
@@ -24,8 +24,8 @@ class DigitalSource;
  * PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
  * Encoder.
  */
-class DutyCycleEncoder : public Sendable,
-                         public SendableHelper<DutyCycleEncoder> {
+class DutyCycleEncoder : public wpi::Sendable,
+                         public wpi::SendableHelper<DutyCycleEncoder> {
  public:
   /**
    * Construct a new DutyCycleEncoder on a specific channel.
@@ -163,7 +163,7 @@ class DutyCycleEncoder : public Sendable,
    */
   int GetSourceChannel() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   void Init();

wpilibc/src/main/native/include/frc/Encoder.h

@@ -7,17 +7,16 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/Counter.h"
 #include "frc/CounterBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class DigitalSource;
 class DigitalGlitchFilter;
-class SendableBuilder;
 class DMA;
 class DMASample;
 
@@ -37,8 +36,8 @@ class DMASample;
  * to be zeroed before use.
  */
 class Encoder : public CounterBase,
-                public Sendable,
-                public SendableHelper<Encoder> {
+                public wpi::Sendable,
+                public wpi::SendableHelper<Encoder> {
   friend class DMA;
   friend class DMASample;
 
@@ -340,7 +339,7 @@ class Encoder : public CounterBase,
 
   int GetFPGAIndex() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   /**

wpilibc/src/main/native/include/frc/PWM.h

@@ -7,13 +7,11 @@
 #include <stdint.h>
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 class AddressableLED;
-class SendableBuilder;
 
 /**
  * Class implements the PWM generation in the FPGA.
@@ -32,7 +30,7 @@ class SendableBuilder;
  *   - 1 = minimum pulse width (currently 0.5ms)
  *   - 0 = disabled (i.e. PWM output is held low)
  */
-class PWM : public Sendable, public SendableHelper<PWM> {
+class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
  public:
   friend class AddressableLED;
   /**
@@ -224,7 +222,7 @@ class PWM : public Sendable, public SendableHelper<PWM> {
   int GetChannel() const;
 
  protected:
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/PowerDistributionPanel.h

@@ -5,20 +5,18 @@
 #pragma once
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class for getting voltage, current, temperature, power and energy from the
  * CAN PDP.
  */
-class PowerDistributionPanel : public Sendable,
-                               public SendableHelper<PowerDistributionPanel> {
+class PowerDistributionPanel
+    : public wpi::Sendable,
+      public wpi::SendableHelper<PowerDistributionPanel> {
  public:
   /**
    * Constructs a PowerDistributionPanel.
@@ -96,7 +94,7 @@ class PowerDistributionPanel : public Sendable,
    */
   int GetModule() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   hal::Handle<HAL_PDPHandle> m_handle;

wpilibc/src/main/native/include/frc/Relay.h

@@ -8,15 +8,13 @@
 #include <string>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/MotorSafety.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class for Spike style relay outputs.
  *
@@ -30,8 +28,8 @@ class SendableBuilder;
  * a solenoid).
  */
 class Relay : public MotorSafety,
-              public Sendable,
-              public SendableHelper<Relay> {
+              public wpi::Sendable,
+              public wpi::SendableHelper<Relay> {
  public:
   enum Value { kOff, kOn, kForward, kReverse };
   enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
@@ -93,7 +91,7 @@ class Relay : public MotorSafety,
 
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/Servo.h

@@ -92,7 +92,7 @@ class Servo : public PWM {
    */
   double GetMinAngle() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   double GetServoAngleRange() const;

wpilibc/src/main/native/include/frc/Solenoid.h

@@ -8,22 +8,20 @@
 
 #include <hal/Types.h>
 #include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/PneumaticsBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Solenoid class for running high voltage Digital Output (PCM).
  *
  * The Solenoid class is typically used for pneumatics solenoids, but could be
  * used for any device within the current spec of the PCM.
  */
-class Solenoid : public Sendable, public SendableHelper<Solenoid> {
+class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
  public:
   Solenoid(PneumaticsBase& module, int channel);
   Solenoid(PneumaticsBase* module, int channel);
@@ -93,7 +91,7 @@ class Solenoid : public Sendable, public SendableHelper<Solenoid> {
    */
   void StartPulse();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<PneumaticsBase> m_module;

wpilibc/src/main/native/include/frc/SpeedControllerGroup.h

@@ -8,17 +8,17 @@
 #include <vector>
 
 #include <wpi/deprecated.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup
-    : public Sendable,
+    : public wpi::Sendable,
       public MotorController,
-      public SendableHelper<SpeedControllerGroup> {
+      public wpi::SendableHelper<SpeedControllerGroup> {
  public:
   template <class... SpeedControllers>
   explicit SpeedControllerGroup(SpeedController& speedController,
@@ -36,7 +36,7 @@ class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup
   void Disable() override;
   void StopMotor() override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;

wpilibc/src/main/native/include/frc/Ultrasonic.h

@@ -13,10 +13,10 @@
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/Counter.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -35,7 +35,8 @@ class DigitalOutput;
  * received. The time that the line is high determines the round trip distance
  * (time of flight).
  */
-class Ultrasonic : public Sendable, public SendableHelper<Ultrasonic> {
+class Ultrasonic : public wpi::Sendable,
+                   public wpi::SendableHelper<Ultrasonic> {
  public:
   /**
    * Create an instance of the Ultrasonic Sensor.
@@ -136,7 +137,7 @@ class Ultrasonic : public Sendable, public SendableHelper<Ultrasonic> {
 
   void SetEnabled(bool enable);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   /**

wpilibc/src/main/native/include/frc/controller/PIDController.h

@@ -8,17 +8,16 @@
 #include <limits>
 
 #include <units/time.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc2 {
 
 /**
  * Implements a PID control loop.
  */
-class PIDController : public frc::Sendable,
-                      public frc::SendableHelper<PIDController> {
+class PIDController : public wpi::Sendable,
+                      public wpi::SendableHelper<PIDController> {
  public:
   /**
    * Allocates a PIDController with the given constants for Kp, Ki, and Kd.
@@ -193,7 +192,7 @@ class PIDController : public frc::Sendable,
    */
   void Reset();
 
-  void InitSendable(frc::SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   // Factor for "proportional" control

wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h

@@ -10,12 +10,12 @@
 #include <limits>
 
 #include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/MathUtil.h"
 #include "frc/controller/PIDController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableHelper.h"
 #include "frc/trajectory/TrapezoidProfile.h"
 
 namespace frc {
@@ -29,8 +29,8 @@ void ReportProfiledPIDController();
  */
 template <class Distance>
 class ProfiledPIDController
-    : public Sendable,
-      public SendableHelper<ProfiledPIDController<Distance>> {
+    : public wpi::Sendable,
+      public wpi::SendableHelper<ProfiledPIDController<Distance>> {
  public:
   using Distance_t = units::unit_t<Distance>;
   using Velocity =
@@ -340,7 +340,7 @@ class ProfiledPIDController
     Reset(measuredPosition, Velocity_t(0));
   }
 
-  void InitSendable(frc::SendableBuilder& builder) override {
+  void InitSendable(wpi::SendableBuilder& builder) override {
     builder.SetSmartDashboardType("ProfiledPIDController");
     builder.AddDoubleProperty(
         "p", [this] { return GetP(); }, [this](double value) { SetP(value); });

wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h

@@ -6,9 +6,10 @@
 
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/drive/RobotDriveBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -97,8 +98,8 @@ class SpeedController;
  * with SetDeadband().
  */
 class DifferentialDrive : public RobotDriveBase,
-                          public Sendable,
-                          public SendableHelper<DifferentialDrive> {
+                          public wpi::Sendable,
+                          public wpi::SendableHelper<DifferentialDrive> {
  public:
   struct WheelSpeeds {
     double left = 0.0;
@@ -208,7 +209,7 @@ class DifferentialDrive : public RobotDriveBase,
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SpeedController* m_leftMotor;

wpilibc/src/main/native/include/frc/drive/KilloughDrive.h

@@ -7,10 +7,11 @@
 #include <memory>
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/drive/RobotDriveBase.h"
 #include "frc/drive/Vector2d.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -54,8 +55,8 @@ class SpeedController;
  * clockwise rotation around the Z axis is positive.
  */
 class KilloughDrive : public RobotDriveBase,
-                      public Sendable,
-                      public SendableHelper<KilloughDrive> {
+                      public wpi::Sendable,
+                      public wpi::SendableHelper<KilloughDrive> {
  public:
   static constexpr double kDefaultLeftMotorAngle = 60.0;
   static constexpr double kDefaultRightMotorAngle = 120.0;
@@ -160,7 +161,7 @@ class KilloughDrive : public RobotDriveBase,
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SpeedController* m_leftMotor;

wpilibc/src/main/native/include/frc/drive/MecanumDrive.h

@@ -7,9 +7,10 @@
 #include <memory>
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/drive/RobotDriveBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -72,8 +73,8 @@ class SpeedController;
  * deadband of 0 is used.
  */
 class MecanumDrive : public RobotDriveBase,
-                     public Sendable,
-                     public SendableHelper<MecanumDrive> {
+                     public wpi::Sendable,
+                     public wpi::SendableHelper<MecanumDrive> {
  public:
   struct WheelSpeeds {
     double frontLeft = 0.0;
@@ -150,7 +151,7 @@ class MecanumDrive : public RobotDriveBase,
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SpeedController* m_frontLeftMotor;

wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h

@@ -7,9 +7,11 @@
 #include <functional>
 #include <memory>
 
-namespace frc {
-
+namespace wpi {
 class Sendable;
+}  // namespace wpi
+
+namespace frc {
 
 /**
  * The LiveWindow class is the public interface for putting sensors and
@@ -36,14 +38,14 @@ class LiveWindow {
    *
    * @param sendable component
    */
-  void EnableTelemetry(Sendable* component);
+  void EnableTelemetry(wpi::Sendable* component);
 
   /**
    * Disable telemetry for a single component.
    *
    * @param sendable component
    */
-  void DisableTelemetry(Sendable* component);
+  void DisableTelemetry(wpi::Sendable* component);
 
   /**
    * Disable ALL telemetry.

wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h

@@ -7,15 +7,16 @@
 #include <functional>
 #include <vector>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class MotorControllerGroup : public Sendable,
+class MotorControllerGroup : public wpi::Sendable,
                              public MotorController,
-                             public SendableHelper<MotorControllerGroup> {
+                             public wpi::SendableHelper<MotorControllerGroup> {
  public:
   template <class... MotorControllers>
   explicit MotorControllerGroup(MotorController& motorController,
@@ -33,7 +34,7 @@ class MotorControllerGroup : public Sendable,
   void Disable() override;
   void StopMotor() override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;

wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h

@@ -6,24 +6,23 @@
 
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/DigitalOutput.h"
 #include "frc/MotorSafety.h"
 #include "frc/PWM.h"
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Nidec Brushless Motor.
  */
 class NidecBrushless : public MotorController,
                        public MotorSafety,
-                       public Sendable,
-                       public SendableHelper<NidecBrushless> {
+                       public wpi::Sendable,
+                       public wpi::SendableHelper<NidecBrushless> {
  public:
   /**
    * Constructor.
@@ -86,7 +85,7 @@ class NidecBrushless : public MotorController,
   int GetChannel() const;
 
   // Sendable interface
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;

wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h

@@ -7,11 +7,12 @@
 #include <string>
 #include <string_view>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/MotorSafety.h"
 #include "frc/PWM.h"
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -20,8 +21,8 @@ namespace frc {
  */
 class PWMMotorController : public MotorController,
                            public MotorSafety,
-                           public Sendable,
-                           public SendableHelper<PWMMotorController> {
+                           public wpi::Sendable,
+                           public wpi::SendableHelper<PWMMotorController> {
  public:
   PWMMotorController(PWMMotorController&&) = default;
   PWMMotorController& operator=(PWMMotorController&&) = default;
@@ -67,7 +68,7 @@ class PWMMotorController : public MotorController,
    */
   PWMMotorController(std::string_view name, int channel);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
   PWM m_pwm;
 

wpilibc/src/main/native/include/frc/shuffleboard/ComplexWidget.h

@@ -10,12 +10,14 @@
 #include <networktables/NetworkTable.h>
 
 #include "frc/shuffleboard/ShuffleboardWidget.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableBuilderImpl.h"
+
+namespace wpi {
+class Sendable;
+class SendableBuilder;
+}  // namespace wpi
 
 namespace frc {
 
-class Sendable;
 class ShuffleboardContainer;
 
 /**
@@ -25,7 +27,9 @@ class ShuffleboardContainer;
 class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {
  public:
   ComplexWidget(ShuffleboardContainer& parent, std::string_view title,
-                Sendable& sendable);
+                wpi::Sendable& sendable);
+
+  ~ComplexWidget() override;
 
   void EnableIfActuator() override;
 
@@ -35,9 +39,8 @@ class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {
                  std::shared_ptr<nt::NetworkTable> metaTable) override;
 
  private:
-  Sendable& m_sendable;
-  SendableBuilderImpl m_builder;
-  bool m_builderInit = false;
+  wpi::Sendable& m_sendable;
+  std::unique_ptr<wpi::SendableBuilder> m_builder;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h

@@ -18,8 +18,8 @@ using CS_Handle = int;        // NOLINT
 using CS_Source = CS_Handle;  // NOLINT
 #endif
 
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
@@ -29,14 +29,15 @@ namespace detail {
 constexpr const char* kProtocol = "camera_server://";
 std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
     CS_Source source);
-void AddToSendableRegistry(Sendable* sendable, std::string name);
+void AddToSendableRegistry(wpi::Sendable* sendable, std::string name);
 }  // namespace detail
 
 /**
  * A wrapper to make video sources sendable and usable from Shuffleboard.
  */
-class SendableCameraWrapper : public Sendable,
-                              public SendableHelper<SendableCameraWrapper> {
+class SendableCameraWrapper
+    : public wpi::Sendable,
+      public wpi::SendableHelper<SendableCameraWrapper> {
  private:
   struct private_init {};
 
@@ -60,7 +61,7 @@ class SendableCameraWrapper : public Sendable,
   static SendableCameraWrapper& Wrap(const cs::VideoSource& source);
   static SendableCameraWrapper& Wrap(CS_Source source);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   std::string m_uri;

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h

@@ -29,8 +29,6 @@ class ShuffleboardComponent : public ShuffleboardComponentBase {
   ShuffleboardComponent(ShuffleboardContainer& parent, std::string_view title,
                         std::string_view type = "");
 
-  ~ShuffleboardComponent() override = default;
-
   /**
    * Sets custom properties for this component. Property names are
    * case-sensitive and whitespace-insensitive (capitalization and spaces do not

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponentBase.h

@@ -26,8 +26,6 @@ class ShuffleboardComponentBase : public virtual ShuffleboardValue {
   ShuffleboardComponentBase(ShuffleboardContainer& parent,
                             std::string_view title, std::string_view type = "");
 
-  ~ShuffleboardComponentBase() override = default;
-
   void SetType(std::string_view type);
 
   void BuildMetadata(std::shared_ptr<nt::NetworkTable> metaTable);

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h

@@ -26,10 +26,13 @@ namespace cs {
 class VideoSource;
 }  // namespace cs
 
+namespace wpi {
+class Sendable;
+}  // namespace wpi
+
 namespace frc {
 
 class ComplexWidget;
-class Sendable;
 class ShuffleboardLayout;
 class SimpleWidget;
 
@@ -111,7 +114,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @throws IllegalArgumentException if a widget already exists in this
    * container with the given title
    */
-  ComplexWidget& Add(std::string_view title, Sendable& sendable);
+  ComplexWidget& Add(std::string_view title, wpi::Sendable& sendable);
 
   /**
    * Adds a widget to this container to display the given video stream.
@@ -133,7 +136,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * container with the given title, or if the sendable's name has not been
    * specified
    */
-  ComplexWidget& Add(Sendable& sendable);
+  ComplexWidget& Add(wpi::Sendable& sendable);
 
   /**
    * Adds a widget to this container to display the given video stream.

wpilibc/src/main/native/include/frc/smartdashboard/Field2d.h

@@ -8,16 +8,16 @@
 #include <string_view>
 #include <vector>
 
+#include <networktables/NTSendable.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <units/length.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
 #include "frc/smartdashboard/FieldObject2d.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -39,7 +39,7 @@ namespace frc {
  * also be shown by using the GetObject() function.  Other objects can
  * also have multiple poses (which will show the object at multiple locations).
  */
-class Field2d : public Sendable, public SendableHelper<Field2d> {
+class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
  public:
   using Entry = size_t;
 
@@ -85,7 +85,7 @@ class Field2d : public Sendable, public SendableHelper<Field2d> {
    */
   FieldObject2d* GetRobotObject();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
   std::shared_ptr<nt::NetworkTable> m_table;

wpilibc/src/main/native/include/frc/smartdashboard/Mechanism2d.h

@@ -7,13 +7,13 @@
 #include <memory>
 #include <string>
 
+#include <networktables/NTSendable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/smartdashboard/MechanismRoot2d.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 #include "frc/util/Color8Bit.h"
 
 namespace frc {
@@ -36,7 +36,8 @@ namespace frc {
  * @see MechanismLigament2d
  * @see MechanismRoot2d
  */
-class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
+class Mechanism2d : public nt::NTSendable,
+                    public wpi::SendableHelper<Mechanism2d> {
  public:
   /**
    * Create a new Mechanism2d with the given dimensions and background color.
@@ -68,7 +69,7 @@ class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
    */
   void SetBackgroundColor(const Color8Bit& color);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
   double m_width;

wpilibc/src/main/native/include/frc/smartdashboard/Sendable.h

@@ -1,26 +0,0 @@
-// 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
-
-namespace frc {
-
-class SendableBuilder;
-
-/**
- * Interface for Sendable objects.
- */
-class Sendable {
- public:
-  virtual ~Sendable() = default;
-
-  /**
-   * Initializes this Sendable object.
-   *
-   * @param builder sendable builder
-   */
-  virtual void InitSendable(SendableBuilder& builder) = 0;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilder.h

@@ -1,227 +0,0 @@
-// 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 <functional>
-#include <memory>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableEntry.h>
-#include <networktables/NetworkTableValue.h>
-#include <wpi/SmallVector.h>
-#include <wpi/span.h>
-
-namespace frc {
-
-class SendableBuilder {
- public:
-  virtual ~SendableBuilder() = default;
-
-  /**
-   * Set the string representation of the named data type that will be used
-   * by the smart dashboard for this sendable.
-   *
-   * @param type    data type
-   */
-  virtual void SetSmartDashboardType(std::string_view type) = 0;
-
-  /**
-   * Set a flag indicating if this sendable should be treated as an actuator.
-   * By default this flag is false.
-   *
-   * @param value   true if actuator, false if not
-   */
-  virtual void SetActuator(bool value) = 0;
-
-  /**
-   * Set the function that should be called to set the Sendable into a safe
-   * state.  This is called when entering and exiting Live Window mode.
-   *
-   * @param func    function
-   */
-  virtual void SetSafeState(std::function<void()> func) = 0;
-
-  /**
-   * Set the function that should be called to update the network table
-   * for things other than properties.  Note this function is not passed
-   * the network table object; instead it should use the entry handles
-   * returned by GetEntry().
-   *
-   * @param func    function
-   */
-  virtual void SetUpdateTable(std::function<void()> func) = 0;
-
-  /**
-   * Add a property without getters or setters.  This can be used to get
-   * entry handles for the function called by SetUpdateTable().
-   *
-   * @param key   property name
-   * @return Network table entry
-   */
-  virtual nt::NetworkTableEntry GetEntry(std::string_view key) = 0;
-
-  /**
-   * Add a boolean property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddBooleanProperty(std::string_view key,
-                                  std::function<bool()> getter,
-                                  std::function<void(bool)> setter) = 0;
-
-  /**
-   * Add a double property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddDoubleProperty(std::string_view key,
-                                 std::function<double()> getter,
-                                 std::function<void(double)> setter) = 0;
-
-  /**
-   * Add a string property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddStringProperty(
-      std::string_view key, std::function<std::string()> getter,
-      std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Add a boolean array property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddBooleanArrayProperty(
-      std::string_view key, std::function<std::vector<int>()> getter,
-      std::function<void(wpi::span<const int>)> setter) = 0;
-
-  /**
-   * Add a double array property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddDoubleArrayProperty(
-      std::string_view key, std::function<std::vector<double>()> getter,
-      std::function<void(wpi::span<const double>)> setter) = 0;
-
-  /**
-   * Add a string array property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddStringArrayProperty(
-      std::string_view key, std::function<std::vector<std::string>()> getter,
-      std::function<void(wpi::span<const std::string>)> setter) = 0;
-
-  /**
-   * Add a raw property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddRawProperty(std::string_view key,
-                              std::function<std::string()> getter,
-                              std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Add a NetworkTableValue property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddValueProperty(
-      std::string_view key, std::function<std::shared_ptr<nt::Value>()> getter,
-      std::function<void(std::shared_ptr<nt::Value>)> setter) = 0;
-
-  /**
-   * Add a string property (SmallString form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallStringProperty(
-      std::string_view key,
-      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Add a boolean array property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallBooleanArrayProperty(
-      std::string_view key,
-      std::function<wpi::span<const int>(wpi::SmallVectorImpl<int>& buf)>
-          getter,
-      std::function<void(wpi::span<const int>)> setter) = 0;
-
-  /**
-   * Add a double array property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallDoubleArrayProperty(
-      std::string_view key,
-      std::function<wpi::span<const double>(wpi::SmallVectorImpl<double>& buf)>
-          getter,
-      std::function<void(wpi::span<const double>)> setter) = 0;
-
-  /**
-   * Add a string array property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallStringArrayProperty(
-      std::string_view key,
-      std::function<
-          wpi::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
-          getter,
-      std::function<void(wpi::span<const std::string>)> setter) = 0;
-
-  /**
-   * Add a raw property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallRawProperty(
-      std::string_view key,
-      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Get the network table.
-   * @return The network table
-   */
-  virtual std::shared_ptr<nt::NetworkTable> GetTable() = 0;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h

@@ -11,17 +11,16 @@
 #include <utility>
 #include <vector>
 
+#include <networktables/NTSendableBuilder.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
 #include <wpi/SmallVector.h>
 #include <wpi/span.h>
 
-#include "frc/smartdashboard/SendableBuilder.h"
-
 namespace frc {
 
-class SendableBuilderImpl : public SendableBuilder {
+class SendableBuilderImpl : public nt::NTSendableBuilder {
  public:
   SendableBuilderImpl() = default;
   ~SendableBuilderImpl() override = default;
@@ -46,7 +45,7 @@ class SendableBuilderImpl : public SendableBuilder {
    * Return whether this sendable has an associated table.
    * @return True if it has a table, false if not.
    */
-  bool HasTable() const;
+  bool IsPublished() const override;
 
   /**
    * Return whether this sendable should be treated as an actuator.
@@ -57,7 +56,7 @@ class SendableBuilderImpl : public SendableBuilder {
   /**
    * Update the network table values by calling the getters for all properties.
    */
-  void UpdateTable();
+  void Update() override;
 
   /**
    * Hook setters for all properties.
@@ -84,7 +83,7 @@ class SendableBuilderImpl : public SendableBuilder {
   /**
    * Clear properties.
    */
-  void ClearProperties();
+  void ClearProperties() override;
 
   void SetSmartDashboardType(std::string_view type) override;
   void SetActuator(bool value) override;

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h

@@ -10,7 +10,6 @@
 #include <wpi/StringMap.h>
 #include <wpi/deprecated.h>
 
-#include "frc/smartdashboard/SendableBuilder.h"
 #include "frc/smartdashboard/SendableChooserBase.h"
 
 namespace frc {
@@ -112,7 +111,7 @@ class SendableChooser : public SendableChooserBase {
    */
   auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc

@@ -11,6 +11,8 @@
 #include <utility>
 #include <vector>
 
+#include <networktables/NTSendableBuilder.h>
+
 #include "frc/smartdashboard/SendableChooser.h"
 
 namespace frc {
@@ -44,7 +46,7 @@ auto SendableChooser<T>::GetSelected()
 }
 
 template <class T>
-void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
+void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("String Chooser");
   builder.GetEntry(kInstance).SetDouble(m_instance);
   builder.AddStringArrayProperty(

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h

@@ -7,12 +7,11 @@
 #include <atomic>
 #include <string>
 
+#include <networktables/NTSendable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <wpi/SmallVector.h>
 #include <wpi/mutex.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
@@ -22,8 +21,8 @@ namespace frc {
  * It contains static, non-templated variables to avoid their duplication in the
  * template class.
  */
-class SendableChooserBase : public Sendable,
-                            public SendableHelper<SendableChooserBase> {
+class SendableChooserBase : public nt::NTSendable,
+                            public wpi::SendableHelper<SendableChooserBase> {
  public:
   SendableChooserBase();
   ~SendableChooserBase() override = default;

wpilibc/src/main/native/include/frc/smartdashboard/SendableHelper.h

@@ -1,176 +0,0 @@
-// 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 <memory>
-#include <string>
-#include <string_view>
-
-#include <wpi/deprecated.h>
-
-#include "frc/smartdashboard/SendableRegistry.h"
-
-namespace frc {
-
-/**
- * A helper class for use with objects that add themselves to SendableRegistry.
- * It takes care of properly calling Move() and Remove() on move and
- * destruction.  No action is taken if the object is copied.
- * Use public inheritance with CRTP when using this class.
- * @tparam CRTP derived class
- */
-template <typename Derived>
-class SendableHelper {
- public:
-  SendableHelper(const SendableHelper& rhs) = default;
-  SendableHelper& operator=(const SendableHelper& rhs) = default;
-
-  SendableHelper(SendableHelper&& rhs) {
-    // it is safe to call Move() multiple times with the same rhs
-    SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
-                                         static_cast<Derived*>(&rhs));
-  }
-
-  SendableHelper& operator=(SendableHelper&& rhs) {
-    // it is safe to call Move() multiple times with the same rhs
-    SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
-                                         static_cast<Derived*>(&rhs));
-    return *this;
-  }
-
-  /**
-   * Gets the name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::GetName()
-   *
-   * @return Name
-   */
-  WPI_DEPRECATED("use SendableRegistry::GetName()")
-  std::string GetName() const {
-    return SendableRegistry::GetInstance().GetName(
-        static_cast<const Derived*>(this));
-  }
-
-  /**
-   * Sets the name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param name name
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view name) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this), name);
-  }
-
-  /**
-   * Sets both the subsystem name and device name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param subsystem subsystem name
-   * @param name device name
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view subsystem, std::string_view name) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            subsystem, name);
-  }
-
-  /**
-   * Gets the subsystem name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::GetSubsystem().
-   *
-   * @return Subsystem name
-   */
-  WPI_DEPRECATED("use SendableRegistry::GetSubsystem()")
-  std::string GetSubsystem() const {
-    return SendableRegistry::GetInstance().GetSubsystem(
-        static_cast<const Derived*>(this));
-  }
-
-  /**
-   * Sets the subsystem name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::SetSubsystem()
-   *
-   * @param subsystem subsystem name
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetSubsystem()")
-  void SetSubsystem(std::string_view subsystem) {
-    SendableRegistry::GetInstance().SetSubsystem(static_cast<Derived*>(this),
-                                                 subsystem);
-  }
-
- protected:
-  /**
-   * Add a child component.
-   *
-   * @deprecated use SendableRegistry::AddChild()
-   *
-   * @param child child component
-   */
-  WPI_DEPRECATED("use SendableRegistry::AddChild()")
-  void AddChild(std::shared_ptr<Sendable> child) {
-    SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
-                                             child.get());
-  }
-
-  /**
-   * Add a child component.
-   *
-   * @deprecated use SendableRegistry::AddChild()
-   *
-   * @param child child component
-   */
-  WPI_DEPRECATED("use SendableRegistry::AddChild()")
-  void AddChild(void* child) {
-    SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
-                                             child);
-  }
-
-  /**
-   * Sets the name of the sensor with a channel number.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param moduleType A string that defines the module name in the label for
-   *                   the value
-   * @param channel    The channel number the device is plugged into
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view moduleType, int channel) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            moduleType, channel);
-  }
-
-  /**
-   * Sets the name of the sensor with a module and channel number.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into (usually
-   * PWM)
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view moduleType, int moduleNumber, int channel) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            moduleType, moduleNumber, channel);
-  }
-
- protected:
-  SendableHelper() = default;
-
-  ~SendableHelper() {
-    // it is safe to call Remove() multiple times with the same object
-    SendableRegistry::GetInstance().Remove(static_cast<Derived*>(this));
-  }
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableRegistry.h

@@ -1,338 +0,0 @@
-// 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 <memory>
-#include <string>
-#include <string_view>
-
-#include <networktables/NetworkTable.h>
-#include <wpi/function_ref.h>
-
-namespace frc {
-
-class Sendable;
-class SendableBuilderImpl;
-
-/**
- * The SendableRegistry class is the public interface for registering sensors
- * and actuators for use on dashboards and LiveWindow.
- */
-class SendableRegistry {
- public:
-  SendableRegistry(const SendableRegistry&) = delete;
-  SendableRegistry& operator=(const SendableRegistry&) = delete;
-
-  using UID = size_t;
-
-  /**
-   * Gets an instance of the SendableRegistry class.
-   *
-   * This is a singleton to guarantee that there is only a single instance
-   * regardless of how many times GetInstance is called.
-   */
-  static SendableRegistry& GetInstance();
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  void Add(Sendable* sendable, std::string_view name);
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param channel      The channel number the device is plugged into
-   */
-  void Add(Sendable* sendable, std::string_view moduleType, int channel);
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
-   */
-  void Add(Sendable* sendable, std::string_view moduleType, int moduleNumber,
-           int channel);
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  void Add(Sendable* sendable, std::string_view subsystem,
-           std::string_view name);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  void AddLW(Sendable* sendable, std::string_view name);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param channel      The channel number the device is plugged into
-   */
-  void AddLW(Sendable* sendable, std::string_view moduleType, int channel);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
-   */
-  void AddLW(Sendable* sendable, std::string_view moduleType, int moduleNumber,
-             int channel);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  void AddLW(Sendable* sendable, std::string_view subsystem,
-             std::string_view name);
-
-  /**
-   * Adds a child object to an object.  Adds the child object to the registry
-   * if it's not already present.
-   *
-   * @param parent parent object
-   * @param child child object
-   */
-  void AddChild(Sendable* parent, Sendable* child);
-
-  /**
-   * Adds a child object to an object.  Adds the child object to the registry
-   * if it's not already present.
-   *
-   * @param parent parent object
-   * @param child child object
-   */
-  void AddChild(Sendable* parent, void* child);
-
-  /**
-   * Removes an object from the registry.
-   *
-   * @param sendable object to remove
-   * @return true if the object was removed; false if it was not present
-   */
-  bool Remove(Sendable* sendable);
-
-  /**
-   * Moves an object in the registry (for use in move constructors/assignments).
-   *
-   * @param to new object
-   * @param from old object
-   */
-  void Move(Sendable* to, Sendable* from);
-
-  /**
-   * Determines if an object is in the registry.
-   *
-   * @param sendable object to check
-   * @return True if in registry, false if not.
-   */
-  bool Contains(const Sendable* sendable) const;
-
-  /**
-   * Gets the name of an object.
-   *
-   * @param sendable object
-   * @return Name (empty if object is not in registry)
-   */
-  std::string GetName(const Sendable* sendable) const;
-
-  /**
-   * Sets the name of an object.
-   *
-   * @param sendable object
-   * @param name name
-   */
-  void SetName(Sendable* sendable, std::string_view name);
-
-  /**
-   * Sets the name of an object with a channel number.
-   *
-   * @param sendable   object
-   * @param moduleType A string that defines the module name in the label for
-   *                   the value
-   * @param channel    The channel number the device is plugged into
-   */
-  void SetName(Sendable* sendable, std::string_view moduleType, int channel);
-
-  /**
-   * Sets the name of an object with a module and channel number.
-   *
-   * @param sendable     object
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
-   */
-  void SetName(Sendable* sendable, std::string_view moduleType,
-               int moduleNumber, int channel);
-
-  /**
-   * Sets both the subsystem name and device name of an object.
-   *
-   * @param sendable object
-   * @param subsystem subsystem name
-   * @param name device name
-   */
-  void SetName(Sendable* sendable, std::string_view subsystem,
-               std::string_view name);
-
-  /**
-   * Gets the subsystem name of an object.
-   *
-   * @param sendable object
-   * @return Subsystem name (empty if object is not in registry)
-   */
-  std::string GetSubsystem(const Sendable* sendable) const;
-
-  /**
-   * Sets the subsystem name of an object.
-   *
-   * @param sendable object
-   * @param subsystem subsystem name
-   */
-  void SetSubsystem(Sendable* sendable, std::string_view subsystem);
-
-  /**
-   * Gets a unique handle for setting/getting data with SetData() and GetData().
-   *
-   * @return Handle
-   */
-  int GetDataHandle();
-
-  /**
-   * Associates arbitrary data with an object in the registry.
-   *
-   * @param sendable object
-   * @param handle data handle returned by GetDataHandle()
-   * @param data data to set
-   * @return Previous data (may be null)
-   */
-  std::shared_ptr<void> SetData(Sendable* sendable, int handle,
-                                std::shared_ptr<void> data);
-
-  /**
-   * Gets arbitrary data associated with an object in the registry.
-   *
-   * @param sendable object
-   * @param handle data handle returned by GetDataHandle()
-   * @return data (may be null if none associated)
-   */
-  std::shared_ptr<void> GetData(Sendable* sendable, int handle);
-
-  /**
-   * Enables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  void EnableLiveWindow(Sendable* sendable);
-
-  /**
-   * Disables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  void DisableLiveWindow(Sendable* sendable);
-
-  /**
-   * Get unique id for an object.  Since objects can move, use this instead
-   * of storing Sendable* directly if ownership is in question.
-   *
-   * @param sendable object
-   * @return unique id
-   */
-  UID GetUniqueId(Sendable* sendable);
-
-  /**
-   * Get sendable object for a given unique id.
-   *
-   * @param uid unique id
-   * @return sendable object (may be null)
-   */
-  Sendable* GetSendable(UID uid);
-
-  /**
-   * Publishes an object in the registry to a network table.
-   *
-   * @param sendableUid sendable unique id
-   * @param table network table
-   */
-  void Publish(UID sendableUid, std::shared_ptr<nt::NetworkTable> table);
-
-  /**
-   * Updates network table information from an object.
-   *
-   * @param sendableUid sendable unique id
-   */
-  void Update(UID sendableUid);
-
-  /**
-   * Data passed to ForeachLiveWindow() callback function
-   */
-  struct CallbackData {
-    CallbackData(Sendable* sendable_, std::string_view name_,
-                 std::string_view subsystem_, Sendable* parent_,
-                 std::shared_ptr<void>& data_, SendableBuilderImpl& builder_)
-        : sendable(sendable_),
-          name(name_),
-          subsystem(subsystem_),
-          parent(parent_),
-          data(data_),
-          builder(builder_) {}
-
-    Sendable* sendable;
-    std::string_view name;
-    std::string_view subsystem;
-    Sendable* parent;
-    std::shared_ptr<void>& data;
-    SendableBuilderImpl& builder;
-  };
-
-  /**
-   * Iterates over LiveWindow-enabled objects in the registry.
-   * It is *not* safe to call other SendableRegistry functions from the
-   * callback (this will likely deadlock).
-   *
-   * @param dataHandle data handle to get data pointer passed to callback
-   * @param callback function to call for each object
-   */
-  void ForeachLiveWindow(
-      int dataHandle,
-      wpi::function_ref<void(CallbackData& cbdata)> callback) const;
-
- private:
-  SendableRegistry();
-
-  struct Impl;
-  std::unique_ptr<Impl> m_impl;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h

@@ -11,15 +11,16 @@
 
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 #include <wpi/span.h>
 
 #include "frc/smartdashboard/ListenerExecutor.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
+class SmartDashboard : public wpi::Sendable,
+                       public wpi::SendableHelper<SmartDashboard> {
  public:
   static void init();
 
@@ -115,7 +116,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @param value   the value
    */
-  static void PutData(std::string_view key, Sendable* data);
+  static void PutData(std::string_view key, wpi::Sendable* data);
 
   /**
    * Maps the specified key (where the key is the name of the Sendable)
@@ -129,7 +130,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *
    * @param value the value
    */
-  static void PutData(Sendable* value);
+  static void PutData(wpi::Sendable* value);
 
   /**
    * Returns the value at the specified key.
@@ -137,7 +138,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @return the value
    */
-  static Sendable* GetData(std::string_view keyName);
+  static wpi::Sendable* GetData(std::string_view keyName);
 
   /**
    * Maps the specified key to the specified value in this table.