diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index 8c92894128..0898c9bdcd 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -8,6 +8,7 @@
 #include "frc2/command/CommandScheduler.h"
 
 #include <frc/RobotState.h>
+#include <frc/TimedRobot.h>
 #include <frc/WPIErrors.h>
 #include <frc/livewindow/LiveWindow.h>
 #include <frc/smartdashboard/SendableBuilder.h>
@@ -17,6 +18,7 @@
 #include <networktables/NetworkTableEntry.h>
 #include <wpi/DenseMap.h>
 #include <wpi/SmallVector.h>
+#include <wpi/raw_ostream.h>
 
 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandState.h"
@@ -64,7 +66,10 @@ static bool ContainsKey(const TMap& map, TKey keyToCheck) {
   return map.find(keyToCheck) != map.end();
 }
 
-CommandScheduler::CommandScheduler() : m_impl(new Impl) {
+CommandScheduler::CommandScheduler()
+    : m_impl(new Impl), m_watchdog(frc::TimedRobot::kDefaultPeriod, [] {
+        wpi::outs() << "CommandScheduler loop time overrun.\n";
+      }) {
   HAL_Report(HALUsageReporting::kResourceType_Command,
              HALUsageReporting::kCommand2_Scheduler);
   frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
@@ -88,6 +93,10 @@ CommandScheduler& CommandScheduler::GetInstance() {
   return scheduler;
 }
 
+void CommandScheduler::SetPeriod(units::second_t period) {
+  m_watchdog.SetTimeout(period);
+}
+
 void CommandScheduler::AddButton(wpi::unique_function<void()> button) {
   m_impl->buttons.emplace_back(std::move(button));
 }
@@ -141,6 +150,7 @@ void CommandScheduler::Schedule(bool interruptible, Command* command) {
     for (auto&& requirement : requirements) {
       m_impl->requirements[requirement] = command;
     }
+    m_watchdog.AddEpoch(command->GetName() + ".Initialize()");
   }
 }
 
@@ -177,15 +187,19 @@ void CommandScheduler::Run() {
     return;
   }
 
+  m_watchdog.Reset();
+
   // Run the periodic method of all registered subsystems.
   for (auto&& subsystem : m_impl->subsystems) {
     subsystem.getFirst()->Periodic();
+    m_watchdog.AddEpoch("Subsystem Periodic()");
   }
 
   // Poll buttons for new commands to add.
   for (auto&& button : m_impl->buttons) {
     button();
   }
+  m_watchdog.AddEpoch("buttons.Run()");
 
   m_impl->inRunLoop = true;
   // Run scheduled commands, remove finished commands.
@@ -202,6 +216,7 @@ void CommandScheduler::Run() {
     for (auto&& action : m_impl->executeActions) {
       action(*command);
     }
+    m_watchdog.AddEpoch(command->GetName() + ".Execute()");
 
     if (command->IsFinished()) {
       command->End(false);
@@ -214,6 +229,7 @@ void CommandScheduler::Run() {
       }
 
       m_impl->scheduledCommands.erase(iterator);
+      m_watchdog.AddEpoch(command->GetName() + ".End(false)");
     }
   }
   m_impl->inRunLoop = false;
@@ -236,6 +252,11 @@ void CommandScheduler::Run() {
       Schedule({subsystem.getSecond().get()});
     }
   }
+
+  m_watchdog.Disable();
+  if (m_watchdog.IsExpired()) {
+    m_watchdog.PrintEpochs();
+  }
 }
 
 void CommandScheduler::RegisterSubsystem(Subsystem* subsystem) {
@@ -297,6 +318,7 @@ void CommandScheduler::Cancel(Command* command) {
   for (auto&& action : m_impl->interruptActions) {
     action(*command);
   }
+  m_watchdog.AddEpoch(command->GetName() + ".End(true)");
   m_impl->scheduledCommands.erase(find);
   for (auto&& requirement : m_impl->requirements) {
     if (requirement.second == command) {
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
index f1d0917003..c3ee1eb6df 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -13,8 +13,10 @@
 
 #include <frc/ErrorBase.h>
 #include <frc/WPIErrors.h>
+#include <frc/Watchdog.h>
 #include <frc/smartdashboard/Sendable.h>
 #include <frc/smartdashboard/SendableHelper.h>
+#include <units/units.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/FunctionExtras.h>
 
@@ -46,6 +48,12 @@ class CommandScheduler final : public frc::Sendable,
 
   using Action = std::function<void(const Command&)>;
 
+  /**
+   * Changes the period of the loop overrun watchdog. This should be kept in
+   * sync with the TimedRobot period.
+   */
+  void SetPeriod(units::second_t period);
+
   /**
    * Adds a button binding to the scheduler, which will be polled to schedule
    * commands.
@@ -337,6 +345,8 @@ class CommandScheduler final : public frc::Sendable,
   class Impl;
   std::unique_ptr<Impl> m_impl;
 
+  frc::Watchdog m_watchdog;
+
   friend class CommandTestBase;
 };
 }  // namespace frc2