diff --git a/wpilibc/src/main/native/cpp/Tracer.cpp b/wpilibc/src/main/native/cpp/Tracer.cpp
new file mode 100644
index 0000000000..9cb7910fbc
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/Tracer.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/Tracer.h"
+
+#include <wpi/Format.h>
+#include <wpi/raw_ostream.h>
+
+using namespace frc;
+
+Tracer::Tracer() { ResetTimer(); }
+
+void Tracer::ResetTimer() { m_startTime = hal::fpga_clock::now(); }
+
+void Tracer::ClearEpochs() {
+  ResetTimer();
+  m_epochs.clear();
+}
+
+void Tracer::AddEpoch(wpi::StringRef epochName) {
+  auto currentTime = hal::fpga_clock::now();
+  m_epochs[epochName] = currentTime - m_startTime;
+  m_startTime = currentTime;
+}
+
+void Tracer::PrintEpochs() {
+  using std::chrono::duration_cast;
+  using std::chrono::microseconds;
+
+  auto now = hal::fpga_clock::now();
+  if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
+    m_lastEpochsPrintTime = now;
+    for (const auto& epoch : m_epochs) {
+      wpi::outs() << '\t' << epoch.getKey() << ": "
+                  << wpi::format(
+                         "%.6f",
+                         duration_cast<microseconds>(epoch.getValue()).count() /
+                             1.0e6)
+                  << "s\n";
+    }
+  }
+}
diff --git a/wpilibc/src/main/native/cpp/Watchdog.cpp b/wpilibc/src/main/native/cpp/Watchdog.cpp
index 7a97f046a9..1db1cf866d 100644
--- a/wpilibc/src/main/native/cpp/Watchdog.cpp
+++ b/wpilibc/src/main/native/cpp/Watchdog.cpp
@@ -98,7 +98,7 @@ void Watchdog::SetTimeout(units::second_t timeout) {
   using std::chrono::microseconds;
 
   m_startTime = hal::fpga_clock::now();
-  m_epochs.clear();
+  m_tracer.ClearEpochs();
 
   // Locks mutex
   auto thr = m_owner->GetThread();
@@ -128,28 +128,10 @@ bool Watchdog::IsExpired() const {
 }
 
 void Watchdog::AddEpoch(wpi::StringRef epochName) {
-  auto currentTime = hal::fpga_clock::now();
-  m_epochs[epochName] = currentTime - m_startTime;
-  m_startTime = currentTime;
+  m_tracer.AddEpoch(epochName);
 }
 
-void Watchdog::PrintEpochs() {
-  using std::chrono::duration_cast;
-  using std::chrono::microseconds;
-
-  auto now = hal::fpga_clock::now();
-  if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
-    m_lastEpochsPrintTime = now;
-    for (const auto& epoch : m_epochs) {
-      wpi::outs() << '\t' << epoch.getKey() << ": "
-                  << wpi::format(
-                         "%.6f",
-                         duration_cast<microseconds>(epoch.getValue()).count() /
-                             1.0e6)
-                  << "s\n";
-    }
-  }
-}
+void Watchdog::PrintEpochs() { m_tracer.PrintEpochs(); }
 
 void Watchdog::Reset() { Enable(); }
 
@@ -158,7 +140,7 @@ void Watchdog::Enable() {
   using std::chrono::microseconds;
 
   m_startTime = hal::fpga_clock::now();
-  m_epochs.clear();
+  m_tracer.ClearEpochs();
 
   // Locks mutex
   auto thr = m_owner->GetThread();
diff --git a/wpilibc/src/main/native/include/frc/Tracer.h b/wpilibc/src/main/native/include/frc/Tracer.h
new file mode 100644
index 0000000000..8b495713f9
--- /dev/null
+++ b/wpilibc/src/main/native/include/frc/Tracer.h
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <chrono>
+
+#include <hal/cpp/fpga_clock.h>
+#include <units/units.h>
+#include <wpi/StringMap.h>
+#include <wpi/StringRef.h>
+
+namespace frc {
+/**
+ * A class for keeping track of how much time it takes for different parts of
+ * code to execute. This is done with epochs, that are added to calls to
+ * AddEpoch() and can be printed with a call to PrintEpochs().
+ *
+ * Epochs are a way to partition the time elapsed so that when overruns occur,
+ * one can determine which parts of an operation consumed the most time.
+ */
+class Tracer {
+ public:
+  /**
+   * Constructs a Tracer instance.
+   */
+  Tracer();
+
+  /**
+   * Restarts the epoch timer.
+   */
+  void ResetTimer();
+
+  /**
+   * Clears all epochs.
+   */
+  void ClearEpochs();
+
+  /**
+   * Adds time since last epoch to the list printed by PrintEpochs().
+   *
+   * Epochs are a way to partition the time elapsed so that when overruns occur,
+   * one can determine which parts of an operation consumed the most time.
+   *
+   * @param epochName The name to associate with the epoch.
+   */
+  void AddEpoch(wpi::StringRef epochName);
+
+  /**
+   * Prints list of epochs added so far and their times.
+   */
+  void PrintEpochs();
+
+ private:
+  static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};
+
+  hal::fpga_clock::time_point m_startTime;
+  hal::fpga_clock::time_point m_lastEpochsPrintTime = hal::fpga_clock::epoch();
+
+  wpi::StringMap<std::chrono::nanoseconds> m_epochs;
+};
+}  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/Watchdog.h b/wpilibc/src/main/native/include/frc/Watchdog.h
index 8452d98c08..127fe7373c 100644
--- a/wpilibc/src/main/native/include/frc/Watchdog.h
+++ b/wpilibc/src/main/native/include/frc/Watchdog.h
@@ -14,10 +14,11 @@
 #include <hal/cpp/fpga_clock.h>
 #include <units/units.h>
 #include <wpi/SafeThread.h>
-#include <wpi/StringMap.h>
 #include <wpi/StringRef.h>
 #include <wpi/deprecated.h>
 
+#include "frc/Tracer.h"
+
 namespace frc {
 
 /**
@@ -155,9 +156,8 @@ class Watchdog {
   hal::fpga_clock::time_point m_expirationTime;
   std::function<void()> m_callback;
   hal::fpga_clock::time_point m_lastTimeoutPrintTime = hal::fpga_clock::epoch();
-  hal::fpga_clock::time_point m_lastEpochsPrintTime = hal::fpga_clock::epoch();
 
-  wpi::StringMap<std::chrono::nanoseconds> m_epochs;
+  Tracer m_tracer;
   bool m_isExpired = false;
 
   bool m_suppressTimeoutMessage = false;