diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000000..9c87164ae3
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,164 @@
+name: CI
+
+on: [pull_request, push]
+
+jobs:
+  build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2020-18.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:10-18.04
+            artifact-name: Raspbian
+            build-options: "-Ponlylinuxraspbian"
+          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
+            artifact-name: Aarch64
+            build-options: "-Ponlylinuxaarch64bionic"
+          - container: wpilib/ubuntu-base:18.04
+            artifact-name: Linux
+            build-options: ""
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: git fetch --prune --unshallow
+      - name: Build with Gradle
+        run: ./gradlew build -PbuildServer ${{ matrix.build-options }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-host:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            architecture: x64
+          - os: windows-latest
+            artifact-name: Win32
+            architecture: x86
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: git fetch --prune --unshallow
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+          architecture: ${{ matrix.architecture }}
+      - name: Build with Gradle
+        run: ./gradlew build -PbuildServer
+      - uses: actions/upload-artifact@v2
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-cmake:
+    name: "Build - CMake"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2020-18.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: configure
+        run: mkdir build && cd build && cmake -DWITHOUT_ALLWPILIB=OFF ..
+      - name: build
+        run: cd build && make -j3
+
+  build-cmake-windows:
+    name: "Build - CMake Windows"
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Prepare vcpkg
+        uses: lukka/run-vcpkg@v2
+        with:
+          vcpkgArguments: opencv
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg/
+          vcpkgGitCommitId: 544f8e4593764f78faa94bac2adb81cca5232943
+          vcpkgTriplet: x64-windows
+      - name: Configure & Build
+        uses: lukka/run-cmake@v2
+        with:
+          buildDirectory: ${{ runner.workspace }}/build/
+          cmakeAppendedArgs: -DWITHOUT_JAVA=ON -DWITHOUT_ALLWPILIB=OFF -DWITHOUT_CSCORE=OFF
+          cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
+          useVcpkgToolchainFile: true
+
+  wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format
+        run: sudo apt-get update -q && sudo apt-get install clang-format-10
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat -clang 10
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+  combine:
+    name: Combine
+    needs: [build-docker, build-host]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          repository: wpilibsuite/build-tools
+      - uses: actions/download-artifact@v2
+        with:
+          path: combiner/products/build/allOutputs
+      - name: Flatten Artifacts
+        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - name: Combine
+        if: |
+          !startsWith(github.ref, 'refs/tags/v') &&
+          github.ref != 'refs/heads/master'
+        run: cd combiner && ./gradlew publish -Pallwpilib
+      - name: Combine (Master)
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          github.ref == 'refs/heads/master'
+        run: cd combiner && ./gradlew publish -Pallwpilib
+        env:
+          RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+      - name: Combine (Release)
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          startsWith(github.ref, 'refs/tags/v')
+        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
+        env:
+          RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: Maven
+          path: ~/releases
diff --git a/README.md b/README.md
index 96c8cbbcf7..04bf6f0b79 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,6 @@
 # WPILib Project
 
+![CI](https://github.com/wpilibsuite/allwpilib/workflows/CI/badge.svg)
 [![Build Status](https://dev.azure.com/wpilib/wpilib/_apis/build/status/wpilibsuite.allwpilib)](https://dev.azure.com/wpilib/wpilib/_build/latest?definitionId=1)
 
 Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WPILibC projects. These are the core libraries for creating robot programs for the roboRIO.