diff --git a/hal/src/generated/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java b/hal/src/generated/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
index 148d4ca3ed..7c1ea2080a 100644
--- a/hal/src/generated/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
+++ b/hal/src/generated/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
@@ -113,7 +113,7 @@ public class FRCNetComm extends JNIWrapper {
     public static final int kResourceType_ADXRS450 = 54;
     public static final int kResourceType_RevSPARK = 55;
     public static final int kResourceType_MindsensorsSD540 = 56;
-    public static final int kResourceType_DigitalFilter = 57;
+    public static final int kResourceType_DigitalGlitchFilter = 57;
     public static final int kResourceType_ADIS16448 = 58;
     public static final int kResourceType_PDP = 59;
     public static final int kResourceType_PCM = 60;
@@ -127,6 +127,17 @@ public class FRCNetComm extends JNIWrapper {
     public static final int kResourceType_CTRE_future4 = 68;
     public static final int kResourceType_CTRE_future5 = 69;
     public static final int kResourceType_CTRE_future6 = 70;
+    public static final int kResourceType_LinearFilter = 71;
+    public static final int kResourceType_XboxController = 72;
+    public static final int kResourceType_UsbCamera = 73;
+    public static final int kResourceType_NavX = 74;
+    public static final int kResourceType_Pixy = 75;
+    public static final int kResourceType_Pixy2 = 76;
+    public static final int kResourceType_ScanseSweep = 77;
+    public static final int kResourceType_Shuffleboard = 78;
+    public static final int kResourceType_CAN = 79;
+    public static final int kResourceType_DigilentDMC60 = 80;
+    public static final int kResourceType_PWMVictorSPX = 81;
   }
 
   /**
@@ -149,6 +160,9 @@ public class FRCNetComm extends JNIWrapper {
     public static final int kFramework_Iterative = 1;
     public static final int kFramework_Simple = 2;
     public static final int kFramework_CommandControl = 3;
+    public static final int kFramework_Timed = 4;
+    public static final int kFramework_ROS = 5;
+    public static final int kFramework_RobotBuilder = 6;
 
     public static final int kRobotDrive_ArcadeStandard = 1;
     public static final int kRobotDrive_ArcadeButtonSpin = 2;
@@ -156,6 +170,13 @@ public class FRCNetComm extends JNIWrapper {
     public static final int kRobotDrive_Tank = 4;
     public static final int kRobotDrive_MecanumPolar = 5;
     public static final int kRobotDrive_MecanumCartesian = 6;
+    public static final int kRobotDrive2_DifferentialArcade = 7;
+    public static final int kRobotDrive2_DifferentialTank = 8;
+    public static final int kRobotDrive2_DifferentialCurvature = 9;
+    public static final int kRobotDrive2_MecanumCartesian = 10;
+    public static final int kRobotDrive2_MecanumPolar = 11;
+    public static final int kRobotDrive2_KilloughCartesian = 12;
+    public static final int kRobotDrive2_KilloughPolar = 13;
 
     public static final int kDriverStationCIO_Analog = 1;
     public static final int kDriverStationCIO_DigitalIn = 2;
diff --git a/hal/src/main/native/include/hal/UsageReporting.h b/hal/src/main/native/include/hal/UsageReporting.h
index 8b7cc9849e..825daf2645 100644
--- a/hal/src/main/native/include/hal/UsageReporting.h
+++ b/hal/src/main/native/include/hal/UsageReporting.h
@@ -1,4 +1,3 @@
-
 #ifndef __UsageReporting_h__
 #define __UsageReporting_h__
 
@@ -77,7 +76,7 @@ namespace nUsageReporting
         kResourceType_ADXRS450,
         kResourceType_RevSPARK,
         kResourceType_MindsensorsSD540,
-        kResourceType_DigitalFilter,
+        kResourceType_DigitalGlitchFilter,
         kResourceType_ADIS16448,
         kResourceType_PDP,
         kResourceType_PCM, // 60
@@ -91,6 +90,17 @@ namespace nUsageReporting
         kResourceType_CTRE_future4,
         kResourceType_CTRE_future5,
         kResourceType_CTRE_future6, // 70
+        kResourceType_LinearFilter,
+        kResourceType_XboxController,
+        kResourceType_UsbCamera,
+        kResourceType_NavX,
+        kResourceType_Pixy,
+        kResourceType_Pixy2,
+        kResourceType_ScanseSweep,
+        kResourceType_Shuffleboard,
+        kResourceType_CAN,
+        kResourceType_DigilentDMC60, // 80
+        kResourceType_PWMVictorSPX,
     } tResourceType;
 
     typedef enum
@@ -107,6 +117,9 @@ namespace nUsageReporting
         kFramework_Iterative = 1,
         kFramework_Simple = 2,
         kFramework_CommandControl = 3,
+        kFramework_Timed = 4,
+        kFramework_ROS = 5,
+        kFramework_RobotBuilder = 6,
 
         kRobotDrive_ArcadeStandard = 1,
         kRobotDrive_ArcadeButtonSpin = 2,
@@ -114,6 +127,13 @@ namespace nUsageReporting
         kRobotDrive_Tank = 4,
         kRobotDrive_MecanumPolar = 5,
         kRobotDrive_MecanumCartesian = 6,
+        kRobotDrive2_DifferentialArcade = 7,
+        kRobotDrive2_DifferentialTank = 8,
+        kRobotDrive2_DifferentialCurvature = 9,
+        kRobotDrive2_MecanumCartesian = 10,
+        kRobotDrive2_MecanumPolar = 11,
+        kRobotDrive2_KilloughCartesian = 12,
+        kRobotDrive2_KilloughPolar = 13,
 
         kDriverStationCIO_Analog = 1,
         kDriverStationCIO_DigitalIn = 2,
@@ -140,8 +160,8 @@ namespace nUsageReporting
     } tInstances;
 
     /**
-     * Reports the usage of a resource of interest.
-     *
+     * Report the usage of a resource of interest.
+     * 
      * @param resource one of the values in the tResourceType above (max value 51).
      * @param instanceNumber an index that identifies the resource instance.
      * @param context an optional additional context number for some cases (such as module number).  Set to 0 to omit.
diff --git a/wpilibc/src/main/native/cpp/CAN.cpp b/wpilibc/src/main/native/cpp/CAN.cpp
index d2f8ac4b56..be77249669 100644
--- a/wpilibc/src/main/native/cpp/CAN.cpp
+++ b/wpilibc/src/main/native/cpp/CAN.cpp
@@ -21,7 +21,7 @@ CAN::CAN(int deviceId) {
     return;
   }
 
-  // HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId);
+  HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId);
 }
 
 CAN::~CAN() {
diff --git a/wpilibc/src/main/native/cpp/DMC60.cpp b/wpilibc/src/main/native/cpp/DMC60.cpp
index 786e9ad551..7dc2d8d7db 100644
--- a/wpilibc/src/main/native/cpp/DMC60.cpp
+++ b/wpilibc/src/main/native/cpp/DMC60.cpp
@@ -31,6 +31,6 @@ DMC60::DMC60(int channel) : PWMSpeedController(channel) {
   SetSpeed(0.0);
   SetZeroLatch();
 
-  // HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
+  HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel());
   SetName("DMC60", GetChannel());
 }
diff --git a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
index 9abdfce813..663fe91385 100644
--- a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
@@ -35,7 +35,8 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
   m_channelIndex = std::distance(m_filterAllocated.begin(), index);
   *index = true;
 
-  HAL_Report(HALUsageReporting::kResourceType_DigitalFilter, m_channelIndex);
+  HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
+             m_channelIndex);
   SetName("DigitalGlitchFilter", m_channelIndex);
 }
 
diff --git a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp b/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
index 6acda13f87..b4f1fd27e5 100644
--- a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
+++ b/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
@@ -29,6 +29,6 @@ PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) {
   SetSpeed(0.0);
   SetZeroLatch();
 
-  // HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel());
+  HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel());
   SetName("PWMVictorSPX", GetChannel());
 }
diff --git a/wpilibc/src/main/native/cpp/RobotBase.cpp b/wpilibc/src/main/native/cpp/RobotBase.cpp
index 849363fc6f..b9e3338422 100644
--- a/wpilibc/src/main/native/cpp/RobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/RobotBase.cpp
@@ -29,7 +29,7 @@ namespace {
 class WPILibCameraServerShared : public frc::CameraServerShared {
  public:
   void ReportUsbCamera(int id) override {
-    HAL_Report(HALUsageReporting::kResourceType_PCVideoServer, id);
+    HAL_Report(HALUsageReporting::kResourceType_UsbCamera, id);
   }
   void ReportAxisCamera(int id) override {
     HAL_Report(HALUsageReporting::kResourceType_AxisCamera, id);
diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp
index 0f23557a0f..7e6f53c83e 100644
--- a/wpilibc/src/main/native/cpp/TimedRobot.cpp
+++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -48,10 +48,8 @@ TimedRobot::TimedRobot(double period) : IterativeRobotBase(period) {
   m_notifier = HAL_InitializeNotifier(&status);
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 
-  // HAL_Report(HALUsageReporting::kResourceType_Framework,
-  //            HALUsageReporting::kFramework_Periodic);
   HAL_Report(HALUsageReporting::kResourceType_Framework,
-             HALUsageReporting::kFramework_Iterative);
+             HALUsageReporting::kFramework_Timed);
 }
 
 TimedRobot::~TimedRobot() {
diff --git a/wpilibc/src/main/native/cpp/XboxController.cpp b/wpilibc/src/main/native/cpp/XboxController.cpp
index 80744386a9..fa54980980 100644
--- a/wpilibc/src/main/native/cpp/XboxController.cpp
+++ b/wpilibc/src/main/native/cpp/XboxController.cpp
@@ -12,8 +12,7 @@
 using namespace frc;
 
 XboxController::XboxController(int port) : GenericHID(port) {
-  // HAL_Report(HALUsageReporting::kResourceType_XboxController, port);
-  HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
+  HAL_Report(HALUsageReporting::kResourceType_XboxController, port);
 }
 
 double XboxController::GetX(JoystickHand hand) const {
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index 71e9c0691a..8ce060efd3 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -32,7 +32,7 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
   static bool reported = false;
   if (!reported) {
     HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
-               HALUsageReporting::kRobotDrive_ArcadeStandard);
+               HALUsageReporting::kRobotDrive2_DifferentialArcade);
     reported = true;
   }
 
@@ -86,8 +86,8 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
                                        bool isQuickTurn) {
   static bool reported = false;
   if (!reported) {
-    // HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
-    //            HALUsageReporting::kRobotDrive_Curvature);
+    HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
+               HALUsageReporting::kRobotDrive2_DifferentialCurvature);
     reported = true;
   }
 
@@ -160,7 +160,7 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
   static bool reported = false;
   if (!reported) {
     HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
-               HALUsageReporting::kRobotDrive_Tank);
+               HALUsageReporting::kRobotDrive2_DifferentialTank);
     reported = true;
   }
 
diff --git a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
index 48bcbc5e9e..48ae9f2fc2 100644
--- a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
@@ -47,8 +47,8 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
 void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
                                    double zRotation, double gyroAngle) {
   if (!reported) {
-    // HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 3,
-    //            HALUsageReporting::kRobotDrive_KilloughCartesian);
+    HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 3,
+               HALUsageReporting::kRobotDrive2_KilloughCartesian);
     reported = true;
   }
 
@@ -79,8 +79,8 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
 void KilloughDrive::DrivePolar(double magnitude, double angle,
                                double zRotation) {
   if (!reported) {
-    // HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 3,
-    //            HALUsageReporting::kRobotDrive_KilloughPolar);
+    HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 3,
+               HALUsageReporting::kRobotDrive2_KilloughPolar);
     reported = true;
   }
 
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index c5c9cbecdd..4792416d9f 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -41,7 +41,7 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
                                   double zRotation, double gyroAngle) {
   if (!reported) {
     HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 4,
-               HALUsageReporting::kRobotDrive_MecanumCartesian);
+               HALUsageReporting::kRobotDrive2_MecanumCartesian);
     reported = true;
   }
 
@@ -77,7 +77,7 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
                               double zRotation) {
   if (!reported) {
     HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 4,
-               HALUsageReporting::kRobotDrive_MecanumPolar);
+               HALUsageReporting::kRobotDrive2_MecanumPolar);
     reported = true;
   }
 
diff --git a/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp b/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp
index 1405f4e708..db4cebe8fa 100644
--- a/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp
+++ b/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp
@@ -10,6 +10,8 @@
 #include <cassert>
 #include <cmath>
 
+#include <hal/HAL.h>
+
 using namespace frc;
 
 LinearDigitalFilter::LinearDigitalFilter(PIDSource& source,
@@ -19,7 +21,11 @@ LinearDigitalFilter::LinearDigitalFilter(PIDSource& source,
       m_inputs(ffGains.size()),
       m_outputs(fbGains.size()),
       m_inputGains(ffGains),
-      m_outputGains(fbGains) {}
+      m_outputGains(fbGains) {
+  static int instances = 0;
+  instances++;
+  HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
+}
 
 LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
                                          wpi::ArrayRef<double> ffGains,
@@ -28,7 +34,11 @@ LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
       m_inputs(ffGains.size()),
       m_outputs(fbGains.size()),
       m_inputGains(ffGains),
-      m_outputGains(fbGains) {}
+      m_outputGains(fbGains) {
+  static int instances = 0;
+  instances++;
+  HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
+}
 
 LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(PIDSource& source,
                                                        double timeConstant,
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
index 1ee440299a..97913f5cdd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
@@ -10,6 +10,8 @@ package edu.wpi.first.wpilibj;
 import java.io.Closeable;
 
 import edu.wpi.first.wpilibj.hal.CANAPIJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * High level class for interfacing with CAN devices conforming to
@@ -34,6 +36,7 @@ public class CAN implements Closeable {
    */
   public CAN(int deviceId) {
     m_handle = CANAPIJNI.initializeCAN(kTeamManufacturer, deviceId, kTeamDeviceType);
+    HAL.report(tResourceType.kResourceType_CAN, deviceId);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
index 95770fc870..14fd83d125 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-//import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
-//import edu.wpi.first.wpilibj.hal.HAL;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * Digilent DMC 60 Speed Controller.
@@ -38,7 +38,7 @@ public class DMC60 extends PWMSpeedController {
     setSpeed(0.0);
     setZeroLatch();
 
-    //HAL.report(tResourceType.kResourceType_VictorSP, getChannel());
+    HAL.report(tResourceType.kResourceType_DigilentDMC60, getChannel());
     setName("DMC60", getChannel());
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
index 84910eca29..436d3edf7a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
@@ -33,7 +33,7 @@ public class DigitalGlitchFilter extends SendableBase {
       if (index != m_filterAllocated.length) {
         m_channelIndex = index;
         m_filterAllocated[index] = true;
-        HAL.report(tResourceType.kResourceType_DigitalFilter,
+        HAL.report(tResourceType.kResourceType_DigitalGlitchFilter,
             m_channelIndex, 0);
         setName("DigitalGlitchFilter", index);
       }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
index caa1bb2a0c..3cd6449505 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-//import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
-//import edu.wpi.first.wpilibj.hal.HAL;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
@@ -39,7 +39,7 @@ public class PWMVictorSPX extends PWMSpeedController {
     setSpeed(0.0);
     setZeroLatch();
 
-    //HAL.report(tResourceType.kResourceType_PWMVictorSPX, getChannel());
+    HAL.report(tResourceType.kResourceType_PWMVictorSPX, getChannel());
     setName("PWMVictorSPX", getChannel());
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 0655f88877..d5f1a61b64 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -46,7 +46,7 @@ public abstract class RobotBase implements AutoCloseable {
 
       @Override
       public void reportUsbCamera(int id) {
-        HAL.report(tResourceType.kResourceType_PCVideoServer, id);
+        HAL.report(tResourceType.kResourceType_UsbCamera, id);
       }
 
       @Override
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
index cfadf54302..4440fdd2ba 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -46,8 +46,7 @@ public class TimedRobot extends IterativeRobotBase {
   protected TimedRobot(double period) {
     super(period);
 
-    // HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Periodic);
-    HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative);
+    HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Timed);
   }
 
   @Override
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
index 308a4d8cb2..322e4e5153 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -50,8 +50,7 @@ public class XboxController extends GenericHID {
   public XboxController(final int port) {
     super(port);
 
-    // HAL.report(tResourceType.kResourceType_XboxController, port);
-    HAL.report(tResourceType.kResourceType_Joystick, port);
+    HAL.report(tResourceType.kResourceType_XboxController, port);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
index d39965a76c..bc832859a4 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -145,7 +145,8 @@ public class DifferentialDrive extends RobotDriveBase {
   @SuppressWarnings("ParameterName")
   public void arcadeDrive(double xSpeed, double zRotation, boolean squaredInputs) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, 2, tInstances.kRobotDrive_ArcadeStandard);
+      HAL.report(tResourceType.kResourceType_RobotDrive, 2,
+                 tInstances.kRobotDrive2_DifferentialArcade);
       m_reported = true;
     }
 
@@ -210,7 +211,8 @@ public class DifferentialDrive extends RobotDriveBase {
   @SuppressWarnings({"ParameterName", "PMD.CyclomaticComplexity"})
   public void curvatureDrive(double xSpeed, double zRotation, boolean isQuickTurn) {
     if (!m_reported) {
-      // HAL.report(tResourceType.kResourceType_RobotDrive, 2, tInstances.kRobotDrive_Curvature);
+      HAL.report(tResourceType.kResourceType_RobotDrive, 2,
+                 tInstances.kRobotDrive2_DifferentialCurvature);
       m_reported = true;
     }
 
@@ -300,7 +302,8 @@ public class DifferentialDrive extends RobotDriveBase {
    */
   public void tankDrive(double leftSpeed, double rightSpeed, boolean squaredInputs) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, 2, tInstances.kRobotDrive_Tank);
+      HAL.report(tResourceType.kResourceType_RobotDrive, 2,
+                 tInstances.kRobotDrive2_DifferentialTank);
       m_reported = true;
     }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
index fce52b7638..0438b6e8aa 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -8,10 +8,10 @@
 package edu.wpi.first.wpilibj.drive;
 
 import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-// import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
-// import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
-// import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * A class for driving Killough drive platforms.
@@ -136,8 +136,8 @@ public class KilloughDrive extends RobotDriveBase {
   public void driveCartesian(double ySpeed, double xSpeed, double zRotation,
                              double gyroAngle) {
     if (!m_reported) {
-      // HAL.report(tResourceType.kResourceType_RobotDrive, 3,
-      //            tInstances.kRobotDrive_KilloughCartesian);
+      HAL.report(tResourceType.kResourceType_RobotDrive, 3,
+                 tInstances.kRobotDrive2_KilloughCartesian);
       m_reported = true;
     }
 
@@ -179,8 +179,8 @@ public class KilloughDrive extends RobotDriveBase {
   @SuppressWarnings("ParameterName")
   public void drivePolar(double magnitude, double angle, double zRotation) {
     if (!m_reported) {
-      // HAL.report(tResourceType.kResourceType_RobotDrive, 3,
-      //            tInstances.kRobotDrive_KilloughPolar);
+      HAL.report(tResourceType.kResourceType_RobotDrive, 3,
+                 tInstances.kRobotDrive2_KilloughPolar);
       m_reported = true;
     }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index 2602ccdbbd..b897e39529 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -119,7 +119,7 @@ public class MecanumDrive extends RobotDriveBase {
   public void driveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle) {
     if (!m_reported) {
       HAL.report(tResourceType.kResourceType_RobotDrive, 4,
-                 tInstances.kRobotDrive_MecanumCartesian);
+                 tInstances.kRobotDrive2_MecanumCartesian);
       m_reported = true;
     }
 
@@ -165,7 +165,7 @@ public class MecanumDrive extends RobotDriveBase {
   @SuppressWarnings("ParameterName")
   public void drivePolar(double magnitude, double angle, double zRotation) {
     if (!m_reported) {
-      HAL.report(tResourceType.kResourceType_RobotDrive, 4, tInstances.kRobotDrive_MecanumPolar);
+      HAL.report(tResourceType.kResourceType_RobotDrive, 4, tInstances.kRobotDrive2_MecanumPolar);
       m_reported = true;
     }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
index 08c0e1bdb8..d9b7b93604 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
@@ -11,6 +11,8 @@ import java.util.Arrays;
 
 import edu.wpi.first.wpilibj.CircularBuffer;
 import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * This class implements a linear, digital filter. All types of FIR and IIR filters are supported.
@@ -50,6 +52,8 @@ import edu.wpi.first.wpilibj.PIDSource;
  * to make sure PIDGet() gets called at the desired, constant frequency!
  */
 public class LinearDigitalFilter extends Filter {
+  private static int instances;
+
   private final CircularBuffer m_inputs;
   private final CircularBuffer m_outputs;
   private final double[] m_inputGains;
@@ -69,6 +73,9 @@ public class LinearDigitalFilter extends Filter {
     m_outputs = new CircularBuffer(fbGains.length);
     m_inputGains = Arrays.copyOf(ffGains, ffGains.length);
     m_outputGains = Arrays.copyOf(fbGains, fbGains.length);
+
+    instances++;
+    HAL.report(tResourceType.kResourceType_LinearFilter, instances);
   }
 
   /**