Update LiveWindow to provide continuous telemetry. (#771)

LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
2026-06-20 00:51:42 +00:00 · 2017-12-04 23:28:33 -08:00
parent 3befc7015b
commit f9bece2ffb
213 changed files with 3704 additions and 3758 deletions
--- a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
@@ -9,8 +9,7 @@

 #include <HAL/HAL.h>

-#include "I2C.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.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);
-  LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
+  SetName("ADXL345_I2C", port);
 }

 void ADXL345_I2C::SetRange(Range range) {
@@ -75,25 +74,15 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
  return data;
 }

-std::string ADXL345_I2C::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void ADXL345_I2C::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void ADXL345_I2C::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void ADXL345_I2C::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  auto x = builder.GetEntry("X").GetHandle();
+  auto y = builder.GetEntry("Y").GetHandle();
+  auto z = builder.GetEntry("Z").GetHandle();
+  builder.SetUpdateTable([=]() {
+    auto data = GetAccelerations();
+    nt::NetworkTableEntry(x).SetDouble(data.XAxis);
+    nt::NetworkTableEntry(y).SetDouble(data.YAxis);
+    nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
+  });
 }
--- a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
@@ -9,9 +9,7 @@

 #include <HAL/HAL.h>

-#include "DigitalInput.h"
-#include "DigitalOutput.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

@@ -40,7 +38,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
  HAL_Report(HALUsageReporting::kResourceType_ADXL345,
             HALUsageReporting::kADXL345_SPI);

-  LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
+  SetName("ADXL345_SPI", port);
 }

 void ADXL345_SPI::SetRange(Range range) {
@@ -103,25 +101,15 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
  return data;
 }

-std::string ADXL345_SPI::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void ADXL345_SPI::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void ADXL345_SPI::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void ADXL345_SPI::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  auto x = builder.GetEntry("X").GetHandle();
+  auto y = builder.GetEntry("Y").GetHandle();
+  auto z = builder.GetEntry("Z").GetHandle();
+  builder.SetUpdateTable([=]() {
+    auto data = GetAccelerations();
+    nt::NetworkTableEntry(x).SetDouble(data.XAxis);
+    nt::NetworkTableEntry(y).SetDouble(data.YAxis);
+    nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
+  });
 }
--- a/wpilibc/src/main/native/cpp/ADXL362.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL362.cpp
@@ -9,29 +9,27 @@

 #include <HAL/HAL.h>

-#include "DigitalInput.h"
-#include "DigitalOutput.h"
 #include "DriverStation.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

-static int kRegWrite = 0x0A;
-static int kRegRead = 0x0B;
+static constexpr int kRegWrite = 0x0A;
+static constexpr int kRegRead = 0x0B;

-static int kPartIdRegister = 0x02;
-static int kDataRegister = 0x0E;
-static int kFilterCtlRegister = 0x2C;
-static int kPowerCtlRegister = 0x2D;
+static constexpr int kPartIdRegister = 0x02;
+static constexpr int kDataRegister = 0x0E;
+static constexpr int kFilterCtlRegister = 0x2C;
+static constexpr int kPowerCtlRegister = 0x2D;

-// static int kFilterCtl_Range2G = 0x00;
-// static int kFilterCtl_Range4G = 0x40;
-// static int kFilterCtl_Range8G = 0x80;
-static int kFilterCtl_ODR_100Hz = 0x03;
+// static constexpr int kFilterCtl_Range2G = 0x00;
+// static constexpr int kFilterCtl_Range4G = 0x40;
+// static constexpr int kFilterCtl_Range8G = 0x80;
+static constexpr int kFilterCtl_ODR_100Hz = 0x03;

-static int kPowerCtl_UltraLowNoise = 0x20;
-// static int kPowerCtl_AutoSleep = 0x04;
-static int kPowerCtl_Measure = 0x02;
+static constexpr int kPowerCtl_UltraLowNoise = 0x20;
+// static constexpr int kPowerCtl_AutoSleep = 0x04;
+static constexpr int kPowerCtl_Measure = 0x02;

 /**
 * Constructor.  Uses the onboard CS1.
@@ -75,7 +73,7 @@ ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {

  HAL_Report(HALUsageReporting::kResourceType_ADXL362, port);

-  LiveWindow::GetInstance()->AddSensor("ADXL362", port, this);
+  SetName("ADXL362", port);
 }

 void ADXL362::SetRange(Range range) {
@@ -163,25 +161,15 @@ ADXL362::AllAxes ADXL362::GetAccelerations() {
  return data;
 }

-std::string ADXL362::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void ADXL362::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void ADXL362::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void ADXL362::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  auto x = builder.GetEntry("X").GetHandle();
+  auto y = builder.GetEntry("Y").GetHandle();
+  auto z = builder.GetEntry("Z").GetHandle();
+  builder.SetUpdateTable([=]() {
+    auto data = GetAccelerations();
+    nt::NetworkTableEntry(x).SetDouble(data.XAxis);
+    nt::NetworkTableEntry(y).SetDouble(data.YAxis);
+    nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
+  });
 }
--- a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
+++ b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
@@ -10,7 +10,6 @@
 #include <HAL/HAL.h>

 #include "DriverStation.h"
-#include "LiveWindow/LiveWindow.h"
 #include "Timer.h"

 using namespace frc;
@@ -81,7 +80,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
  Calibrate();

  HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port);
-  LiveWindow::GetInstance()->AddSensor("ADXRS450_Gyro", port, this);
+  SetName("ADXRS450_Gyro", port);
 }

 static bool CalcParity(int v) {
--- a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
@@ -9,7 +9,7 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -20,8 +20,7 @@ using namespace frc;
 void AnalogAccelerometer::InitAccelerometer() {
  HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
             m_analogInput->GetChannel());
-  LiveWindow::GetInstance()->AddSensor("Accelerometer",
-                                       m_analogInput->GetChannel(), this);
+  SetName("Accelerometer", m_analogInput->GetChannel());
 }

 /**
@@ -32,9 +31,9 @@ void AnalogAccelerometer::InitAccelerometer() {
 * @param channel The channel number for the analog input the accelerometer is
 *                connected to
 */
-AnalogAccelerometer::AnalogAccelerometer(int channel) {
-  m_analogInput = std::make_shared<AnalogInput>(channel);
-  InitAccelerometer();
+AnalogAccelerometer::AnalogAccelerometer(int channel)
+    : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
+  AddChild(m_analogInput);
 }

 /**
@@ -116,24 +115,8 @@ void AnalogAccelerometer::SetZero(double zero) { m_zeroGVoltage = zero; }
 */
 double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }

-void AnalogAccelerometer::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetAcceleration());
-}
-
-void AnalogAccelerometer::StartLiveWindowMode() {}
-
-void AnalogAccelerometer::StopLiveWindowMode() {}
-
-std::string AnalogAccelerometer::GetSmartDashboardType() const {
-  return "Accelerometer";
-}
-
-void AnalogAccelerometer::InitTable(
-    std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Accelerometer");
+  builder.AddDoubleProperty("Value", [=]() { return GetAcceleration(); },
+                            nullptr);
 }
--- a/wpilibc/src/main/native/cpp/AnalogGyro.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogGyro.cpp
@@ -14,7 +14,6 @@
 #include <HAL/HAL.h>

 #include "AnalogInput.h"
-#include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
 #include "WPIErrors.h"

@@ -27,7 +26,9 @@ using namespace frc;
 *                be used on on-board Analog Inputs 0-1.
 */
 AnalogGyro::AnalogGyro(int channel)
-    : AnalogGyro(std::make_shared<AnalogInput>(channel)) {}
+    : AnalogGyro(std::make_shared<AnalogInput>(channel)) {
+  AddChild(m_analog);
+}

 /**
 * Gyro constructor with a precreated AnalogInput object.
@@ -75,18 +76,9 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
 *                value.
 * @param offset  Preset uncalibrated value to use as the gyro offset.
 */
-AnalogGyro::AnalogGyro(int channel, int center, double offset) {
-  m_analog = std::make_shared<AnalogInput>(channel);
-  InitGyro();
-  int32_t status = 0;
-  HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
-                              offset, center, &status);
-  if (status != 0) {
-    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-    m_gyroHandle = HAL_kInvalidHandle;
-    return;
-  }
-  Reset();
+AnalogGyro::AnalogGyro(int channel, int center, double offset)
+    : AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
+  AddChild(m_analog);
 }

 /**
@@ -172,8 +164,7 @@ void AnalogGyro::InitGyro() {
  }

  HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
-  LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(),
-                                       this);
+  SetName("AnalogGyro", m_analog->GetChannel());
 }

 void AnalogGyro::Calibrate() {
--- a/wpilibc/src/main/native/cpp/AnalogInput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogInput.cpp
@@ -14,7 +14,7 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Timer.h"
 #include "WPIErrors.h"

@@ -49,8 +49,8 @@ AnalogInput::AnalogInput(int channel) {
    return;
  }

-  LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
  HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel);
+  SetName("AnalogInput", channel);
 }

 /**
@@ -414,23 +414,8 @@ double AnalogInput::PIDGet() {
  return GetAverageVoltage();
 }

-void AnalogInput::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetAverageVoltage());
-}
-
-void AnalogInput::StartLiveWindowMode() {}
-
-void AnalogInput::StopLiveWindowMode() {}
-
-std::string AnalogInput::GetSmartDashboardType() const {
-  return "Analog Input";
-}
-
-void AnalogInput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void AnalogInput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Analog Input");
+  builder.AddDoubleProperty("Value", [=]() { return GetAverageVoltage(); },
+                            nullptr);
 }
--- a/wpilibc/src/main/native/cpp/AnalogOutput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogOutput.cpp
@@ -14,7 +14,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -51,8 +52,8 @@ AnalogOutput::AnalogOutput(int channel) {
    return;
  }

-  LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
  HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
+  SetName("AnalogOutput", m_channel);
 }

 /**
@@ -93,23 +94,8 @@ double AnalogOutput::GetVoltage() const {
  return voltage;
 }

-void AnalogOutput::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetVoltage());
-}
-
-void AnalogOutput::StartLiveWindowMode() {}
-
-void AnalogOutput::StopLiveWindowMode() {}
-
-std::string AnalogOutput::GetSmartDashboardType() const {
-  return "Analog Output";
-}
-
-void AnalogOutput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void AnalogOutput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Analog Output");
+  builder.AddDoubleProperty("Value", [=]() { return GetVoltage(); },
+                            [=](double value) { SetVoltage(value); });
 }
--- a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
@@ -8,6 +8,7 @@
 #include "AnalogPotentiometer.h"

 #include "ControllerPower.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

@@ -23,9 +24,11 @@ using namespace frc;
 */
 AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
                                         double offset)
-    : m_analog_input(std::make_unique<AnalogInput>(channel)),
+    : m_analog_input(std::make_shared<AnalogInput>(channel)),
      m_fullRange(fullRange),
-      m_offset(offset) {}
+      m_offset(offset) {
+  AddChild(m_analog_input);
+}

 /**
 * Construct an Analog Potentiometer object from an existing Analog Input
@@ -76,26 +79,9 @@ double AnalogPotentiometer::Get() const {
 */
 double AnalogPotentiometer::PIDGet() { return Get(); }

-/**
- * @return the Smart Dashboard Type
- */
-std::string AnalogPotentiometer::GetSmartDashboardType() const {
-  return "Analog Input";
-}
-
 /**
 * Live Window code, only does anything if live window is activated.
 */
-void AnalogPotentiometer::InitTable(
-    std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_valueEntry = subtable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
-}
-
-void AnalogPotentiometer::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(Get());
+void AnalogPotentiometer::InitSendable(SendableBuilder& builder) {
+  m_analog_input->InitSendable(builder);
 }
--- a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
@@ -25,6 +25,7 @@ using namespace frc;
 AnalogTrigger::AnalogTrigger(int channel)
    : AnalogTrigger(new AnalogInput(channel)) {
  m_ownsAnalog = true;
+  AddChild(m_analogInput);
 }

 /**
@@ -49,6 +50,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
  m_index = index;

  HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel);
+  SetName("AnalogTrigger", input->GetChannel());
 }

 AnalogTrigger::~AnalogTrigger() {
@@ -184,3 +186,7 @@ std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
  return std::shared_ptr<AnalogTriggerOutput>(
      new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
 }
+
+void AnalogTrigger::InitSendable(SendableBuilder& builder) {
+  if (m_ownsAnalog) m_analogInput->InitSendable(builder);
+}
--- a/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
@@ -78,3 +78,5 @@ AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
 * @return The channel of the source.
 */
 int AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }
+
+void AnalogTriggerOutput::InitSendable(SendableBuilder&) {}
--- a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
+++ b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
@@ -10,7 +10,7 @@
 #include <HAL/Accelerometer.h>
 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -25,7 +25,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {

  HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
             "Built-in accelerometer");
-  LiveWindow::GetInstance()->AddSensor((std::string) "BuiltInAccel", 0, this);
+  SetName("BuiltInAccel", 0);
 }

 void BuiltInAccelerometer::SetRange(Range range) {
@@ -54,26 +54,9 @@ double BuiltInAccelerometer::GetY() { return HAL_GetAccelerometerY(); }
 */
 double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); }

-std::string BuiltInAccelerometer::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void BuiltInAccelerometer::InitTable(
-    std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable != nullptr) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void BuiltInAccelerometer::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  builder.AddDoubleProperty("X", [=]() { return GetX(); }, nullptr);
+  builder.AddDoubleProperty("Y", [=]() { return GetY(); }, nullptr);
+  builder.AddDoubleProperty("Z", [=]() { return GetZ(); }, nullptr);
 }
--- a/wpilibc/src/main/native/cpp/Buttons/Trigger.cpp
+++ b/wpilibc/src/main/native/cpp/Buttons/Trigger.cpp
@@ -11,12 +11,11 @@
 #include "Buttons/PressedButtonScheduler.h"
 #include "Buttons/ReleasedButtonScheduler.h"
 #include "Buttons/ToggleButtonScheduler.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

-bool Trigger::Grab() {
-  return Get() || (m_pressedEntry && m_pressedEntry.GetBoolean(false));
-}
+bool Trigger::Grab() { return Get() || m_sendablePressed; }

 void Trigger::WhenActive(Command* command) {
  auto pbs = new PressedButtonScheduler(Grab(), this, command);
@@ -43,13 +42,9 @@ void Trigger::ToggleWhenActive(Command* command) {
  tbs->Start();
 }

-std::string Trigger::GetSmartDashboardType() const { return "Button"; }
-
-void Trigger::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_pressedEntry = subtable->GetEntry("pressed");
-    m_pressedEntry.SetBoolean(Get());
-  } else {
-    m_pressedEntry = nt::NetworkTableEntry();
-  }
+void Trigger::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Button");
+  builder.SetSafeState([=]() { m_sendablePressed = false; });
+  builder.AddBooleanProperty("pressed", [=]() { return Grab(); },
+                             [=](bool value) { m_sendablePressed = value; });
 }
--- a/wpilibc/src/main/native/cpp/Commands/Command.cpp
+++ b/wpilibc/src/main/native/cpp/Commands/Command.cpp
@@ -11,16 +11,14 @@

 #include "Commands/CommandGroup.h"
 #include "Commands/Scheduler.h"
+#include "LiveWindow/LiveWindow.h"
 #include "RobotState.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Timer.h"
 #include "WPIErrors.h"

 using namespace frc;

-static const std::string kName = ".name";
-static const std::string kRunning = "running";
-static const std::string kIsParented = ".isParented";
-
 int Command::m_commandCounter = 0;

 /**
@@ -35,7 +33,7 @@ Command::Command() : Command("", -1.0) {}
 *
 * @param name the name for this command
 */
-Command::Command(const std::string& name) : Command(name, -1.0) {}
+Command::Command(const llvm::Twine& name) : Command(name, -1.0) {}

 /**
 * Creates a new command with the given timeout and a default name.
@@ -52,7 +50,8 @@ Command::Command(double timeout) : Command("", timeout) {}
 * @param timeout the time (in seconds) before this command "times out"
 * @see IsTimedOut()
 */
-Command::Command(const std::string& name, double timeout) {
+Command::Command(const llvm::Twine& name, double timeout)
+    : SendableBase(false) {
  // We use -1.0 to indicate no timeout.
  if (timeout < 0.0 && timeout != -1.0)
    wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
@@ -60,17 +59,14 @@ Command::Command(const std::string& name, double timeout) {
  m_timeout = timeout;

  // If name contains an empty string
-  if (name.length() == 0) {
-    m_name = std::string("Command_") + std::string(typeid(*this).name());
+  if (name.isTriviallyEmpty() ||
+      (name.isSingleStringRef() && name.getSingleStringRef().empty())) {
+    SetName("Command_" + llvm::Twine(typeid(*this).name()));
  } else {
-    m_name = name;
+    SetName(name);
  }
 }

-Command::~Command() {
-  if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
-}
-
 /**
 * Get the ID (sequence number) for this command.
 *
@@ -144,7 +140,6 @@ void Command::Removed() {
  m_initialized = false;
  m_canceled = false;
  m_running = false;
-  if (m_runningEntry) m_runningEntry.SetBoolean(false);
 }

 /**
@@ -291,10 +286,16 @@ void Command::SetParent(CommandGroup* parent) {
  } else {
    LockChanges();
    m_parent = parent;
-    if (m_isParentedEntry) m_isParentedEntry.SetBoolean(true);
  }
 }

+/**
+ * Returns whether the command has a parent.
+ *
+ * @param True if the command has a parent.
+ */
+bool Command::IsParented() const { return m_parent != nullptr; }
+
 /**
 * Clears list of subsystem requirements.
 *
@@ -317,7 +318,6 @@ void Command::ClearRequirements() { m_requirements.clear(); }
 void Command::StartRunning() {
  m_running = true;
  m_startTime = -1;
-  if (m_runningEntry) m_runningEntry.SetBoolean(true);
 }

 /**
@@ -422,28 +422,17 @@ void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
 */
 bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }

-std::string Command::GetName() const { return m_name; }
-
-std::string Command::GetSmartDashboardType() const { return "Command"; }
-
-void Command::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
-  if (subtable) {
-    subtable->GetEntry(kName).SetString(GetName());
-    m_runningEntry = subtable->GetEntry(kRunning);
-    m_runningEntry.SetBoolean(IsRunning());
-    m_isParentedEntry = subtable->GetEntry(kIsParented);
-    m_isParentedEntry.SetBoolean(m_parent != nullptr);
-
-    m_runningListener = m_runningEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          if (event.value->GetBoolean()) {
-            if (!IsRunning()) Start();
-          } else {
-            if (IsRunning()) Cancel();
-          }
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
+void Command::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Command");
+  builder.AddStringProperty(".name", [=]() { return GetName(); }, nullptr);
+  builder.AddBooleanProperty("running", [=]() { return IsRunning(); },
+                             [=](bool value) {
+                               if (value) {
+                                 if (!IsRunning()) Start();
+                               } else {
+                                 if (IsRunning()) Cancel();
+                               }
+                             });
+  builder.AddBooleanProperty(".isParented", [=]() { return IsParented(); },
+                             nullptr);
 }
--- a/wpilibc/src/main/native/cpp/Commands/PIDCommand.cpp
+++ b/wpilibc/src/main/native/cpp/Commands/PIDCommand.cpp
@@ -7,6 +7,8 @@

 #include "Commands/PIDCommand.h"

+#include "SmartDashboard/SendableBuilder.h"
+
 using namespace frc;

 PIDCommand::PIDCommand(const std::string& name, double p, double i, double d,
@@ -65,9 +67,8 @@ double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }

 double PIDCommand::GetPosition() { return ReturnPIDInput(); }

-std::string PIDCommand::GetSmartDashboardType() const { return "PIDCommand"; }
-
-void PIDCommand::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  m_controller->InitTable(subtable);
-  Command::InitTable(subtable);
+void PIDCommand::InitSendable(SendableBuilder& builder) {
+  m_controller->InitSendable(builder);
+  Command::InitSendable(builder);
+  builder.SetSmartDashboardType("PIDCommand");
 }
--- a/wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
+++ b/wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
@@ -23,6 +23,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
                           double d)
    : Subsystem(name) {
  m_controller = std::make_shared<PIDController>(p, i, d, this, this);
+  AddChild("PIDController", m_controller);
 }

 /**
@@ -38,6 +39,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
                           double d, double f)
    : Subsystem(name) {
  m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
+  AddChild("PIDController", m_controller);
 }

 /**
@@ -58,6 +60,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
    : Subsystem(name) {
  m_controller =
      std::make_shared<PIDController>(p, i, d, f, this, this, period);
+  AddChild("PIDController", m_controller);
 }

 /**
@@ -72,6 +75,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
 PIDSubsystem::PIDSubsystem(double p, double i, double d)
    : Subsystem("PIDSubsystem") {
  m_controller = std::make_shared<PIDController>(p, i, d, this, this);
+  AddChild("PIDController", m_controller);
 }

 /**
@@ -87,6 +91,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d)
 PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
    : Subsystem("PIDSubsystem") {
  m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
+  AddChild("PIDController", m_controller);
 }

 /**
@@ -106,6 +111,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
    : Subsystem("PIDSubsystem") {
  m_controller =
      std::make_shared<PIDController>(p, i, d, f, this, this, period);
+  AddChild("PIDController", m_controller);
 }

 /**
@@ -233,10 +239,3 @@ double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
 void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }

 double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
-
-std::string PIDSubsystem::GetSmartDashboardType() const { return "PIDCommand"; }
-
-void PIDSubsystem::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  m_controller->InitTable(subtable);
-  Subsystem::InitTable(subtable);
-}
--- a/wpilibc/src/main/native/cpp/Commands/Scheduler.cpp
+++ b/wpilibc/src/main/native/cpp/Commands/Scheduler.cpp
@@ -13,11 +13,15 @@
 #include "Buttons/ButtonScheduler.h"
 #include "Commands/Subsystem.h"
 #include "HLUsageReporting.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;

-Scheduler::Scheduler() { HLUsageReporting::ReportScheduler(); }
+Scheduler::Scheduler() {
+  HLUsageReporting::ReportScheduler();
+  SetName("Scheduler");
+}

 /**
 * Returns the Scheduler, creating it if one does not exist.
@@ -161,8 +165,6 @@ void Scheduler::Run() {
    }
    lock->ConfirmCommand();
  }
-
-  UpdateTable();
 }

 /**
@@ -223,12 +225,12 @@ void Scheduler::ResetAll() {
  m_cancelEntry = nt::NetworkTableEntry();
 }

-/**
- * Update the network tables associated with the Scheduler object on the
- * SmartDashboard.
- */
-void Scheduler::UpdateTable() {
-  if (m_cancelEntry && m_namesEntry && m_idsEntry) {
+void Scheduler::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Scheduler");
+  m_namesEntry = builder.GetEntry("Names");
+  m_idsEntry = builder.GetEntry("Ids");
+  m_cancelEntry = builder.GetEntry("Cancel");
+  builder.SetUpdateTable([=]() {
    // Get the list of possible commands to cancel
    auto new_toCancel = m_cancelEntry.GetValue();
    if (new_toCancel)
@@ -264,26 +266,5 @@ void Scheduler::UpdateTable() {
      m_namesEntry.SetStringArray(commands);
      m_idsEntry.SetDoubleArray(ids);
    }
-  }
-}
-
-std::string Scheduler::GetName() const { return "Scheduler"; }
-
-std::string Scheduler::GetType() const { return "Scheduler"; }
-
-std::string Scheduler::GetSmartDashboardType() const { return "Scheduler"; }
-
-void Scheduler::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_namesEntry = subTable->GetEntry("Names");
-    m_idsEntry = subTable->GetEntry("Ids");
-    m_cancelEntry = subTable->GetEntry("Cancel");
-    m_namesEntry.SetStringArray(commands);
-    m_idsEntry.SetDoubleArray(ids);
-    m_cancelEntry.SetDoubleArray(toCancel);
-  } else {
-    m_namesEntry = nt::NetworkTableEntry();
-    m_idsEntry = nt::NetworkTableEntry();
-    m_cancelEntry = nt::NetworkTableEntry();
-  }
+  });
 }
--- a/wpilibc/src/main/native/cpp/Commands/Subsystem.cpp
+++ b/wpilibc/src/main/native/cpp/Commands/Subsystem.cpp
@@ -9,6 +9,8 @@

 #include "Commands/Command.h"
 #include "Commands/Scheduler.h"
+#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -18,10 +20,11 @@ using namespace frc;
 *
 * @param name the name of the subsystem
 */
-Subsystem::Subsystem(const std::string& name) {
-  m_name = name;
+Subsystem::Subsystem(const llvm::Twine& name) {
+  SetName(name, name);
  Scheduler::GetInstance()->RegisterSubsystem(this);
 }
+
 /**
 * Initialize the default command for this subsystem.
 *
@@ -64,14 +67,6 @@ void Subsystem::SetDefaultCommand(Command* command) {

    m_defaultCommand = command;
  }
-  if (m_hasDefaultEntry && m_defaultEntry) {
-    if (m_defaultCommand != nullptr) {
-      m_hasDefaultEntry.SetBoolean(true);
-      m_defaultEntry.SetString(m_defaultCommand->GetName());
-    } else {
-      m_hasDefaultEntry.SetBoolean(false);
-    }
-  }
 }

 /**
@@ -87,6 +82,20 @@ Command* Subsystem::GetDefaultCommand() {
  return m_defaultCommand;
 }

+/**
+ * Returns the default command name, or empty string is there is none.
+ *
+ * @return the default command name
+ */
+llvm::StringRef Subsystem::GetDefaultCommandName() {
+  Command* defaultCommand = GetDefaultCommand();
+  if (defaultCommand) {
+    return defaultCommand->GetName();
+  } else {
+    return llvm::StringRef();
+  }
+}
+
 /**
 * Sets the current command.
 *
@@ -104,6 +113,20 @@ void Subsystem::SetCurrentCommand(Command* command) {
 */
 Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }

+/**
+ * Returns the current command name, or empty string if no current command.
+ *
+ * @return the current command name
+ */
+llvm::StringRef Subsystem::GetCurrentCommandName() const {
+  Command* currentCommand = GetCurrentCommand();
+  if (currentCommand) {
+    return currentCommand->GetName();
+  } else {
+    return llvm::StringRef();
+  }
+}
+
 /**
 * When the run method of the scheduler is called this method will be called.
 */
@@ -118,41 +141,78 @@ void Subsystem::Periodic() {}
 * avoid that situation.
 */
 void Subsystem::ConfirmCommand() {
-  if (m_currentCommandChanged) {
-    if (m_hasCommandEntry && m_commandEntry) {
-      if (m_currentCommand != nullptr) {
-        m_hasCommandEntry.SetBoolean(true);
-        m_commandEntry.SetString(m_currentCommand->GetName());
-      } else {
-        m_hasCommandEntry.SetBoolean(false);
-      }
-    }
-    m_currentCommandChanged = false;
-  }
+  if (m_currentCommandChanged) m_currentCommandChanged = false;
 }

-std::string Subsystem::GetName() const { return m_name; }
-
-std::string Subsystem::GetSmartDashboardType() const { return "Subsystem"; }
-
-void Subsystem::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable != nullptr) {
-    m_hasDefaultEntry = subtable->GetEntry("hasDefault");
-    m_defaultEntry = subtable->GetEntry("default");
-    m_hasCommandEntry = subtable->GetEntry("hasCommand");
-    m_commandEntry = subtable->GetEntry("command");
-
-    if (m_defaultCommand != nullptr) {
-      m_hasDefaultEntry.SetBoolean(true);
-      m_defaultEntry.SetString(m_defaultCommand->GetName());
-    } else {
-      m_hasDefaultEntry.SetBoolean(false);
-    }
-    if (m_currentCommand != nullptr) {
-      m_hasCommandEntry.SetBoolean(true);
-      m_commandEntry.SetString(m_currentCommand->GetName());
-    } else {
-      m_hasCommandEntry.SetBoolean(false);
-    }
-  }
+/**
+ * Associate a Sendable with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+void Subsystem::AddChild(const llvm::Twine& name,
+                         std::shared_ptr<Sendable> child) {
+  AddChild(name, *child);
+}
+
+/**
+ * Associate a Sendable with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+void Subsystem::AddChild(const llvm::Twine& name, Sendable* child) {
+  AddChild(name, *child);
+}
+
+/**
+ * Associate a Sendable with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+void Subsystem::AddChild(const llvm::Twine& name, Sendable& child) {
+  child.SetName(GetSubsystem(), name);
+  LiveWindow::GetInstance()->Add(&child);
+}
+
+/**
+ * Associate a {@link Sendable} with this Subsystem.
+ *
+ * @param child sendable
+ */
+void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
+
+/**
+ * Associate a {@link Sendable} with this Subsystem.
+ *
+ * @param child sendable
+ */
+void Subsystem::AddChild(Sendable* child) { AddChild(*child); }
+
+/**
+ * Associate a {@link Sendable} with this Subsystem.
+ *
+ * @param child sendable
+ */
+void Subsystem::AddChild(Sendable& child) {
+  child.SetSubsystem(GetSubsystem());
+  LiveWindow::GetInstance()->Add(&child);
+}
+
+void Subsystem::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Subsystem");
+
+  builder.AddBooleanProperty(
+      "hasDefault", [=]() { return m_defaultCommand != nullptr; }, nullptr);
+  builder.AddStringProperty("default",
+                            [=]() { return GetDefaultCommandName(); }, nullptr);
+
+  builder.AddBooleanProperty(
+      "hasCommand", [=]() { return m_currentCommand != nullptr; }, nullptr);
+  builder.AddStringProperty("command",
+                            [=]() { return GetCurrentCommandName(); }, nullptr);
 }
--- a/wpilibc/src/main/native/cpp/Compressor.cpp
+++ b/wpilibc/src/main/native/cpp/Compressor.cpp
@@ -12,6 +12,7 @@
 #include <HAL/Ports.h>
 #include <HAL/Solenoid.h>

+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -32,13 +33,7 @@ Compressor::Compressor(int pcmID) : m_module(pcmID) {
  SetClosedLoopControl(true);

  HAL_Report(HALUsageReporting::kResourceType_Compressor, pcmID);
-}
-
-/**
- * Destructor.
- */
-Compressor::~Compressor() {
-  if (m_enabledListener != 0) m_enabledEntry.RemoveListener(m_enabledListener);
+  SetName("Compressor", pcmID);
 }

 /**
@@ -308,42 +303,15 @@ void Compressor::ClearAllPCMStickyFaults() {
  }
 }

-void Compressor::UpdateTable() {
-  if (m_enabledEntry) m_enabledEntry.SetBoolean(Enabled());
-  if (m_pressureSwitchEntry)
-    m_pressureSwitchEntry.SetBoolean(GetPressureSwitchValue());
-}
-
-void Compressor::StartLiveWindowMode() {
-  if (m_enabledEntry) {
-    m_enabledListener = m_enabledEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          if (event.value->GetBoolean())
-            Start();
-          else
-            Stop();
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Compressor::StopLiveWindowMode() {
-  if (m_enabledListener != 0) {
-    m_enabledEntry.RemoveListener(m_enabledListener);
-    m_enabledListener = 0;
-  }
-}
-
-std::string Compressor::GetSmartDashboardType() const { return "Compressor"; }
-
-void Compressor::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_enabledEntry = subTable->GetEntry("Enabled");
-    m_pressureSwitchEntry = subTable->GetEntry("Pressure switch");
-    UpdateTable();
-  } else {
-    m_enabledEntry = nt::NetworkTableEntry();
-    m_pressureSwitchEntry = nt::NetworkTableEntry();
-  }
+void Compressor::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Compressor");
+  builder.AddBooleanProperty("Enabled", [=]() { return Enabled(); },
+                             [=](bool value) {
+                               if (value)
+                                 Start();
+                               else
+                                 Stop();
+                             });
+  builder.AddBooleanProperty(
+      "Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
 }
--- a/wpilibc/src/main/native/cpp/Counter.cpp
+++ b/wpilibc/src/main/native/cpp/Counter.cpp
@@ -11,6 +11,7 @@

 #include "AnalogTrigger.h"
 #include "DigitalInput.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -36,6 +37,7 @@ Counter::Counter(Mode mode) {
  SetMaxPeriod(.5);

  HAL_Report(HALUsageReporting::kResourceType_Counter, m_index, mode);
+  SetName("Counter", m_index);
 }

 /**
@@ -181,6 +183,7 @@ Counter::~Counter() {
 void Counter::SetUpSource(int channel) {
  if (StatusIsFatal()) return;
  SetUpSource(std::make_shared<DigitalInput>(channel));
+  AddChild(m_upSource);
 }

 /**
@@ -287,6 +290,7 @@ void Counter::ClearUpSource() {
 void Counter::SetDownSource(int channel) {
  if (StatusIsFatal()) return;
  SetDownSource(std::make_shared<DigitalInput>(channel));
+  AddChild(m_downSource);
 }

 /**
@@ -603,21 +607,7 @@ void Counter::SetReverseDirection(bool reverseDirection) {
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }

-void Counter::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(Get());
-}
-
-void Counter::StartLiveWindowMode() {}
-
-void Counter::StopLiveWindowMode() {}
-
-std::string Counter::GetSmartDashboardType() const { return "Counter"; }
-
-void Counter::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Counter::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Counter");
+  builder.AddDoubleProperty("Value", [=]() { return Get(); }, nullptr);
 }
--- a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
@@ -35,6 +35,7 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
  *index = true;

  HAL_Report(HALUsageReporting::kResourceType_DigitalFilter, m_channelIndex);
+  SetName("DigitalGlitchFilter", m_channelIndex);
 }

 DigitalGlitchFilter::~DigitalGlitchFilter() {
@@ -199,3 +200,5 @@ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
  return static_cast<uint64_t>(fpgaCycles) * 1000L /
         static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);
 }
+
+void DigitalGlitchFilter::InitSendable(SendableBuilder&) {}
--- a/wpilibc/src/main/native/cpp/DigitalInput.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalInput.cpp
@@ -15,7 +15,7 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -49,8 +49,8 @@ DigitalInput::DigitalInput(int channel) {
    return;
  }

-  LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
  HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
+  SetName("DigitalInput", channel);
 }

 /**
@@ -103,23 +103,7 @@ AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
  return (AnalogTriggerType)0;
 }

-void DigitalInput::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetBoolean(Get());
-}
-
-void DigitalInput::StartLiveWindowMode() {}
-
-void DigitalInput::StopLiveWindowMode() {}
-
-std::string DigitalInput::GetSmartDashboardType() const {
-  return "DigitalInput";
-}
-
-void DigitalInput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void DigitalInput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Digital Input");
+  builder.AddBooleanProperty("Value", [=]() { return Get(); }, nullptr);
 }
--- a/wpilibc/src/main/native/cpp/DigitalOutput.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
@@ -15,6 +15,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -32,7 +34,7 @@ DigitalOutput::DigitalOutput(int channel) {
  llvm::raw_svector_ostream buf(str);

  m_pwmGenerator = HAL_kInvalidHandle;
-  if (!CheckDigitalChannel(channel)) {
+  if (!SensorBase::CheckDigitalChannel(channel)) {
    buf << "Digital Channel " << channel;
    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
    m_channel = std::numeric_limits<int>::max();
@@ -51,13 +53,13 @@ DigitalOutput::DigitalOutput(int channel) {
  }

  HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel);
+  SetName("DigitalOutput", channel);
 }

 /**
 * Free the resources associated with a digital output.
 */
 DigitalOutput::~DigitalOutput() {
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
  if (StatusIsFatal()) return;
  // Disable the PWM in case it was running.
  DisablePWM();
@@ -190,7 +192,8 @@ void DigitalOutput::DisablePWM() {
  int32_t status = 0;

  // Disable the output by routing to a dead bit.
-  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
+  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorBase::kDigitalChannels,
+                                 &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

  HAL_FreeDigitalPWM(m_pwmGenerator, &status);
@@ -215,52 +218,8 @@ void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }

-/**
- * @return The HAL Handle to the specified source.
- */
-HAL_Handle DigitalOutput::GetPortHandleForRouting() const { return m_handle; }
-
-/**
- * Is source an AnalogTrigger
- */
-bool DigitalOutput::IsAnalogTrigger() const { return false; }
-
-/**
- * @return The type of analog trigger output to be used. 0 for Digitals
- */
-AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
-  return (AnalogTriggerType)0;
-}
-
-void DigitalOutput::UpdateTable() {}
-
-void DigitalOutput::StartLiveWindowMode() {
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          Set(event.value->GetBoolean());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void DigitalOutput::StopLiveWindowMode() {
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string DigitalOutput::GetSmartDashboardType() const {
-  return "Digital Output";
-}
-
-void DigitalOutput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void DigitalOutput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Digital Output");
+  builder.AddBooleanProperty("Value", [=]() { return Get(); },
+                             [=](bool value) { Set(value); });
 }
--- a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
+++ b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
@@ -13,7 +13,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -27,7 +28,7 @@ using namespace frc;
 * @param reverseChannel The reverse channel number on the PCM (0..7).
 */
 DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
-    : DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel,
+    : DoubleSolenoid(SensorBase::GetDefaultSolenoidModule(), forwardChannel,
                     reverseChannel) {}

 /**
@@ -44,17 +45,17 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
      m_reverseChannel(reverseChannel) {
  llvm::SmallString<32> str;
  llvm::raw_svector_ostream buf(str);
-  if (!CheckSolenoidModule(m_moduleNumber)) {
+  if (!SensorBase::CheckSolenoidModule(m_moduleNumber)) {
    buf << "Solenoid Module " << m_moduleNumber;
    wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
    return;
  }
-  if (!CheckSolenoidChannel(m_forwardChannel)) {
+  if (!SensorBase::CheckSolenoidChannel(m_forwardChannel)) {
    buf << "Solenoid Module " << m_forwardChannel;
    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
    return;
  }
-  if (!CheckSolenoidChannel(m_reverseChannel)) {
+  if (!SensorBase::CheckSolenoidChannel(m_reverseChannel)) {
    buf << "Solenoid Module " << m_reverseChannel;
    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
    return;
@@ -89,8 +90,7 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
             m_moduleNumber);
  HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
             m_moduleNumber);
-  LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber,
-                                         m_forwardChannel, this);
+  SetName("DoubleSolenoid", m_moduleNumber, m_forwardChannel);
 }

 /**
@@ -99,7 +99,6 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
 DoubleSolenoid::~DoubleSolenoid() {
  HAL_FreeSolenoidPort(m_forwardHandle);
  HAL_FreeSolenoidPort(m_reverseHandle);
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
 }

 /**
@@ -183,56 +182,27 @@ bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
  return (blackList & m_reverseMask) != 0;
 }

-void DoubleSolenoid::UpdateTable() {
-  if (m_valueEntry) {
-    switch (Get()) {
-      case kForward:
-        m_valueEntry.SetString("Forward");
-        break;
-      case kReverse:
-        m_valueEntry.SetString("Reverse");
-        break;
-      default:
-        m_valueEntry.SetString("Off");
-        break;
-    }
-  }
-}
-
-void DoubleSolenoid::StartLiveWindowMode() {
-  Set(kOff);
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsString()) return;
-          Value lvalue = kOff;
-          if (event.value->GetString() == "Forward")
-            lvalue = kForward;
-          else if (event.value->GetString() == "Reverse")
-            lvalue = kReverse;
-          Set(lvalue);
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void DoubleSolenoid::StopLiveWindowMode() {
-  Set(kOff);
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string DoubleSolenoid::GetSmartDashboardType() const {
-  return "Double Solenoid";
-}
-
-void DoubleSolenoid::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Double Solenoid");
+  builder.SetSafeState([=]() { Set(kOff); });
+  builder.AddSmallStringProperty(
+      "Value",
+      [=](llvm::SmallVectorImpl<char>& buf) -> llvm::StringRef {
+        switch (Get()) {
+          case kForward:
+            return "Forward";
+          case kReverse:
+            return "Reverse";
+          default:
+            return "Off";
+        }
+      },
+      [=](llvm::StringRef value) {
+        Value lvalue = kOff;
+        if (value == "Forward")
+          lvalue = kForward;
+        else if (value == "Reverse")
+          lvalue = kReverse;
+        Set(lvalue);
+      });
 }
--- a/wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp
@@ -11,6 +11,7 @@

 #include <HAL/HAL.h>

+#include "SmartDashboard/SendableBuilder.h"
 #include "SpeedController.h"

 using namespace frc;
@@ -23,7 +24,13 @@ using namespace frc;
 */
 DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
                                     SpeedController& rightMotor)
-    : m_leftMotor(leftMotor), m_rightMotor(rightMotor) {}
+    : m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
+  AddChild(&m_leftMotor);
+  AddChild(&m_rightMotor);
+  static int instances = 0;
+  ++instances;
+  SetName("DifferentialDrive", instances);
+}

 /**
 * Arcade drive method for differential drive platform.
@@ -249,3 +256,13 @@ void DifferentialDrive::StopMotor() {
 void DifferentialDrive::GetDescription(llvm::raw_ostream& desc) const {
  desc << "DifferentialDrive";
 }
+
+void DifferentialDrive::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("DifferentialDrive");
+  builder.AddDoubleProperty("Left Motor Speed",
+                            [=]() { return m_leftMotor.Get(); },
+                            [=](double value) { m_leftMotor.Set(value); });
+  builder.AddDoubleProperty("Right Motor Speed",
+                            [=]() { return m_rightMotor.Get(); },
+                            [=](double value) { m_rightMotor.Set(value); });
+}
--- a/wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp
+++ b/wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp
@@ -12,6 +12,7 @@

 #include <HAL/HAL.h>

+#include "SmartDashboard/SendableBuilder.h"
 #include "SpeedController.h"

 using namespace frc;
@@ -62,6 +63,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
                std::sin(rightMotorAngle * (kPi / 180.0))};
  m_backVec = {std::cos(backMotorAngle * (kPi / 180.0)),
               std::sin(backMotorAngle * (kPi / 180.0))};
+  AddChild(&m_leftMotor);
+  AddChild(&m_rightMotor);
+  AddChild(&m_backMotor);
+  static int instances = 0;
+  ++instances;
+  SetName("KilloughDrive", instances);
 }

 /**
@@ -146,3 +153,16 @@ void KilloughDrive::StopMotor() {
 void KilloughDrive::GetDescription(llvm::raw_ostream& desc) const {
  desc << "KilloughDrive";
 }
+
+void KilloughDrive::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("KilloughDrive");
+  builder.AddDoubleProperty("Left Motor Speed",
+                            [=]() { return m_leftMotor.Get(); },
+                            [=](double value) { m_leftMotor.Set(value); });
+  builder.AddDoubleProperty("Right Motor Speed",
+                            [=]() { return m_rightMotor.Get(); },
+                            [=](double value) { m_rightMotor.Set(value); });
+  builder.AddDoubleProperty("Back Motor Speed",
+                            [=]() { return m_backMotor.Get(); },
+                            [=](double value) { m_backMotor.Set(value); });
+}
--- a/wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp
@@ -13,6 +13,7 @@
 #include <HAL/HAL.h>

 #include "Drive/Vector2d.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "SpeedController.h"

 using namespace frc;
@@ -31,7 +32,15 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
    : m_frontLeftMotor(frontLeftMotor),
      m_rearLeftMotor(rearLeftMotor),
      m_frontRightMotor(frontRightMotor),
-      m_rearRightMotor(rearRightMotor) {}
+      m_rearRightMotor(rearRightMotor) {
+  AddChild(&m_frontLeftMotor);
+  AddChild(&m_rearLeftMotor);
+  AddChild(&m_frontRightMotor);
+  AddChild(&m_rearRightMotor);
+  static int instances = 0;
+  ++instances;
+  SetName("MecanumDrive", instances);
+}

 /**
 * Drive method for Mecanum platform.
@@ -118,3 +127,19 @@ void MecanumDrive::StopMotor() {
 void MecanumDrive::GetDescription(llvm::raw_ostream& desc) const {
  desc << "MecanumDrive";
 }
+
+void MecanumDrive::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("MecanumDrive");
+  builder.AddDoubleProperty("Front Left Motor Speed",
+                            [=]() { return m_frontLeftMotor.Get(); },
+                            [=](double value) { m_frontLeftMotor.Set(value); });
+  builder.AddDoubleProperty(
+      "Front Right Motor Speed", [=]() { return m_frontRightMotor.Get(); },
+      [=](double value) { m_frontRightMotor.Set(value); });
+  builder.AddDoubleProperty("Rear Left Motor Speed",
+                            [=]() { return m_rearLeftMotor.Get(); },
+                            [=](double value) { m_rearLeftMotor.Set(value); });
+  builder.AddDoubleProperty("Rear Right Motor Speed",
+                            [=]() { return m_rearRightMotor.Get(); },
+                            [=](double value) { m_rearRightMotor.Set(value); });
+}
--- a/wpilibc/src/main/native/cpp/Encoder.cpp
+++ b/wpilibc/src/main/native/cpp/Encoder.cpp
@@ -10,7 +10,7 @@
 #include <HAL/HAL.h>

 #include "DigitalInput.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -45,8 +45,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {

  HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
             encodingType);
-  LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
-                                       this);
+  SetName("Encoder", m_aSource->GetChannel());
 }

 /**
@@ -77,6 +76,8 @@ 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);
+  AddChild(m_aSource);
+  AddChild(m_bSource);
 }

 /**
@@ -371,6 +372,19 @@ void Encoder::SetDistancePerPulse(double distancePerPulse) {
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }

+/**
+ * Get the distance per pulse for this encoder.
+ *
+ * @return The scale factor that will be used to convert pulses to useful units.
+ */
+double Encoder::GetDistancePerPulse() const {
+  if (StatusIsFatal()) return 0.0;
+  int32_t status = 0;
+  double distancePerPulse = HAL_GetEncoderDistancePerPulse(m_encoder, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return distancePerPulse;
+}
+
 /**
 * Set the direction sensing for this encoder.
 *
@@ -479,41 +493,18 @@ int Encoder::GetFPGAIndex() const {
  return val;
 }

-void Encoder::UpdateTable() {
-  if (m_speedEntry) m_speedEntry.SetDouble(GetRate());
-  if (m_distanceEntry) m_distanceEntry.SetDouble(GetDistance());
-  if (m_distancePerTickEntry) {
-    int32_t status = 0;
-    double distancePerPulse =
-        HAL_GetEncoderDistancePerPulse(m_encoder, &status);
-    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-    m_distancePerTickEntry.SetDouble(distancePerPulse);
-  }
-}
-
-void Encoder::StartLiveWindowMode() {}
-
-void Encoder::StopLiveWindowMode() {}
-
-std::string Encoder::GetSmartDashboardType() const {
+void Encoder::InitSendable(SendableBuilder& builder) {
  int32_t status = 0;
  HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
  if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X)
-    return "Quadrature Encoder";
+    builder.SetSmartDashboardType("Quadrature Encoder");
  else
-    return "Encoder";
-}
+    builder.SetSmartDashboardType("Encoder");

-void Encoder::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_speedEntry = subTable->GetEntry("Speed");
-    m_distanceEntry = subTable->GetEntry("Distance");
-    m_distancePerTickEntry = subTable->GetEntry("Distance per Tick");
-    UpdateTable();
-  } else {
-    m_speedEntry = nt::NetworkTableEntry();
-    m_distanceEntry = nt::NetworkTableEntry();
-    m_distancePerTickEntry = nt::NetworkTableEntry();
-  }
+  builder.AddDoubleProperty("Speed", [=]() { return GetRate(); }, nullptr);
+  builder.AddDoubleProperty("Distance", [=]() { return GetDistance(); },
+                            nullptr);
+  builder.AddDoubleProperty("Distance per Tick",
+                            [=]() { return GetDistancePerPulse(); }, nullptr);
 }
--- a/wpilibc/src/main/native/cpp/GearTooth.cpp
+++ b/wpilibc/src/main/native/cpp/GearTooth.cpp
@@ -7,7 +7,7 @@

 #include "GearTooth.h"

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

@@ -32,7 +32,7 @@ void GearTooth::EnableDirectionSensing(bool directionSensitive) {
 */
 GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
  EnableDirectionSensing(directionSensitive);
-  LiveWindow::GetInstance()->AddSensor("GearTooth", channel, this);
+  SetName("GearTooth", channel);
 }

 /**
@@ -48,6 +48,7 @@ GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
 GearTooth::GearTooth(DigitalSource* source, bool directionSensitive)
    : Counter(source) {
  EnableDirectionSensing(directionSensitive);
+  SetName("GearTooth", source->GetChannel());
 }

 /**
@@ -64,6 +65,10 @@ GearTooth::GearTooth(std::shared_ptr<DigitalSource> source,
                     bool directionSensitive)
    : Counter(source) {
  EnableDirectionSensing(directionSensitive);
+  SetName("GearTooth", source->GetChannel());
 }

-std::string GearTooth::GetSmartDashboardType() const { return "GearTooth"; }
+void GearTooth::InitSendable(SendableBuilder& builder) {
+  Counter::InitSendable(builder);
+  builder.SetSmartDashboardType("Gear Tooth");
+}
--- a/wpilibc/src/main/native/cpp/GyroBase.cpp
+++ b/wpilibc/src/main/native/cpp/GyroBase.cpp
@@ -7,7 +7,7 @@

 #include "GyroBase.h"

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -29,21 +29,7 @@ double GyroBase::PIDGet() {
  }
 }

-void GyroBase::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetAngle());
-}
-
-void GyroBase::StartLiveWindowMode() {}
-
-void GyroBase::StopLiveWindowMode() {}
-
-std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
-
-void GyroBase::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void GyroBase::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Gyro");
+  builder.AddDoubleProperty("Value", [=]() { return GetAngle(); }, nullptr);
 }
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -12,6 +12,7 @@
 #include <HAL/HAL.h>
 #include <llvm/raw_ostream.h>

+#include "Commands/Scheduler.h"
 #include "LiveWindow/LiveWindow.h"

 using namespace frc;
@@ -191,4 +192,5 @@ void IterativeRobotBase::LoopFunc() {
    TestPeriodic();
  }
  RobotPeriodic();
+  LiveWindow::GetInstance()->UpdateValues();
 }
--- a/wpilibc/src/main/native/cpp/Jaguar.cpp
+++ b/wpilibc/src/main/native/cpp/Jaguar.cpp
@@ -9,8 +9,6 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;

 /**
@@ -35,5 +33,5 @@ Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
  SetZeroLatch();

  HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
+  SetName("Jaguar", GetChannel());
 }
--- a/wpilibc/src/main/native/cpp/LiveWindow/LiveWindow.cpp
+++ b/wpilibc/src/main/native/cpp/LiveWindow/LiveWindow.cpp
@@ -9,14 +9,52 @@

 #include <algorithm>

+#include <llvm/DenseMap.h>
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
+#include <support/mutex.h>

+#include "Commands/Scheduler.h"
+#include "SmartDashboard/SendableBuilderImpl.h"
 #include "networktables/NetworkTable.h"
+#include "networktables/NetworkTableEntry.h"
 #include "networktables/NetworkTableInstance.h"

 using namespace frc;

+using llvm::Twine;
+
+struct LiveWindow::Impl {
+  Impl();
+
+  struct Component {
+    std::shared_ptr<Sendable> sendable;
+    Sendable* parent = nullptr;
+    SendableBuilderImpl builder;
+    bool firstTime = true;
+    bool telemetryEnabled = true;
+  };
+
+  wpi::mutex mutex;
+
+  llvm::DenseMap<void*, Component> components;
+
+  std::shared_ptr<nt::NetworkTable> liveWindowTable;
+  std::shared_ptr<nt::NetworkTable> statusTable;
+  nt::NetworkTableEntry enabledEntry;
+
+  bool startLiveWindow = false;
+  bool liveWindowEnabled = false;
+  bool telemetryEnabled = true;
+};
+
+LiveWindow::Impl::Impl()
+    : liveWindowTable(
+          nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
+  statusTable = liveWindowTable->GetSubTable(".status");
+  enabledEntry = statusTable->GetEntry("LW Enabled");
+}
+
 /**
 * Get an instance of the LiveWindow main class.
 *
@@ -33,11 +71,11 @@ LiveWindow* LiveWindow::GetInstance() {
 *
 * Allocate the necessary tables.
 */
-LiveWindow::LiveWindow() : m_scheduler(Scheduler::GetInstance()) {
-  m_liveWindowTable =
-      nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow");
-  m_statusTable = m_liveWindowTable->GetSubTable(".status");
-  m_enabledEntry = m_statusTable->GetEntry("LW Enabled");
+LiveWindow::LiveWindow() : m_impl(new Impl) {}
+
+bool LiveWindow::IsEnabled() const {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  return m_impl->liveWindowEnabled;
 }

 /**
@@ -46,25 +84,21 @@ LiveWindow::LiveWindow() : m_scheduler(Scheduler::GetInstance()) {
 * If it changes to enabled, start livewindow running otherwise stop it
 */
 void LiveWindow::SetEnabled(bool enabled) {
-  if (m_enabled == enabled) return;
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  if (m_impl->liveWindowEnabled == enabled) return;
+  Scheduler* scheduler = Scheduler::GetInstance();
  if (enabled) {
-    if (m_firstTime) {
-      InitializeLiveWindowComponents();
-      m_firstTime = false;
-    }
-    m_scheduler->SetEnabled(false);
-    m_scheduler->RemoveAll();
-    for (auto& elem : m_components) {
-      elem.first->StartLiveWindowMode();
-    }
+    scheduler->SetEnabled(false);
+    scheduler->RemoveAll();
  } else {
-    for (auto& elem : m_components) {
-      elem.first->StopLiveWindowMode();
+    for (auto& i : m_impl->components) {
+      i.getSecond().builder.StopLiveWindowMode();
    }
-    m_scheduler->SetEnabled(true);
+    scheduler->SetEnabled(true);
  }
-  m_enabled = enabled;
-  m_enabledEntry.SetBoolean(m_enabled);
+  m_impl->startLiveWindow = enabled;
+  m_impl->liveWindowEnabled = enabled;
+  m_impl->enabledEntry.SetBoolean(enabled);
 }

 /**
@@ -74,41 +108,38 @@ void LiveWindow::SetEnabled(bool enabled) {
 *
 * @param subsystem The subsystem this component is part of.
 * @param name      The name of this component.
- * @param component A LiveWindowSendable component that represents a sensor.
+ * @param component A Sendable component that represents a sensor.
 */
 //@{
 /**
 * @brief Use a STL smart pointer to share ownership of component.
+ * @deprecated Use Sendable::SetName() instead.
 */
-void LiveWindow::AddSensor(const std::string& subsystem,
-                           const std::string& name,
-                           std::shared_ptr<LiveWindowSendable> component) {
-  m_components[component].subsystem = subsystem;
-  m_components[component].name = name;
-  m_components[component].isSensor = true;
+void LiveWindow::AddSensor(const llvm::Twine& subsystem,
+                           const llvm::Twine& name,
+                           std::shared_ptr<Sendable> component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }

 /**
 * @brief Pass a reference to LiveWindow and retain ownership of the component.
+ * @deprecated Use Sendable::SetName() instead.
 */
-void LiveWindow::AddSensor(const std::string& subsystem,
-                           const std::string& name,
-                           LiveWindowSendable& component) {
-  AddSensor(subsystem, name,
-            std::shared_ptr<LiveWindowSendable>(&component,
-                                                [](LiveWindowSendable*) {}));
+void LiveWindow::AddSensor(const llvm::Twine& subsystem,
+                           const llvm::Twine& name, Sendable& component) {
+  Add(&component);
+  component.SetName(subsystem, name);
 }

 /**
 * @brief Use a raw pointer to the LiveWindow.
- * @deprecated Prefer smart pointers or references.
+ * @deprecated Use Sendable::SetName() instead.
 */
-void LiveWindow::AddSensor(const std::string& subsystem,
-                           const std::string& name,
-                           LiveWindowSendable* component) {
-  AddSensor(subsystem, name,
-            std::shared_ptr<LiveWindowSendable>(
-                component, NullDeleter<LiveWindowSendable>()));
+void LiveWindow::AddSensor(const llvm::Twine& subsystem,
+                           const llvm::Twine& name, Sendable* component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }
 //@}

@@ -116,87 +147,161 @@ void LiveWindow::AddSensor(const std::string& subsystem,
 * @name AddActuator(subsystem, name, component)
 *
 * Add an Actuator associated with the subsystem and call it by the given name.
+ * @deprecated Use Sendable::SetName() instead.
 *
 * @param subsystem The subsystem this component is part of.
 * @param name      The name of this component.
- * @param component A LiveWindowSendable component that represents a actuator.
+ * @param component A Sendable component that represents a actuator.
 */
 //@{
 /**
 * @brief Use a STL smart pointer to share ownership of component.
 */
-void LiveWindow::AddActuator(const std::string& subsystem,
-                             const std::string& name,
-                             std::shared_ptr<LiveWindowSendable> component) {
-  m_components[component].subsystem = subsystem;
-  m_components[component].name = name;
-  m_components[component].isSensor = false;
+void LiveWindow::AddActuator(const llvm::Twine& subsystem,
+                             const llvm::Twine& name,
+                             std::shared_ptr<Sendable> component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }

 /**
 * @brief Pass a reference to LiveWindow and retain ownership of the component.
+ * @deprecated Use Sendable::SetName() instead.
 */
-void LiveWindow::AddActuator(const std::string& subsystem,
-                             const std::string& name,
-                             LiveWindowSendable& component) {
-  AddActuator(subsystem, name,
-              std::shared_ptr<LiveWindowSendable>(&component,
-                                                  [](LiveWindowSendable*) {}));
+void LiveWindow::AddActuator(const llvm::Twine& subsystem,
+                             const llvm::Twine& name, Sendable& component) {
+  Add(&component);
+  component.SetName(subsystem, name);
 }

 /**
 * @brief Use a raw pointer to the LiveWindow.
- * @deprecated Prefer smart pointers or references.
+ * @deprecated Use Sendable::SetName() instead.
 */
-void LiveWindow::AddActuator(const std::string& subsystem,
-                             const std::string& name,
-                             LiveWindowSendable* component) {
-  AddActuator(subsystem, name,
-              std::shared_ptr<LiveWindowSendable>(
-                  component, NullDeleter<LiveWindowSendable>()));
+void LiveWindow::AddActuator(const llvm::Twine& subsystem,
+                             const llvm::Twine& name, Sendable* component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }
 //@}

 /**
 * Meant for internal use in other WPILib classes.
+ * @deprecated Use SensorBase::SetName() instead.
 */
-void LiveWindow::AddSensor(std::string type, int channel,
-                           LiveWindowSendable* component) {
-  llvm::SmallString<128> buf;
-  llvm::raw_svector_ostream oss(buf);
-  oss << type << "[" << channel << "]";
-  AddSensor("Ungrouped", oss.str(), component);
-  std::shared_ptr<LiveWindowSendable> component_stl(
-      component, NullDeleter<LiveWindowSendable>());
-  if (std::find(m_sensors.begin(), m_sensors.end(), component_stl) ==
-      m_sensors.end())
-    m_sensors.push_back(component_stl);
+void LiveWindow::AddSensor(const llvm::Twine& type, int channel,
+                           Sendable* component) {
+  Add(component);
+  component->SetName("Ungrouped",
+                     type + Twine('[') + Twine(channel) + Twine(']'));
 }

 /**
 * Meant for internal use in other WPILib classes.
+ * @deprecated Use SensorBase::SetName() instead.
 */
-void LiveWindow::AddActuator(std::string type, int channel,
-                             LiveWindowSendable* component) {
-  llvm::SmallString<128> buf;
-  llvm::raw_svector_ostream oss(buf);
-  oss << type << "[" << channel << "]";
-  AddActuator("Ungrouped", oss.str(),
-              std::shared_ptr<LiveWindowSendable>(component,
-                                                  [](LiveWindowSendable*) {}));
+void LiveWindow::AddActuator(const llvm::Twine& type, int channel,
+                             Sendable* component) {
+  Add(component);
+  component->SetName("Ungrouped",
+                     type + Twine('[') + Twine(channel) + Twine(']'));
 }

 /**
 * Meant for internal use in other WPILib classes.
+ * @deprecated Use SensorBase::SetName() instead.
 */
-void LiveWindow::AddActuator(std::string type, int module, int channel,
-                             LiveWindowSendable* component) {
-  llvm::SmallString<128> buf;
-  llvm::raw_svector_ostream oss(buf);
-  oss << type << "[" << module << "," << channel << "]";
-  AddActuator("Ungrouped", oss.str(),
-              std::shared_ptr<LiveWindowSendable>(component,
-                                                  [](LiveWindowSendable*) {}));
+void LiveWindow::AddActuator(const llvm::Twine& type, int module, int channel,
+                             Sendable* component) {
+  Add(component);
+  component->SetName("Ungrouped", type + Twine('[') + Twine(module) +
+                                      Twine(',') + Twine(channel) + Twine(']'));
+}
+
+/**
+ * Add a component to the LiveWindow.
+ *
+ * @param sendable component to add
+ */
+void LiveWindow::Add(std::shared_ptr<Sendable> sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  auto& comp = m_impl->components[sendable.get()];
+  comp.sendable = sendable;
+}
+
+/**
+ * Add a component to the LiveWindow.
+ *
+ * @param sendable component to add
+ */
+void LiveWindow::Add(Sendable* sendable) {
+  Add(std::shared_ptr<Sendable>(sendable, NullDeleter<Sendable>()));
+}
+
+/**
+ * Add a child component to a component.
+ *
+ * @param parent parent component
+ * @param child child component
+ */
+void LiveWindow::AddChild(Sendable* parent, std::shared_ptr<Sendable> child) {
+  AddChild(parent, child.get());
+}
+
+/**
+ * Add a child component to a component.
+ *
+ * @param parent parent component
+ * @param child child component
+ */
+void LiveWindow::AddChild(Sendable* parent, void* child) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  auto& comp = m_impl->components[child];
+  comp.parent = parent;
+  comp.telemetryEnabled = false;
+}
+
+/**
+ * Remove the component from the LiveWindow.
+ *
+ * @param sendable component to remove
+ */
+void LiveWindow::Remove(Sendable* sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  m_impl->components.erase(sendable);
+}
+
+/**
+ * Enable telemetry for a single component.
+ *
+ * @param sendable component
+ */
+void LiveWindow::EnableTelemetry(Sendable* sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  // Re-enable global setting in case DisableAllTelemetry() was called.
+  m_impl->telemetryEnabled = true;
+  auto i = m_impl->components.find(sendable);
+  if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = true;
+}
+
+/**
+ * Disable telemetry for a single component.
+ *
+ * @param sendable component
+ */
+void LiveWindow::DisableTelemetry(Sendable* sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  auto i = m_impl->components.find(sendable);
+  if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = false;
+}
+
+/**
+ * Disable ALL telemetry.
+ */
+void LiveWindow::DisableAllTelemetry() {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  m_impl->telemetryEnabled = false;
+  for (auto& i : m_impl->components) i.getSecond().telemetryEnabled = false;
 }

 /**
@@ -206,44 +311,41 @@ void LiveWindow::AddActuator(std::string type, int module, int channel,
 * SmartDashboard widgets.
 */
 void LiveWindow::UpdateValues() {
-  for (auto& elem : m_sensors) {
-    elem->UpdateTable();
-  }
-}
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  // Only do this if either LiveWindow mode or telemetry is enabled.
+  if (!m_impl->liveWindowEnabled && !m_impl->telemetryEnabled) return;

-/**
- * This method is called periodically to cause the sensors to send new values
- * to the SmartDashboard.
- */
-void LiveWindow::Run() {
-  if (m_enabled) {
-    UpdateValues();
-  }
-}
+  for (auto& i : m_impl->components) {
+    auto& comp = i.getSecond();
+    if (comp.sendable && !comp.parent &&
+        (m_impl->liveWindowEnabled || comp.telemetryEnabled)) {
+      if (comp.firstTime) {
+        // By holding off creating the NetworkTable entries, it allows the
+        // components to be redefined. This allows default sensor and actuator
+        // values to be created that are replaced with the custom names from
+        // users calling setName.
+        auto name = comp.sendable->GetName();
+        if (name.empty()) continue;
+        auto subsystem = comp.sendable->GetSubsystem();
+        auto ssTable = m_impl->liveWindowTable->GetSubTable(subsystem);
+        std::shared_ptr<NetworkTable> table;
+        // Treat name==subsystem as top level of subsystem
+        if (name == subsystem)
+          table = ssTable;
+        else
+          table = ssTable->GetSubTable(name);
+        table->GetEntry(".name").SetString(name);
+        comp.builder.SetTable(table);
+        comp.sendable->InitSendable(comp.builder);
+        ssTable->GetEntry(".type").SetString("LW Subsystem");

-/**
- * Initialize all the LiveWindow elements the first time we enter LiveWindow
- * mode. By holding off creating the NetworkTable entries, it allows them to be
- * redefined before the first time in LiveWindow mode. This allows default
- * sensor and actuator values to be created that are replaced with the custom
- * names from users calling addActuator and addSensor.
- */
-void LiveWindow::InitializeLiveWindowComponents() {
-  for (auto& elem : m_components) {
-    std::shared_ptr<LiveWindowSendable> component = elem.first;
-    LiveWindowComponent c = elem.second;
-    std::string subsystem = c.subsystem;
-    std::string name = c.name;
-    m_liveWindowTable->GetSubTable(subsystem)->GetEntry(".type").SetString(
-        "LW Subsystem");
-    std::shared_ptr<NetworkTable> table(
-        m_liveWindowTable->GetSubTable(subsystem)->GetSubTable(name));
-    table->GetEntry(".type").SetString(component->GetSmartDashboardType());
-    table->GetEntry(".name").SetString(name);
-    table->GetEntry("Subsystem").SetString(subsystem);
-    component->InitTable(table);
-    if (c.isSensor) {
-      m_sensors.push_back(component);
+        comp.firstTime = false;
+      }
+
+      if (m_impl->startLiveWindow) comp.builder.StartLiveWindowMode();
+      comp.builder.UpdateTable();
    }
  }
+
+  m_impl->startLiveWindow = false;
 }
--- a/wpilibc/src/main/native/cpp/NidecBrushless.cpp
+++ b/wpilibc/src/main/native/cpp/NidecBrushless.cpp
@@ -9,7 +9,7 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

@@ -23,6 +23,8 @@ using namespace frc;
 */
 NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
    : m_safetyHelper(this), m_dio(dioChannel), m_pwm(pwmChannel) {
+  AddChild(&m_dio);
+  AddChild(&m_pwm);
  m_safetyHelper.SetExpiration(0.0);
  m_safetyHelper.SetSafetyEnabled(false);

@@ -30,8 +32,8 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
  m_dio.SetPWMRate(15625);
  m_dio.EnablePWM(0.5);

-  LiveWindow::GetInstance()->AddActuator("Nidec Brushless", pwmChannel, this);
  HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
+  SetName("Nidec Brushless", pwmChannel);
 }

 /**
@@ -145,44 +147,9 @@ void NidecBrushless::Enable() { m_disabled = false; }
 */
 int NidecBrushless::GetChannel() const { return m_pwm.GetChannel(); }

-/*
- * Live Window code, only does anything if live window is activated.
- */
-std::string NidecBrushless::GetSmartDashboardType() const {
-  return "Nidec Brushless";
-}
-
-void NidecBrushless::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_valueEntry = subtable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
-}
-
-void NidecBrushless::UpdateTable() {
-  if (m_valueEntry) {
-    m_valueEntry.SetDouble(Get());
-  }
-}
-
-void NidecBrushless::StartLiveWindowMode() {
-  Set(0);  // Stop for safety
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          Set(event.value->GetDouble());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void NidecBrushless::StopLiveWindowMode() {
-  Set(0);  // Stop for safety
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
+void NidecBrushless::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Nidec Brushless");
+  builder.SetSafeState([=]() { StopMotor(); });
+  builder.AddDoubleProperty("Value", [=]() { return Get(); },
+                            [=](double value) { Set(value); });
 }
--- a/wpilibc/src/main/native/cpp/PIDController.cpp
+++ b/wpilibc/src/main/native/cpp/PIDController.cpp
@@ -16,16 +16,10 @@
 #include "Notifier.h"
 #include "PIDOutput.h"
 #include "PIDSource.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

-static const std::string kP = "p";
-static const std::string kI = "i";
-static const std::string kD = "d";
-static const std::string kF = "f";
-static const std::string kSetpoint = "setpoint";
-static const std::string kEnabled = "enabled";
-
 template <class T>
 constexpr const T& clamp(const T& value, const T& low, const T& high) {
  return std::max(low, std::min(value, high));
@@ -61,7 +55,8 @@ PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource* source,
 */
 PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
                             PIDSource* source, PIDOutput* output,
-                             double period) {
+                             double period)
+    : SendableBase(false) {
  m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);

  m_P = Kp;
@@ -85,6 +80,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
  static int instances = 0;
  instances++;
  HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
+  SetName("PIDController", instances);
 }

 /**
@@ -123,7 +119,6 @@ PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
 PIDController::~PIDController() {
  // forcefully stopping the notifier so the callback can successfully run.
  m_controlLoop->Stop();
-  RemoveListeners();
 }

 /**
@@ -257,10 +252,6 @@ void PIDController::SetPID(double p, double i, double d) {
    m_I = i;
    m_D = d;
  }
-
-  if (m_pEntry) m_pEntry.SetDouble(m_P);
-  if (m_iEntry) m_iEntry.SetDouble(m_I);
-  if (m_dEntry) m_dEntry.SetDouble(m_D);
 }

 /**
@@ -274,18 +265,51 @@ void PIDController::SetPID(double p, double i, double d) {
 * @param f Feed forward coefficient
 */
 void PIDController::SetPID(double p, double i, double d, double f) {
-  {
-    std::lock_guard<wpi::mutex> lock(m_thisMutex);
-    m_P = p;
-    m_I = i;
-    m_D = d;
-    m_F = f;
-  }
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_P = p;
+  m_I = i;
+  m_D = d;
+  m_F = f;
+}

-  if (m_pEntry) m_pEntry.SetDouble(m_P);
-  if (m_iEntry) m_iEntry.SetDouble(m_I);
-  if (m_dEntry) m_dEntry.SetDouble(m_D);
-  if (m_fEntry) m_fEntry.SetDouble(m_F);
+/**
+ * Set the Proportional coefficient of the PID controller gain.
+ *
+ * @param p proportional coefficient
+ */
+void PIDController::SetP(double p) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_P = p;
+}
+
+/**
+ * Set the Integral coefficient of the PID controller gain.
+ *
+ * @param i integral coefficient
+ */
+void PIDController::SetI(double i) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_I = i;
+}
+
+/**
+ * Set the Differential coefficient of the PID controller gain.
+ *
+ * @param d differential coefficient
+ */
+void PIDController::SetD(double d) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_D = d;
+}
+
+/**
+ * Get the Feed forward coefficient of the PID controller gain.
+ *
+ * @param f Feed forward coefficient
+ */
+void PIDController::SetF(double f) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_F = f;
 }

 /**
@@ -403,8 +427,6 @@ void PIDController::SetSetpoint(double setpoint) {
      m_setpoint = setpoint;
    }
  }
-
-  if (m_setpointEntry) m_setpointEntry.SetDouble(m_setpoint);
 }

 /**
@@ -556,8 +578,6 @@ void PIDController::Enable() {
    std::lock_guard<wpi::mutex> lock(m_thisMutex);
    m_enabled = true;
  }
-
-  if (m_enabledEntry) m_enabledEntry.SetBoolean(true);
 }

 /**
@@ -574,8 +594,17 @@ void PIDController::Disable() {

    m_pidOutput->PIDWrite(0);
  }
+}

-  if (m_enabledEntry) m_enabledEntry.SetBoolean(false);
+/**
+ * Set the enabled state of the PIDController.
+ */
+void PIDController::SetEnabled(bool enable) {
+  if (enable) {
+    Enable();
+  } else {
+    Disable();
+  }
 }

 /**
@@ -598,76 +627,21 @@ void PIDController::Reset() {
  m_result = 0;
 }

-std::string PIDController::GetSmartDashboardType() const {
-  return "PIDController";
-}
-
-void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  RemoveListeners();
-  if (subtable) {
-    m_pEntry = subtable->GetEntry(kP);
-    m_pEntry.SetDouble(GetP());
-    m_iEntry = subtable->GetEntry(kI);
-    m_iEntry.SetDouble(GetI());
-    m_dEntry = subtable->GetEntry(kD);
-    m_dEntry.SetDouble(GetD());
-    m_fEntry = subtable->GetEntry(kF);
-    m_fEntry.SetDouble(GetF());
-    m_setpointEntry = subtable->GetEntry(kSetpoint);
-    m_setpointEntry.SetDouble(GetSetpoint());
-    m_enabledEntry = subtable->GetEntry(kEnabled);
-    m_enabledEntry.SetBoolean(IsEnabled());
-
-    m_pListener = m_pEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_P = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_iListener = m_iEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_I = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_dListener = m_dEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_D = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_fListener = m_fEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_F = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_setpointListener = m_setpointEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          SetSetpoint(event.value->GetDouble());
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_enabledListener = m_enabledEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          if (event.value->GetBoolean()) {
-            Enable();
-          } else {
-            Disable();
-          }
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
+void PIDController::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("PIDController");
+  builder.SetSafeState([=]() { Reset(); });
+  builder.AddDoubleProperty("p", [=]() { return GetP(); },
+                            [=](bool value) { SetP(value); });
+  builder.AddDoubleProperty("i", [=]() { return GetI(); },
+                            [=](bool value) { SetI(value); });
+  builder.AddDoubleProperty("d", [=]() { return GetD(); },
+                            [=](bool value) { SetD(value); });
+  builder.AddDoubleProperty("f", [=]() { return GetF(); },
+                            [=](bool value) { SetF(value); });
+  builder.AddDoubleProperty("setpoint", [=]() { return GetSetpoint(); },
+                            [=](bool value) { SetSetpoint(value); });
+  builder.AddBooleanProperty("enabled", [=]() { return IsEnabled(); },
+                             [=](bool value) { SetEnabled(value); });
 }

 /**
@@ -691,36 +665,3 @@ double PIDController::GetContinuousError(double error) const {

  return error;
 }
-
-void PIDController::UpdateTable() {}
-
-void PIDController::StartLiveWindowMode() { Disable(); }
-
-void PIDController::StopLiveWindowMode() {}
-
-void PIDController::RemoveListeners() {
-  if (m_pListener != 0) {
-    m_pEntry.RemoveListener(m_pListener);
-    m_pListener = 0;
-  }
-  if (m_iListener != 0) {
-    m_iEntry.RemoveListener(m_iListener);
-    m_iListener = 0;
-  }
-  if (m_dListener != 0) {
-    m_dEntry.RemoveListener(m_dListener);
-    m_dListener = 0;
-  }
-  if (m_fListener != 0) {
-    m_fEntry.RemoveListener(m_fListener);
-    m_fListener = 0;
-  }
-  if (m_setpointListener != 0) {
-    m_setpointEntry.RemoveListener(m_setpointListener);
-    m_setpointListener = 0;
-  }
-  if (m_enabledListener != 0) {
-    m_enabledEntry.RemoveListener(m_enabledListener);
-    m_enabledListener = 0;
-  }
-}
--- a/wpilibc/src/main/native/cpp/PWM.cpp
+++ b/wpilibc/src/main/native/cpp/PWM.cpp
@@ -13,6 +13,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Utility.h"
 #include "WPIErrors.h"

@@ -32,7 +34,7 @@ PWM::PWM(int channel) {
  llvm::SmallString<32> str;
  llvm::raw_svector_ostream buf(str);

-  if (!CheckPWMChannel(channel)) {
+  if (!SensorBase::CheckPWMChannel(channel)) {
    buf << "PWM Channel " << channel;
    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
    return;
@@ -57,6 +59,7 @@ PWM::PWM(int channel) {
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

  HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
+  SetName("PWM", channel);
 }

 /**
@@ -72,8 +75,6 @@ PWM::~PWM() {

  HAL_FreePWMPort(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
 }

 /**
@@ -314,37 +315,9 @@ void PWM::SetZeroLatch() {
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }

-void PWM::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetSpeed());
-}
-
-void PWM::StartLiveWindowMode() {
-  SetSpeed(0);
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          SetSpeed(event.value->GetDouble());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void PWM::StopLiveWindowMode() {
-  SetSpeed(0);
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string PWM::GetSmartDashboardType() const { return "Speed Controller"; }
-
-void PWM::InitTable(std::shared_ptr<NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void PWM::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Speed Controller");
+  builder.SetSafeState([=]() { SetDisabled(); });
+  builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
+                            [=](double value) { SetSpeed(value); });
 }
--- a/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
+++ b/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
@@ -9,8 +9,6 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;

 /**
@@ -38,5 +36,5 @@ PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
  SetZeroLatch();

  HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("PWMTalonSRX", GetChannel(), this);
+  SetName("PWMTalonSRX", GetChannel());
 }
--- a/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
+++ b/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
@@ -13,7 +13,7 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -32,6 +32,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
    m_module = -1;
    return;
  }
+  SetName("PowerDistributionPanel", module);
 }

 /**
@@ -171,39 +172,13 @@ void PowerDistributionPanel::ClearStickyFaults() {
  }
 }

-void PowerDistributionPanel::UpdateTable() {
-  for (size_t i = 0; i < sizeof(m_chanEntry) / sizeof(m_chanEntry[0]); ++i) {
-    if (m_chanEntry[i]) m_chanEntry[i].SetDouble(GetCurrent(i));
-  }
-  if (m_voltageEntry) m_voltageEntry.SetDouble(GetVoltage());
-  if (m_totalCurrentEntry) m_totalCurrentEntry.SetDouble(GetTotalCurrent());
-}
-
-void PowerDistributionPanel::StartLiveWindowMode() {}
-
-void PowerDistributionPanel::StopLiveWindowMode() {}
-
-std::string PowerDistributionPanel::GetSmartDashboardType() const {
-  return "PowerDistributionPanel";
-}
-
-void PowerDistributionPanel::InitTable(
-    std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable != nullptr) {
-    for (size_t i = 0; i < sizeof(m_chanEntry) / sizeof(m_chanEntry[0]); ++i) {
-      llvm::SmallString<32> buf;
-      llvm::raw_svector_ostream oss(buf);
-      oss << "Chan" << i;
-      m_chanEntry[i] = subTable->GetEntry(oss.str());
-    }
-    m_voltageEntry = subTable->GetEntry("Voltage");
-    m_totalCurrentEntry = subTable->GetEntry("TotalCurrent");
-    UpdateTable();
-  } else {
-    for (size_t i = 0; i < sizeof(m_chanEntry) / sizeof(m_chanEntry[0]); ++i) {
-      m_chanEntry[i] = nt::NetworkTableEntry();
-    }
-    m_voltageEntry = nt::NetworkTableEntry();
-    m_totalCurrentEntry = nt::NetworkTableEntry();
+void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("PowerDistributionPanel");
+  for (int i = 0; i < kPDPChannels; ++i) {
+    builder.AddDoubleProperty("Chan" + llvm::Twine(i),
+                              [=]() { return GetCurrent(i); }, nullptr);
  }
+  builder.AddDoubleProperty("Voltage", [=]() { return GetVoltage(); }, nullptr);
+  builder.AddDoubleProperty("TotalCurrent", [=]() { return GetTotalCurrent(); },
+                            nullptr);
 }
--- a/wpilibc/src/main/native/cpp/Relay.cpp
+++ b/wpilibc/src/main/native/cpp/Relay.cpp
@@ -12,8 +12,9 @@
 #include <HAL/Relay.h>
 #include <llvm/SmallString.h>

-#include "LiveWindow/LiveWindow.h"
 #include "MotorSafetyHelper.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -88,7 +89,7 @@ Relay::Relay(int channel, Relay::Direction direction)
  m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
  m_safetyHelper->SetSafetyEnabled(false);

-  LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
+  SetName("Relay", m_channel);
 }

 /**
@@ -103,8 +104,6 @@ Relay::~Relay() {
  // ignore errors, as we want to make sure a free happens.
  if (m_forwardHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_forwardHandle);
  if (m_reverseHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_reverseHandle);
-
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
 }

 /**
@@ -275,52 +274,31 @@ void Relay::GetDescription(llvm::raw_ostream& desc) const {
  desc << "Relay " << GetChannel();
 }

-void Relay::UpdateTable() {
-  if (m_valueEntry) {
-    if (Get() == kOn) {
-      m_valueEntry.SetString("On");
-    } else if (Get() == kForward) {
-      m_valueEntry.SetString("Forward");
-    } else if (Get() == kReverse) {
-      m_valueEntry.SetString("Reverse");
-    } else {
-      m_valueEntry.SetString("Off");
-    }
-  }
-}
-
-void Relay::StartLiveWindowMode() {
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsString()) return;
-          if (event.value->GetString() == "Off")
-            Set(kOff);
-          else if (event.value->GetString() == "Forward")
-            Set(kForward);
-          else if (event.value->GetString() == "Reverse")
-            Set(kReverse);
-          else if (event.value->GetString() == "On")
-            Set(kOn);
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Relay::StopLiveWindowMode() {
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string Relay::GetSmartDashboardType() const { return "Relay"; }
-
-void Relay::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Relay::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Relay");
+  builder.SetSafeState([=]() { Set(kOff); });
+  builder.AddSmallStringProperty(
+      "Value",
+      [=](llvm::SmallVectorImpl<char>& buf) -> llvm::StringRef {
+        switch (Get()) {
+          case kOn:
+            return "On";
+          case kForward:
+            return "Forward";
+          case kReverse:
+            return "Reverse";
+          default:
+            return "Off";
+        }
+      },
+      [=](llvm::StringRef value) {
+        if (value == "Off")
+          Set(kOff);
+        else if (value == "Forward")
+          Set(kForward);
+        else if (value == "Reverse")
+          Set(kReverse);
+        else if (value == "On")
+          Set(kOn);
+      });
 }
--- a/wpilibc/src/main/native/cpp/SD540.cpp
+++ b/wpilibc/src/main/native/cpp/SD540.cpp
@@ -9,8 +9,6 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;

 /**
@@ -41,5 +39,5 @@ SD540::SD540(int channel) : PWMSpeedController(channel) {
  SetZeroLatch();

  HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
+  SetName("SD540", GetChannel());
 }
--- a/wpilibc/src/main/native/cpp/Servo.cpp
+++ b/wpilibc/src/main/native/cpp/Servo.cpp
@@ -9,7 +9,7 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"

 using namespace frc;

@@ -31,10 +31,7 @@ Servo::Servo(int channel) : SafePWM(channel) {
  SetPeriodMultiplier(kPeriodMultiplier_4X);

  HAL_Report(HALUsageReporting::kResourceType_Servo, channel);
-}
-
-Servo::~Servo() {
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
+  SetName("Servo", channel);
 }

 /**
@@ -100,35 +97,8 @@ double Servo::GetAngle() const {
  return GetPosition() * GetServoAngleRange() + kMinServoAngle;
 }

-void Servo::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(Get());
-}
-
-void Servo::StartLiveWindowMode() {
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          Set(event.value->GetDouble());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Servo::StopLiveWindowMode() {
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string Servo::GetSmartDashboardType() const { return "Servo"; }
-
-void Servo::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Servo::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Servo");
+  builder.AddDoubleProperty("Value", [=]() { return Get(); },
+                            [=](double value) { Set(value); });
 }
--- a/wpilibc/src/main/native/cpp/SmartDashboard/SendableBase.cpp
+++ b/wpilibc/src/main/native/cpp/SmartDashboard/SendableBase.cpp
@@ -0,0 +1,91 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 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 "SmartDashboard/SendableBase.h"
+
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Creates an instance of the sensor base.
+ *
+ * @param addLiveWindow if true, add this Sendable to LiveWindow
+ */
+SendableBase::SendableBase(bool addLiveWindow) {
+  if (addLiveWindow) LiveWindow::GetInstance()->Add(this);
+}
+
+/**
+ * Free the resources used by this object.
+ */
+SendableBase::~SendableBase() { LiveWindow::GetInstance()->Remove(this); }
+
+std::string SendableBase::GetName() const {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  return m_name;
+}
+
+void SendableBase::SetName(const llvm::Twine& name) {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  m_name = name.str();
+}
+
+std::string SendableBase::GetSubsystem() const {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  return m_subsystem;
+}
+
+void SendableBase::SetSubsystem(const llvm::Twine& subsystem) {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  m_subsystem = subsystem.str();
+}
+
+/**
+ * Add a child component.
+ *
+ * @param child child component
+ */
+void SendableBase::AddChild(std::shared_ptr<Sendable> child) {
+  LiveWindow::GetInstance()->AddChild(this, child);
+}
+
+/**
+ * Add a child component.
+ *
+ * @param child child component
+ */
+void SendableBase::AddChild(void* child) {
+  LiveWindow::GetInstance()->AddChild(this, child);
+}
+
+/**
+ * Sets the name of the sensor with a channel number.
+ *
+ * @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 SendableBase::SetName(const llvm::Twine& moduleType, int channel) {
+  SetName(moduleType + llvm::Twine('[') + llvm::Twine(channel) +
+          llvm::Twine(']'));
+}
+
+/**
+ * Sets the name of the sensor with a module and channel number.
+ *
+ * @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)
+ */
+void SendableBase::SetName(const llvm::Twine& moduleType, int moduleNumber,
+                           int channel) {
+  SetName(moduleType + llvm::Twine('[') + llvm::Twine(moduleNumber) +
+          llvm::Twine(',') + llvm::Twine(channel) + llvm::Twine(']'));
+}
--- a/wpilibc/src/main/native/cpp/SmartDashboard/SendableBuilderImpl.cpp
+++ b/wpilibc/src/main/native/cpp/SmartDashboard/SendableBuilderImpl.cpp
@@ -0,0 +1,365 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 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 "SmartDashboard/SendableBuilderImpl.h"
+
+#include <llvm/SmallString.h>
+
+#include "ntcore_cpp.h"
+
+using namespace frc;
+
+void SendableBuilderImpl::SetTable(std::shared_ptr<nt::NetworkTable> table) {
+  m_table = table;
+}
+
+std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
+  return m_table;
+}
+
+void SendableBuilderImpl::UpdateTable() {
+  uint64_t time = nt::Now();
+  for (auto& property : m_properties) {
+    if (property.update) property.update(property.entry, time);
+  }
+  if (m_updateTable) m_updateTable();
+}
+
+void SendableBuilderImpl::StartLiveWindowMode() {
+  if (m_safeState) m_safeState();
+  for (auto& property : m_properties) property.StartListener();
+}
+
+void SendableBuilderImpl::StopLiveWindowMode() {
+  if (m_safeState) m_safeState();
+  for (auto& property : m_properties) property.StopListener();
+}
+
+void SendableBuilderImpl::SetSmartDashboardType(const llvm::Twine& type) {
+  m_table->GetEntry(".type").SetString(type);
+}
+
+void SendableBuilderImpl::SetSafeState(std::function<void()> func) {
+  m_safeState = func;
+}
+
+void SendableBuilderImpl::SetUpdateTable(std::function<void()> func) {
+  m_updateTable = func;
+}
+
+nt::NetworkTableEntry SendableBuilderImpl::GetEntry(const llvm::Twine& key) {
+  return m_table->GetEntry(key);
+}
+
+void SendableBuilderImpl::AddBooleanProperty(const llvm::Twine& key,
+                                             std::function<bool()> getter,
+                                             std::function<void(bool)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeBoolean(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsBoolean()) return;
+            setter(event.value->GetBoolean());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddDoubleProperty(
+    const llvm::Twine& key, std::function<double()> getter,
+    std::function<void(double)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeDouble(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsDouble()) return;
+            setter(event.value->GetDouble());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddStringProperty(
+    const llvm::Twine& key, std::function<std::string()> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeString(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsString()) return;
+            setter(event.value->GetString());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddBooleanArrayProperty(
+    const llvm::Twine& key, std::function<std::vector<int>()> getter,
+    std::function<void(llvm::ArrayRef<int>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeBooleanArray(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsBooleanArray()) return;
+            setter(event.value->GetBooleanArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddDoubleArrayProperty(
+    const llvm::Twine& key, std::function<std::vector<double>()> getter,
+    std::function<void(llvm::ArrayRef<double>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeDoubleArray(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsDoubleArray()) return;
+            setter(event.value->GetDoubleArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddStringArrayProperty(
+    const llvm::Twine& key, std::function<std::vector<std::string>()> getter,
+    std::function<void(llvm::ArrayRef<std::string>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeStringArray(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsStringArray()) return;
+            setter(event.value->GetStringArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddRawProperty(
+    const llvm::Twine& key, std::function<std::string()> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeRaw(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsRaw()) return;
+            setter(event.value->GetRaw());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddValueProperty(
+    const llvm::Twine& key, std::function<std::shared_ptr<nt::Value>()> getter,
+    std::function<void(std::shared_ptr<nt::Value>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(getter());
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) { setter(event.value); },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallStringProperty(
+    const llvm::Twine& key,
+    std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallString<128> buf;
+      entry.SetValue(nt::Value::MakeString(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsString()) return;
+            setter(event.value->GetString());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallBooleanArrayProperty(
+    const llvm::Twine& key,
+    std::function<llvm::ArrayRef<int>(llvm::SmallVectorImpl<int>& buf)> getter,
+    std::function<void(llvm::ArrayRef<int>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<int, 16> buf;
+      entry.SetValue(nt::Value::MakeBooleanArray(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsBooleanArray()) return;
+            setter(event.value->GetBooleanArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallDoubleArrayProperty(
+    const llvm::Twine& key,
+    std::function<llvm::ArrayRef<double>(llvm::SmallVectorImpl<double>& buf)>
+        getter,
+    std::function<void(llvm::ArrayRef<double>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<double, 16> buf;
+      entry.SetValue(nt::Value::MakeDoubleArray(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsDoubleArray()) return;
+            setter(event.value->GetDoubleArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallStringArrayProperty(
+    const llvm::Twine& key,
+    std::function<
+        llvm::ArrayRef<std::string>(llvm::SmallVectorImpl<std::string>& buf)>
+        getter,
+    std::function<void(llvm::ArrayRef<std::string>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<std::string, 16> buf;
+      entry.SetValue(nt::Value::MakeStringArray(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsStringArray()) return;
+            setter(event.value->GetStringArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallRawProperty(
+    const llvm::Twine& key,
+    std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<char, 128> buf;
+      entry.SetValue(nt::Value::MakeRaw(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsRaw()) return;
+            setter(event.value->GetRaw());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
--- a/wpilibc/src/main/native/cpp/SmartDashboard/SendableChooserBase.cpp
+++ b/wpilibc/src/main/native/cpp/SmartDashboard/SendableChooserBase.cpp
@@ -12,7 +12,3 @@ using namespace frc;
 const char* SendableChooserBase::kDefault = "default";
 const char* SendableChooserBase::kOptions = "options";
 const char* SendableChooserBase::kSelected = "selected";
-
-std::string SendableChooserBase::GetSmartDashboardType() const {
-  return "String Chooser";
-}
--- a/wpilibc/src/main/native/cpp/SmartDashboard/SmartDashboard.cpp
+++ b/wpilibc/src/main/native/cpp/SmartDashboard/SmartDashboard.cpp
@@ -7,18 +7,28 @@

 #include "SmartDashboard/SmartDashboard.h"

-#include <map>
+#include <llvm/StringMap.h>
+#include <support/mutex.h>

 #include "HLUsageReporting.h"
-#include "SmartDashboard/NamedSendable.h"
+#include "SmartDashboard/Sendable.h"
+#include "SmartDashboard/SendableBuilderImpl.h"
 #include "WPIErrors.h"
 #include "networktables/NetworkTable.h"
 #include "networktables/NetworkTableInstance.h"

 using namespace frc;

+namespace {
+struct SmartDashboardData {
+  Sendable* sendable = nullptr;
+  SendableBuilderImpl builder;
+};
+}  // namespace
+
 static std::shared_ptr<nt::NetworkTable> s_table;
-static std::map<std::shared_ptr<nt::NetworkTable>, Sendable*> s_tablesToData;
+static llvm::StringMap<SmartDashboardData> s_tablesToData;
+static wpi::mutex s_tablesToDataMutex;

 void SmartDashboard::init() {
  s_table = nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
@@ -126,22 +136,26 @@ void SmartDashboard::PutData(llvm::StringRef key, Sendable* data) {
    wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
    return;
  }
-  std::shared_ptr<nt::NetworkTable> dataTable(s_table->GetSubTable(key));
-  dataTable->GetEntry(".type").SetString(data->GetSmartDashboardType());
-  data->InitTable(dataTable);
-  s_tablesToData[dataTable] = data;
+  std::lock_guard<wpi::mutex> lock(s_tablesToDataMutex);
+  auto& sddata = s_tablesToData[key];
+  if (!sddata.sendable || sddata.sendable != data) {
+    sddata.sendable = data;
+    sddata.builder.SetTable(s_table->GetSubTable(key));
+    data->InitSendable(sddata.builder);
+  }
+  sddata.builder.UpdateTable();
 }

 /**
- * Maps the specified key (where the key is the name of the
- * {@link SmartDashboardNamedData} to the specified value in this table.
+ * Maps the specified key (where the key is the name of the Sendable)
+ * to the specified value in this table.
 *
 * The value can be retrieved by calling the get method with a key that is equal
 * to the original key.
 *
 * @param value the value
 */
-void SmartDashboard::PutData(NamedSendable* value) {
+void SmartDashboard::PutData(Sendable* value) {
  if (value == nullptr) {
    wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
    return;
@@ -156,13 +170,13 @@ void SmartDashboard::PutData(NamedSendable* value) {
 * @return the value
 */
 Sendable* SmartDashboard::GetData(llvm::StringRef key) {
-  std::shared_ptr<nt::NetworkTable> subtable(s_table->GetSubTable(key));
-  Sendable* data = s_tablesToData[subtable];
-  if (data == nullptr) {
+  std::lock_guard<wpi::mutex> lock(s_tablesToDataMutex);
+  auto data = s_tablesToData.find(key);
+  if (data == s_tablesToData.end()) {
    wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key);
    return nullptr;
  }
-  return data;
+  return data->getValue().sendable;
 }

 /**
--- a/wpilibc/src/main/native/cpp/Solenoid.cpp
+++ b/wpilibc/src/main/native/cpp/Solenoid.cpp
@@ -13,7 +13,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>

-#include "LiveWindow/LiveWindow.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"

 using namespace frc;
@@ -24,7 +25,7 @@ using namespace frc;
 * @param channel The channel on the PCM to control (0..7).
 */
 Solenoid::Solenoid(int channel)
-    : Solenoid(GetDefaultSolenoidModule(), channel) {}
+    : Solenoid(SensorBase::GetDefaultSolenoidModule(), channel) {}

 /**
 * Constructor.
@@ -36,12 +37,12 @@ Solenoid::Solenoid(int moduleNumber, int channel)
    : SolenoidBase(moduleNumber), m_channel(channel) {
  llvm::SmallString<32> str;
  llvm::raw_svector_ostream buf(str);
-  if (!CheckSolenoidModule(m_moduleNumber)) {
+  if (!SensorBase::CheckSolenoidModule(m_moduleNumber)) {
    buf << "Solenoid Module " << m_moduleNumber;
    wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
    return;
  }
-  if (!CheckSolenoidChannel(m_channel)) {
+  if (!SensorBase::CheckSolenoidChannel(m_channel)) {
    buf << "Solenoid Module " << m_channel;
    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
    return;
@@ -57,19 +58,15 @@ Solenoid::Solenoid(int moduleNumber, int channel)
    return;
  }

-  LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
-                                         this);
  HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel,
             m_moduleNumber);
+  SetName("Solenoid", m_moduleNumber, m_channel);
 }

 /**
 * Destructor.
 */
-Solenoid::~Solenoid() {
-  HAL_FreeSolenoidPort(m_solenoidHandle);
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
-}
+Solenoid::~Solenoid() { HAL_FreeSolenoidPort(m_solenoidHandle); }

 /**
 * Set the value of a solenoid.
@@ -141,34 +138,9 @@ void Solenoid::StartPulse() {
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }

-void Solenoid::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetBoolean(Get());
-}
-
-void Solenoid::StartLiveWindowMode() {
-  Set(false);
-  if (m_valueEntry) {
-    m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          Set(event.value->GetBoolean());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Solenoid::StopLiveWindowMode() {
-  Set(false);
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
-}
-
-std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }
-
-void Solenoid::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Solenoid::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Solenoid");
+  builder.SetSafeState([=]() { Set(false); });
+  builder.AddBooleanProperty("Value", [=]() { return Get(); },
+                             [=](bool value) { Set(value); });
 }
--- a/wpilibc/src/main/native/cpp/Spark.cpp
+++ b/wpilibc/src/main/native/cpp/Spark.cpp
@@ -9,8 +9,6 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;

 /**
@@ -41,5 +39,5 @@ Spark::Spark(int channel) : PWMSpeedController(channel) {
  SetZeroLatch();

  HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this);
+  SetName("Spark", GetChannel());
 }
--- a/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
+++ b/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
@@ -7,6 +7,8 @@

 #include "SpeedControllerGroup.h"

+#include "SmartDashboard/SendableBuilder.h"
+
 using namespace frc;

 void SpeedControllerGroup::Set(double speed) {
@@ -45,3 +47,10 @@ void SpeedControllerGroup::PIDWrite(double output) {
    speedController.get().PIDWrite(output);
  }
 }
+
+void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Speed Controller");
+  builder.SetSafeState([=]() { StopMotor(); });
+  builder.AddDoubleProperty("Value", [=]() { return Get(); },
+                            [=](double value) { Set(value); });
+}
--- a/wpilibc/src/main/native/cpp/Talon.cpp
+++ b/wpilibc/src/main/native/cpp/Talon.cpp
@@ -9,8 +9,6 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;

 /**
@@ -39,5 +37,5 @@ Talon::Talon(int channel) : PWMSpeedController(channel) {
  SetZeroLatch();

  HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
+  SetName("Talon", GetChannel());
 }
--- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp
+++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
@@ -12,7 +12,7 @@
 #include "Counter.h"
 #include "DigitalInput.h"
 #include "DigitalOutput.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Timer.h"
 #include "Utility.h"
 #include "WPIErrors.h"
@@ -72,8 +72,7 @@ void Ultrasonic::Initialize() {
  static int instances = 0;
  instances++;
  HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
-  LiveWindow::GetInstance()->AddSensor("Ultrasonic",
-                                       m_echoChannel->GetChannel(), this);
+  SetName("Ultrasonic", m_echoChannel->GetChannel());
 }

 /**
@@ -94,6 +93,8 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
      m_counter(m_echoChannel) {
  m_units = units;
  Initialize();
+  AddChild(m_pingChannel);
+  AddChild(m_echoChannel);
 }

 /**
@@ -314,23 +315,8 @@ Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
  return m_units;
 }

-void Ultrasonic::UpdateTable() {
-  if (m_valueEntry) {
-    m_valueEntry.SetDouble(GetRangeInches());
-  }
-}
-
-void Ultrasonic::StartLiveWindowMode() {}
-
-void Ultrasonic::StopLiveWindowMode() {}
-
-std::string Ultrasonic::GetSmartDashboardType() const { return "Ultrasonic"; }
-
-void Ultrasonic::InitTable(std::shared_ptr<NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Ultrasonic::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Ultrasonic");
+  builder.AddDoubleProperty("Value", [=]() { return GetRangeInches(); },
+                            nullptr);
 }
--- a/wpilibc/src/main/native/cpp/Victor.cpp
+++ b/wpilibc/src/main/native/cpp/Victor.cpp
@@ -9,8 +9,6 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;

 /**
@@ -39,6 +37,6 @@ Victor::Victor(int channel) : PWMSpeedController(channel) {
  SetSpeed(0.0);
  SetZeroLatch();

-  LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
  HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel());
+  SetName("Victor", GetChannel());
 }
--- a/wpilibc/src/main/native/cpp/VictorSP.cpp
+++ b/wpilibc/src/main/native/cpp/VictorSP.cpp
@@ -9,8 +9,6 @@

 #include <HAL/HAL.h>

-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;

 /**
@@ -40,5 +38,5 @@ VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
  SetZeroLatch();

  HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
+  SetName("VictorSP", GetChannel());
 }