diff --git a/hal/src/main/java/edu/wpi/first/hal/ControlWord.java b/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
index a56834369a..7dff0f4635 100644
--- a/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
+++ b/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
@@ -28,6 +28,20 @@ public class ControlWord {
     m_dsAttached = dsAttached;
   }
 
+  /**
+   * Updates from an existing word.
+   *
+   * @param word word to update from
+   */
+  public void update(ControlWord word) {
+    m_enabled = word.m_enabled;
+    m_autonomous = word.m_autonomous;
+    m_test = word.m_test;
+    m_emergencyStop = word.m_emergencyStop;
+    m_fmsAttached = word.m_fmsAttached;
+    m_dsAttached = word.m_dsAttached;
+  }
+
   public boolean getEnabled() {
     return m_enabled;
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java
index 016abc7ca3..37e046df0f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.ControlWord;
-import edu.wpi.first.hal.HAL;
 
 /** A wrapper around Driver Station control word. */
 public class DSControlWord {
@@ -22,7 +21,7 @@ public class DSControlWord {
 
   /** Update internal Driver Station control word. */
   public void update() {
-    HAL.getControlWord(m_controlWord);
+    DriverStation.updateControlWordFromCache(m_controlWord);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index c450c5e949..7400f00968 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -1324,6 +1324,18 @@ public class DriverStation {
     }
   }
 
+  /**
+   * Forces a control word cache update, and update the passed in control word.
+   *
+   * @param word Word to update.
+   */
+  public static void updateControlWordFromCache(ControlWord word) {
+    synchronized (m_controlWordMutex) {
+      updateControlWord(true);
+      word.update(m_controlWordCache);
+    }
+  }
+
   /**
    * Updates the data in the control word cache. Updates if the force parameter is set, or if 50ms
    * have passed since the last update.