diff --git a/wpilibcExamples/examples.xml b/wpilibcExamples/examples.xml
index 21de404d97..5450e84779 100644
--- a/wpilibcExamples/examples.xml
+++ b/wpilibcExamples/examples.xml
@@ -184,7 +184,7 @@
     </example>
     <example>
         <name>Arcade Drive</name>
-        <description>An example program which demonstrates the use of Arcade Drive with the RobotDrive class</description>
+        <description>An example program which demonstrates the use of Arcade Drive with the DifferentialDrive class</description>
         <tags>
             <tag>Getting Started with C++</tag>
             <tag>Robot and Motor</tag>
@@ -200,7 +200,7 @@
     </example>
     <example>
         <name>Mecanum Drive</name>
-        <description>An example program which demonstrates the use of Mecanum Drive with the RobotDrive class</description>
+        <description>An example program which demonstrates the use of Mecanum Drive with the MecanumDrive class</description>
         <tags>
             <tag>Getting Started with C++</tag>
             <tag>Robot and Motor</tag>
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/src/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/src/Robot.cpp
index a2838369c0..cb03dd8ccd 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/src/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/src/Robot.cpp
@@ -5,16 +5,19 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <WPILib.h>
+#include <Drive/DifferentialDrive.h>
+#include <IterativeRobot.h>
+#include <Joystick.h>
+#include <Spark.h>
 
 /**
- * This is a demo program showing the use of the RobotDrive class.
+ * This is a demo program showing the use of the DifferentialDrive class.
  * Runs the motors with arcade steering.
  */
 class Robot : public frc::IterativeRobot {
-	frc::Spark m_left{0};
-	frc::Spark m_right{1};
-	frc::RobotDrive m_robotDrive{m_left, m_right};
+	frc::Spark m_leftMotor{0};
+	frc::Spark m_rightMotor{1};
+	frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
 	frc::Joystick m_stick{0};
 
 public:
diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/src/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/src/Robot.cpp
index 021b17e4b1..6d70655109 100644
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/src/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/src/Robot.cpp
@@ -15,10 +15,8 @@
 
 /**
  * This is a sample program to demonstrate how to use a gyro sensor to make a
- * robot drive
- * straight. This program uses a joystick to drive forwards and backwards while
- * the gyro
- * is used for direction keeping.
+ * robot drive straight. This program uses a joystick to drive forwards and
+ * backwards while the gyro is used for direction keeping.
  */
 class Robot : public frc::IterativeRobot {
 public:
@@ -27,9 +25,9 @@ public:
 	}
 
 	/**
-	 * The motor speed is set from the joystick while the RobotDrive turning
-	 * value is assigned from the error between the setpoint and the gyro
-	 * angle.
+	 * The motor speed is set from the joystick while the DifferentialDrive
+	 * turning value is assigned from the error between the setpoint and the
+	 * gyro angle.
 	 */
 	void TeleopPeriodic() override {
 		double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/src/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/src/Robot.cpp
index 3183dd4382..d3b3347752 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/src/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/src/Robot.cpp
@@ -11,8 +11,8 @@
 #include <Spark.h>
 
 /**
- * This is a demo program showing how to use Mecanum control with the RobotDrive
- * class.
+ * This is a demo program showing how to use Mecanum control with the
+ * MecanumDrive class.
  */
 class Robot : public frc::IterativeRobot {
 public:
diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.cpp b/wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.cpp
index 02f70cbb27..5afdaaa92b 100644
--- a/wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.cpp
@@ -25,8 +25,8 @@ DriveTrain::DriveTrain()
 	// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Right
 	// CIM", &m_backRightCIM);
 
-	// Configure the RobotDrive to reflect the fact that all our motors are
-	// wired backwards and our drivers sensitivity preferences.
+	// Configure the DifferentialDrive to reflect the fact that all our
+	// motors are wired backwards and our drivers sensitivity preferences.
 	m_robotDrive.SetSafetyEnabled(false);
 	m_robotDrive.SetExpiration(0.1);
 	m_robotDrive.SetMaxOutput(1.0);
diff --git a/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
index ca5c7fe0bb..34c7253a03 100644
--- a/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
@@ -17,7 +17,7 @@
 #include <Timer.h>
 
 /**
- * This is a demo program showing the use of the RobotDrive class.
+ * This is a demo program showing the use of the DifferentialDrive class.
  * The SampleRobot class is the base of a robot application that will
  * automatically call your Autonomous and OperatorControl methods at the right
  * time as controlled by the switches on the driver station or the field