diff --git a/.github/workflows/pregen_all.py b/.github/workflows/pregen_all.py
index 278e5c84cd8..581abe86834 100755
--- a/.github/workflows/pregen_all.py
+++ b/.github/workflows/pregen_all.py
@@ -19,6 +19,13 @@ def main():
     subprocess.run(
         [sys.executable, f"{REPO_ROOT}/hal/generate_usage_reporting.py"], check=True
     )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/hal/generate_nanopb.py",
+        ],
+        check=True,
+    )
     subprocess.run(
         [sys.executable, f"{REPO_ROOT}/ntcore/generate_topics.py"], check=True
     )
diff --git a/cscore/build.gradle b/cscore/build.gradle
index 9cbf42ff857..35cf43c7c96 100644
--- a/cscore/build.gradle
+++ b/cscore/build.gradle
@@ -187,7 +187,7 @@ model {
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
                             lib project: ':thirdparty:imgui_suite', library: 'imgui', linkage: 'static'
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                                 it.buildable = false
                                 return
                             }
diff --git a/datalogtool/build.gradle b/datalogtool/build.gradle
index 7ebfffe8cca..b35bffde1e7 100644
--- a/datalogtool/build.gradle
+++ b/datalogtool/build.gradle
@@ -93,7 +93,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
diff --git a/developerRobot/build.gradle b/developerRobot/build.gradle
index 7d8a627b232..150fbe3ba16 100644
--- a/developerRobot/build.gradle
+++ b/developerRobot/build.gradle
@@ -64,30 +64,22 @@ def simProjects = ['halsim_gui']
 
 deploy {
     targets {
-        roborio(RemoteTarget) {
-            directory = '/home/lvuser'
+        systemcore(RemoteTarget) {
+            directory = '/home/systemcore'
             maxChannels = 4
             locations {
                 ssh(SshDeployLocation) {
-                    address = "172.22.11.2"
-                    user = 'admin'
-                    password = ''
+                    address = "robot.local"
+                    user = 'systemcore'
+                    password = 'systemcorerules2027'
                     ipv6 = false
                 }
             }
 
             def remote = it
 
-            artifacts.registerFactory(WPIJREArtifact) {
-                return objects.newInstance(WPIJREArtifact, it, remote)
-            }
-
             artifacts {
                 all {
-                    predeploy << { ctx ->
-                        ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
-                        ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
-                    }
                     postdeploy << { ctx ->
                         ctx.execute("sync")
                         ctx.execute("ldconfig")
@@ -95,43 +87,40 @@ deploy {
                 }
 
                 developerRobotCpp(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/frc/third-party/lib'
                     def excludes = getLibraryFilter().getExcludes()
                     excludes.add('**/*.so.debug')
                     excludes.add('**/*.so.*.debug')
                     postdeploy << { ctx ->
-                        ctx.execute("echo '/home/lvuser/developerRobotCpp' > /home/lvuser/robotCommand")
-                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
-                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/developerRobotCpp\"")
+                        ctx.execute("echo '/home/systemcore/developerRobotCpp' > /home/systemcore/robotCommand")
+                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCpp\"")
                         ctx.execute('chmod +x developerRobotCpp')
                     }
                 }
 
                 developerRobotCppStatic(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/frc/third-party/lib'
                     postdeploy << { ctx ->
-                        ctx.execute("echo '/home/lvuser/developerRobotCppStatic' > /home/lvuser/robotCommand")
-                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
-                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/developerRobotCppStatic\"")
+                        ctx.execute("echo '/home/systemcore/developerRobotCppStatic' > /home/systemcore/robotCommand")
+                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCppStatic\"")
                         ctx.execute('chmod +x developerRobotCppStatic')
                     }
                 }
 
                 developerRobotCppJava(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/frc/third-party/lib'
                     def excludes = getLibraryFilter().getExcludes()
                     excludes.add('**/*.so.debug')
                     excludes.add('**/*.so.*.debug')
                 }
 
-                jre(WPIJREArtifact) {
-                }
-
                 developerRobotJava(JavaArtifact) {
                     jarTask = shadowJar
                     postdeploy << { ctx ->
-                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseSerialGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/developerRobot-all.jar' > /home/lvuser/robotCommand")
-                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("echo '/usr/bin/java -XX:+UseG1GC -Djava.library.path=/home/systemcore/frc/third-party/lib -jar /home/systemcore/developerRobot-all.jar' > /home/systemcore/robotCommand")
+                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
                     }
                 }
             }
@@ -141,23 +130,23 @@ deploy {
 
 tasks.register('deployJava') {
     try {
-        dependsOn tasks.named('deployjreroborio')
-        dependsOn tasks.named('deploydeveloperRobotJavaroborio')
-        dependsOn tasks.named('deploydeveloperRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
+        dependsOn tasks.named('deployjresystemcore')
+        dependsOn tasks.named('deploydeveloperRobotJavasystemcore')
+        dependsOn tasks.named('deploydeveloperRobotCppJavasystemcore') // Deploying shared C++ is how to get the Java shared libraries.
     } catch (ignored) {
     }
 }
 
 tasks.register('deployShared') {
     try {
-        dependsOn tasks.named('deploydeveloperRobotCpproborio')
+        dependsOn tasks.named('deploydeveloperRobotCppsystemcore')
     } catch (ignored) {
     }
 }
 
 tasks.register('deployStatic') {
     try {
-        dependsOn tasks.named('deploydeveloperRobotCppStaticroborio')
+        dependsOn tasks.named('deploydeveloperRobotCppStaticsystemcore')
     } catch (ignored) {
     }
 }
@@ -179,10 +168,10 @@ model {
                 }
             }
             binaries.all { binary ->
-                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     if (binary.buildType.name == 'debug') {
-                        deploy.targets.roborio.artifacts.developerRobotCpp.binary = binary
-                        deploy.targets.roborio.artifacts.developerRobotCppJava.binary = binary
+                        deploy.targets.systemcore.artifacts.developerRobotCpp.binary = binary
+                        deploy.targets.systemcore.artifacts.developerRobotCppJava.binary = binary
                     }
                 }
                 lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
@@ -201,14 +190,10 @@ model {
                 project(':hal').addHalJniDependency(binary)
                 lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
-                } else {
-                    def systemArch = getCurrentArch()
-                    if (binary.targetPlatform.name == systemArch) {
-                        simProjects.each {
-                            lib project: ":simulation:$it", library: it, linkage: 'shared'
-                        }
+                def systemArch = getCurrentArch()
+                if (binary.targetPlatform.name == systemArch) {
+                    simProjects.each {
+                        lib project: ":simulation:$it", library: it, linkage: 'shared'
                     }
                 }
             }
@@ -229,9 +214,9 @@ model {
                 }
             }
             binaries.all { binary ->
-                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     if (binary.buildType.name == 'debug') {
-                        deploy.targets.roborio.artifacts.developerRobotCppStatic.binary = binary
+                        deploy.targets.systemcore.artifacts.developerRobotCppStatic.binary = binary
                     }
                 }
                 lib project: ':apriltag', library: 'apriltag', linkage: 'static'
@@ -244,9 +229,6 @@ model {
                 project(':hal').addHalDependency(binary, 'static')
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
-                }
             }
         }
     }
@@ -302,20 +284,6 @@ model {
                 }
             }
         }
-        installAthena(Task) {
-            $.binaries.each {
-                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'developerRobotCpp') {
-                    dependsOn it.tasks.install
-                }
-            }
-        }
-        installAthenaStatic(Task) {
-            $.binaries.each {
-                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'developerRobotCppStatic') {
-                    dependsOn it.tasks.install
-                }
-            }
-        }
 
         installSystemCore(Task) {
             $.binaries.each {
@@ -324,6 +292,7 @@ model {
                 }
             }
         }
+
         installSystemCoreStatic(Task) {
             $.binaries.each {
                 if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore && it.component.name == 'developerRobotCppStatic') {
diff --git a/glass/build.gradle b/glass/build.gradle
index 2b7a6105178..bbe40c00a52 100644
--- a/glass/build.gradle
+++ b/glass/build.gradle
@@ -85,7 +85,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
@@ -112,7 +112,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
@@ -153,7 +153,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
diff --git a/hal/.styleguide b/hal/.styleguide
index 82c085c0894..b6fabcc27f8 100644
--- a/hal/.styleguide
+++ b/hal/.styleguide
@@ -17,6 +17,7 @@ generatedFileExclude {
   hal/src/main/native/systemcore/ctre/
   hal/src/main/native/systemcore/rev/
   UsageReporting\.h$
+  src/generated/main/native/cpp
 }
 
 modifiableFileExclude {
diff --git a/hal/BUILD.bazel b/hal/BUILD.bazel
index 340a74c65e0..f0f54b1e1d4 100644
--- a/hal/BUILD.bazel
+++ b/hal/BUILD.bazel
@@ -9,6 +9,22 @@ cc_library(
     visibility = ["//hal:__subpackages__"],
 )
 
+cc_library(
+    name = "mrc_cc_headers",
+    hdrs = glob(["src/mrc/include/**"]),
+    includes = ["src/mrc/include"],
+    strip_include_prefix = "src/mrc/include",
+    visibility = ["//hal:__subpackages__"],
+)
+
+cc_library(
+    name = "generated_mrc_cc_headers",
+    hdrs = glob(["src/generated/main/native/cpp/mrc/protobuf/**"]),
+    includes = ["src/generated/main/native/cpp/mrc/protobuf"],
+    strip_include_prefix = "src/generated/main/native/cpp/mrc/protobuf",
+    visibility = ["//hal:__subpackages__"],
+)
+
 filegroup(
     name = "generated_java",
     srcs = glob(["src/generated/main/java/**/*.java"]),
@@ -39,7 +55,10 @@ filegroup(
 cc_library(
     name = "wpiHal.static",
     srcs = [":platform-srcs"] + glob(
-        ["src/main/native/cpp/**"],
+        [
+            "src/main/native/cpp/**",
+            "src/generated/main/native/cpp/**",
+        ],
         exclude = ["src/main/native/cpp/jni/**"],
     ),
     hdrs = glob(["src/main/native/include/**/*"]),
@@ -48,6 +67,8 @@ cc_library(
     visibility = ["//visibility:public"],
     deps = [
         ":generated_cc_headers",
+        ":mrc_cc_headers",
+        ":generated_mrc_cc_headers",
         "//wpiutil:wpiutil.static",
     ] + HAL_DEPS,
 )
diff --git a/hal/build.gradle b/hal/build.gradle
index 60b8b5ca8f9..fbf581cceff 100644
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -36,10 +36,11 @@ ext {
                     exportedHeaders {
                         srcDir 'src/main/native/include'
                         srcDir generatedHeaders
+                        srcDir 'src/mrc/include'
                     }
                 }
             }
-        }  else {
+        } else {
             it.sources {
                 simCpp(CppSourceSet) {
                     source {
@@ -49,10 +50,22 @@ ext {
                     exportedHeaders {
                         srcDir 'src/main/native/include'
                         srcDir generatedHeaders
+                        srcDir 'src/mrc/include'
                     }
                 }
             }
         }
+        it.sources {
+            nanopbCpp(CppSourceSet) {
+                source {
+                    srcDirs 'src/generated/main/native/cpp'
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/generated/main/native/cpp'
+                }
+            }
+        }
     }
     exeSplitSetup = {
         if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
@@ -107,3 +120,32 @@ model {
         }
     }
 }
+
+model {
+    components {
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs 'src/mrc/include',
+                            'src/generated/main/native/cpp/mrc/protobuf'
+                }
+            }
+        }
+    }
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            if (it.component.name == "${nativeName}JNI") {
+                project(':ntcore').addNtcoreDependency(it, 'static')
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+            } else {
+                project(':ntcore').addNtcoreDependency(it, 'shared')
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+            }
+        }
+    }
+}
diff --git a/hal/generate_nanopb.py b/hal/generate_nanopb.py
new file mode 100644
index 00000000000..47e9898f750
--- /dev/null
+++ b/hal/generate_nanopb.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+import argparse
+import os
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+
+def generate_nanopb(nanopb: Path, output_directory: Path, proto_dir: Path):
+    shutil.rmtree(output_directory.absolute(), ignore_errors=True)
+    os.makedirs(output_directory.absolute())
+
+    proto_files = proto_dir.glob("*.proto")
+    for path in proto_files:
+        absolute_filename = path.absolute()
+        subprocess.run(
+            [
+                sys.executable,
+                nanopb,
+                f"-I{absolute_filename.parent}",
+                f"-D{output_directory.absolute()}",
+                "-S.cpp",
+                "-e.npb",
+                absolute_filename,
+            ],
+            check=True,
+        )
+    java_files = (output_directory).glob("*")
+    for java_file in java_files:
+        with (java_file).open(encoding="utf-8") as f:
+            content = f.read()
+
+        java_file.write_text(
+            "// Copyright (c) FIRST and other WPILib contributors.\n// Open Source Software; you can modify and/or share it under the terms of\n// the WPILib BSD license file in the root directory of this project.\n"
+            + content,
+            encoding="utf-8",
+            newline="\n",
+        )
+
+
+def main():
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    root_path = dirname.parent
+    nanopb_path = os.path.join(
+        root_path,
+        "wpiutil",
+        "src",
+        "main",
+        "native",
+        "thirdparty",
+        "nanopb",
+        "generator",
+        "nanopb_generator.py",
+    )
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--nanopb",
+        help="Nanopb generator command",
+        default=nanopb_path,
+    )
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/generated/main/native/cpp/mrc/protobuf",
+        type=Path,
+    )
+    parser.add_argument(
+        "--proto_directory",
+        help="Optional. If set, will use this directory to glob for protobuf files",
+        default=dirname / "src/mrc/proto",
+        type=Path,
+    )
+    args = parser.parse_args()
+
+    generate_nanopb(args.nanopb, args.output_directory, args.proto_directory)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.cpp b/hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.cpp
new file mode 100644
index 00000000000..01e15ceb2ee
--- /dev/null
+++ b/hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.cpp
@@ -0,0 +1,305 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.9 */
+
+#include "MrcComm.npb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#include <span>
+#include <string_view>
+static const uint8_t file_descriptor[] {
+0x0a,0x0d,0x4d,0x72,0x63,0x43,0x6f,0x6d,0x6d,0x2e,
+0x70,0x72,0x6f,0x74,0x6f,0x12,0x09,0x6d,0x72,0x63,
+0x2e,0x70,0x72,0x6f,0x74,0x6f,0x22,0x7a,0x0a,0x14,
+0x50,0x72,0x6f,0x74,0x6f,0x62,0x75,0x66,0x4a,0x6f,
+0x79,0x73,0x74,0x69,0x63,0x6b,0x44,0x61,0x74,0x61,
+0x12,0x20,0x0a,0x0b,0x42,0x75,0x74,0x74,0x6f,0x6e,
+0x43,0x6f,0x75,0x6e,0x74,0x18,0x01,0x20,0x01,0x28,
+0x0d,0x52,0x0b,0x42,0x75,0x74,0x74,0x6f,0x6e,0x43,
+0x6f,0x75,0x6e,0x74,0x12,0x18,0x0a,0x07,0x42,0x75,
+0x74,0x74,0x6f,0x6e,0x73,0x18,0x02,0x20,0x01,0x28,
+0x07,0x52,0x07,0x42,0x75,0x74,0x74,0x6f,0x6e,0x73,
+0x12,0x12,0x0a,0x04,0x41,0x78,0x65,0x73,0x18,0x03,
+0x20,0x03,0x28,0x02,0x52,0x04,0x41,0x78,0x65,0x73,
+0x12,0x12,0x0a,0x04,0x50,0x4f,0x56,0x73,0x18,0x04,
+0x20,0x03,0x28,0x11,0x52,0x04,0x50,0x4f,0x56,0x73,
+0x22,0xac,0x01,0x0a,0x13,0x50,0x72,0x6f,0x74,0x6f,
+0x62,0x75,0x66,0x43,0x6f,0x6e,0x74,0x72,0x6f,0x6c,
+0x44,0x61,0x74,0x61,0x12,0x20,0x0a,0x0b,0x43,0x6f,
+0x6e,0x74,0x72,0x6f,0x6c,0x57,0x6f,0x72,0x64,0x18,
+0x01,0x20,0x01,0x28,0x0d,0x52,0x0b,0x43,0x6f,0x6e,
+0x74,0x72,0x6f,0x6c,0x57,0x6f,0x72,0x64,0x12,0x1c,
+0x0a,0x09,0x4d,0x61,0x74,0x63,0x68,0x54,0x69,0x6d,
+0x65,0x18,0x02,0x20,0x01,0x28,0x02,0x52,0x09,0x4d,
+0x61,0x74,0x63,0x68,0x54,0x69,0x6d,0x65,0x12,0x3d,
+0x0a,0x09,0x4a,0x6f,0x79,0x73,0x74,0x69,0x63,0x6b,
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+0x12,0x03,0x20,0x04,0x1a,0x0a,0x0c,0x0a,0x05,0x04,
+0x03,0x02,0x02,0x05,0x12,0x03,0x20,0x04,0x09,0x0a,
+0x0c,0x0a,0x05,0x04,0x03,0x02,0x02,0x01,0x12,0x03,
+0x20,0x0a,0x15,0x0a,0x0c,0x0a,0x05,0x04,0x03,0x02,
+0x02,0x03,0x12,0x03,0x20,0x18,0x19,0x0a,0x0a,0x0a,
+0x02,0x04,0x04,0x12,0x04,0x23,0x00,0x27,0x01,0x0a,
+0x0a,0x0a,0x03,0x04,0x04,0x01,0x12,0x03,0x23,0x08,
+0x1b,0x0a,0x0b,0x0a,0x04,0x04,0x04,0x02,0x00,0x12,
+0x03,0x24,0x04,0x19,0x0a,0x0c,0x0a,0x05,0x04,0x04,
+0x02,0x00,0x05,0x12,0x03,0x24,0x04,0x0b,0x0a,0x0c,
+0x0a,0x05,0x04,0x04,0x02,0x00,0x01,0x12,0x03,0x24,
+0x0c,0x14,0x0a,0x0c,0x0a,0x05,0x04,0x04,0x02,0x00,
+0x03,0x12,0x03,0x24,0x17,0x18,0x0a,0x0b,0x0a,0x04,
+0x04,0x04,0x02,0x01,0x12,0x03,0x25,0x04,0x14,0x0a,
+0x0c,0x0a,0x05,0x04,0x04,0x02,0x01,0x05,0x12,0x03,
+0x25,0x04,0x0a,0x0a,0x0c,0x0a,0x05,0x04,0x04,0x02,
+0x01,0x01,0x12,0x03,0x25,0x0b,0x0f,0x0a,0x0c,0x0a,
+0x05,0x04,0x04,0x02,0x01,0x03,0x12,0x03,0x25,0x12,
+0x13,0x0a,0x0b,0x0a,0x04,0x04,0x04,0x02,0x02,0x12,
+0x03,0x26,0x04,0x17,0x0a,0x0c,0x0a,0x05,0x04,0x04,
+0x02,0x02,0x05,0x12,0x03,0x26,0x04,0x0a,0x0a,0x0c,
+0x0a,0x05,0x04,0x04,0x02,0x02,0x01,0x12,0x03,0x26,
+0x0b,0x12,0x0a,0x0c,0x0a,0x05,0x04,0x04,0x02,0x02,
+0x03,0x12,0x03,0x26,0x15,0x16,0x0a,0x0a,0x0a,0x02,
+0x04,0x05,0x12,0x04,0x29,0x00,0x2e,0x01,0x0a,0x0a,
+0x0a,0x03,0x04,0x05,0x01,0x12,0x03,0x29,0x08,0x19,
+0x0a,0x0b,0x0a,0x04,0x04,0x05,0x02,0x00,0x12,0x03,
+0x2a,0x04,0x19,0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,
+0x00,0x05,0x12,0x03,0x2a,0x04,0x0a,0x0a,0x0c,0x0a,
+0x05,0x04,0x05,0x02,0x00,0x01,0x12,0x03,0x2a,0x0b,
+0x14,0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,0x00,0x03,
+0x12,0x03,0x2a,0x17,0x18,0x0a,0x0b,0x0a,0x04,0x04,
+0x05,0x02,0x01,0x12,0x03,0x2b,0x04,0x1a,0x0a,0x0c,
+0x0a,0x05,0x04,0x05,0x02,0x01,0x05,0x12,0x03,0x2b,
+0x04,0x09,0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,0x01,
+0x01,0x12,0x03,0x2b,0x0a,0x15,0x0a,0x0c,0x0a,0x05,
+0x04,0x05,0x02,0x01,0x03,0x12,0x03,0x2b,0x18,0x19,
+0x0a,0x0b,0x0a,0x04,0x04,0x05,0x02,0x02,0x12,0x03,
+0x2c,0x04,0x1b,0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,
+0x02,0x05,0x12,0x03,0x2c,0x04,0x09,0x0a,0x0c,0x0a,
+0x05,0x04,0x05,0x02,0x02,0x01,0x12,0x03,0x2c,0x0a,
+0x16,0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,0x02,0x03,
+0x12,0x03,0x2c,0x19,0x1a,0x0a,0x0b,0x0a,0x04,0x04,
+0x05,0x02,0x03,0x12,0x03,0x2d,0x04,0x18,0x0a,0x0c,
+0x0a,0x05,0x04,0x05,0x02,0x03,0x05,0x12,0x03,0x2d,
+0x04,0x09,0x0a,0x0c,0x0a,0x05,0x04,0x05,0x02,0x03,
+0x01,0x12,0x03,0x2d,0x0a,0x13,0x0a,0x0c,0x0a,0x05,
+0x04,0x05,0x02,0x03,0x03,0x12,0x03,0x2d,0x16,0x17,
+0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
+};
+static const char file_name[] = "MrcComm.proto";
+static const char mrc_proto_ProtobufJoystickData_name[] = "mrc.proto.ProtobufJoystickData";
+std::string_view mrc_proto_ProtobufJoystickData::msg_name(void) noexcept { return mrc_proto_ProtobufJoystickData_name; }
+pb_filedesc_t mrc_proto_ProtobufJoystickData::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(mrc_proto_ProtobufJoystickData, mrc_proto_ProtobufJoystickData, AUTO)
+
+
+static const char mrc_proto_ProtobufControlData_name[] = "mrc.proto.ProtobufControlData";
+std::string_view mrc_proto_ProtobufControlData::msg_name(void) noexcept { return mrc_proto_ProtobufControlData_name; }
+pb_filedesc_t mrc_proto_ProtobufControlData::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(mrc_proto_ProtobufControlData, mrc_proto_ProtobufControlData, AUTO)
+
+
+static const char mrc_proto_ProtobufJoystickDescriptor_name[] = "mrc.proto.ProtobufJoystickDescriptor";
+std::string_view mrc_proto_ProtobufJoystickDescriptor::msg_name(void) noexcept { return mrc_proto_ProtobufJoystickDescriptor_name; }
+pb_filedesc_t mrc_proto_ProtobufJoystickDescriptor::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(mrc_proto_ProtobufJoystickDescriptor, mrc_proto_ProtobufJoystickDescriptor, AUTO)
+
+
+static const char mrc_proto_ProtobufJoystickOutputData_name[] = "mrc.proto.ProtobufJoystickOutputData";
+std::string_view mrc_proto_ProtobufJoystickOutputData::msg_name(void) noexcept { return mrc_proto_ProtobufJoystickOutputData_name; }
+pb_filedesc_t mrc_proto_ProtobufJoystickOutputData::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(mrc_proto_ProtobufJoystickOutputData, mrc_proto_ProtobufJoystickOutputData, AUTO)
+
+
+static const char mrc_proto_ProtobufVersionInfo_name[] = "mrc.proto.ProtobufVersionInfo";
+std::string_view mrc_proto_ProtobufVersionInfo::msg_name(void) noexcept { return mrc_proto_ProtobufVersionInfo_name; }
+pb_filedesc_t mrc_proto_ProtobufVersionInfo::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(mrc_proto_ProtobufVersionInfo, mrc_proto_ProtobufVersionInfo, AUTO)
+
+
+static const char mrc_proto_ProtobufMatchInfo_name[] = "mrc.proto.ProtobufMatchInfo";
+std::string_view mrc_proto_ProtobufMatchInfo::msg_name(void) noexcept { return mrc_proto_ProtobufMatchInfo_name; }
+pb_filedesc_t mrc_proto_ProtobufMatchInfo::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
+PB_BIND(mrc_proto_ProtobufMatchInfo, mrc_proto_ProtobufMatchInfo, AUTO)
+
+
+
diff --git a/hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.h b/hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.h
new file mode 100644
index 00000000000..8818758c1e1
--- /dev/null
+++ b/hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.h
@@ -0,0 +1,185 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.9 */
+
+#ifndef PB_MRC_PROTO_MRCCOMM_NPB_H_INCLUDED
+#define PB_MRC_PROTO_MRCCOMM_NPB_H_INCLUDED
+#include <pb.h>
+#include <span>
+#include <string_view>
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _mrc_proto_ProtobufJoystickData {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    uint32_t ButtonCount;
+    uint32_t Buttons;
+    pb_callback_t Axes;
+    pb_callback_t POVs;
+} mrc_proto_ProtobufJoystickData;
+
+typedef struct _mrc_proto_ProtobufControlData {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    uint32_t ControlWord;
+    float MatchTime;
+    pb_callback_t Joysticks;
+    pb_callback_t OpMode;
+} mrc_proto_ProtobufControlData;
+
+typedef struct _mrc_proto_ProtobufJoystickDescriptor {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t JoystickName;
+    pb_callback_t AxisTypes;
+    bool IsXbox;
+    int32_t JoystickType;
+    int32_t ButtonCount;
+    int32_t PovCount;
+} mrc_proto_ProtobufJoystickDescriptor;
+
+typedef struct _mrc_proto_ProtobufJoystickOutputData {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    uint32_t HidOutputs;
+    float LeftRumble;
+    float RightRumble;
+} mrc_proto_ProtobufJoystickOutputData;
+
+typedef struct _mrc_proto_ProtobufVersionInfo {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    uint32_t DeviceId;
+    pb_callback_t Name;
+    pb_callback_t Version;
+} mrc_proto_ProtobufVersionInfo;
+
+typedef struct _mrc_proto_ProtobufMatchInfo {
+    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
+    static std::string_view msg_name(void) noexcept;
+    static pb_filedesc_t file_descriptor(void) noexcept;
+
+    pb_callback_t EventName;
+    int32_t MatchNumber;
+    int32_t ReplayNumber;
+    int32_t MatchType;
+} mrc_proto_ProtobufMatchInfo;
+
+
+/* Initializer values for message structs */
+#define mrc_proto_ProtobufJoystickData_init_default {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
+#define mrc_proto_ProtobufControlData_init_default {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
+#define mrc_proto_ProtobufJoystickDescriptor_init_default {{{NULL}, NULL}, {{NULL}, NULL}, 0, 0, 0, 0}
+#define mrc_proto_ProtobufJoystickOutputData_init_default {0, 0, 0}
+#define mrc_proto_ProtobufVersionInfo_init_default {0, {{NULL}, NULL}, {{NULL}, NULL}}
+#define mrc_proto_ProtobufMatchInfo_init_default {{{NULL}, NULL}, 0, 0, 0}
+#define mrc_proto_ProtobufJoystickData_init_zero {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
+#define mrc_proto_ProtobufControlData_init_zero  {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
+#define mrc_proto_ProtobufJoystickDescriptor_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, 0, 0, 0, 0}
+#define mrc_proto_ProtobufJoystickOutputData_init_zero {0, 0, 0}
+#define mrc_proto_ProtobufVersionInfo_init_zero  {0, {{NULL}, NULL}, {{NULL}, NULL}}
+#define mrc_proto_ProtobufMatchInfo_init_zero    {{{NULL}, NULL}, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define mrc_proto_ProtobufJoystickData_ButtonCount_tag 1
+#define mrc_proto_ProtobufJoystickData_Buttons_tag 2
+#define mrc_proto_ProtobufJoystickData_Axes_tag  3
+#define mrc_proto_ProtobufJoystickData_POVs_tag  4
+#define mrc_proto_ProtobufControlData_ControlWord_tag 1
+#define mrc_proto_ProtobufControlData_MatchTime_tag 2
+#define mrc_proto_ProtobufControlData_Joysticks_tag 3
+#define mrc_proto_ProtobufControlData_OpMode_tag 4
+#define mrc_proto_ProtobufJoystickDescriptor_JoystickName_tag 1
+#define mrc_proto_ProtobufJoystickDescriptor_AxisTypes_tag 2
+#define mrc_proto_ProtobufJoystickDescriptor_IsXbox_tag 3
+#define mrc_proto_ProtobufJoystickDescriptor_JoystickType_tag 4
+#define mrc_proto_ProtobufJoystickDescriptor_ButtonCount_tag 5
+#define mrc_proto_ProtobufJoystickDescriptor_PovCount_tag 6
+#define mrc_proto_ProtobufJoystickOutputData_HidOutputs_tag 1
+#define mrc_proto_ProtobufJoystickOutputData_LeftRumble_tag 2
+#define mrc_proto_ProtobufJoystickOutputData_RightRumble_tag 3
+#define mrc_proto_ProtobufVersionInfo_DeviceId_tag 1
+#define mrc_proto_ProtobufVersionInfo_Name_tag   2
+#define mrc_proto_ProtobufVersionInfo_Version_tag 3
+#define mrc_proto_ProtobufMatchInfo_EventName_tag 1
+#define mrc_proto_ProtobufMatchInfo_MatchNumber_tag 2
+#define mrc_proto_ProtobufMatchInfo_ReplayNumber_tag 3
+#define mrc_proto_ProtobufMatchInfo_MatchType_tag 4
+
+/* Struct field encoding specification for nanopb */
+#define mrc_proto_ProtobufJoystickData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, UINT32,   ButtonCount,       1) \
+X(a, STATIC,   SINGULAR, FIXED32,  Buttons,           2) \
+X(a, CALLBACK, REPEATED, FLOAT,    Axes,              3) \
+X(a, CALLBACK, REPEATED, SINT32,   POVs,              4)
+#define mrc_proto_ProtobufJoystickData_CALLBACK pb_default_field_callback
+#define mrc_proto_ProtobufJoystickData_DEFAULT NULL
+
+#define mrc_proto_ProtobufControlData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, UINT32,   ControlWord,       1) \
+X(a, STATIC,   SINGULAR, FLOAT,    MatchTime,         2) \
+X(a, CALLBACK, REPEATED, MESSAGE,  Joysticks,         3) \
+X(a, CALLBACK, SINGULAR, STRING,   OpMode,            4)
+#define mrc_proto_ProtobufControlData_CALLBACK pb_default_field_callback
+#define mrc_proto_ProtobufControlData_DEFAULT NULL
+#define mrc_proto_ProtobufControlData_Joysticks_MSGTYPE mrc_proto_ProtobufJoystickData
+
+#define mrc_proto_ProtobufJoystickDescriptor_FIELDLIST(X, a) \
+X(a, CALLBACK, SINGULAR, STRING,   JoystickName,      1) \
+X(a, CALLBACK, REPEATED, INT32,    AxisTypes,         2) \
+X(a, STATIC,   SINGULAR, BOOL,     IsXbox,            3) \
+X(a, STATIC,   SINGULAR, INT32,    JoystickType,      4) \
+X(a, STATIC,   SINGULAR, INT32,    ButtonCount,       5) \
+X(a, STATIC,   SINGULAR, INT32,    PovCount,          6)
+#define mrc_proto_ProtobufJoystickDescriptor_CALLBACK pb_default_field_callback
+#define mrc_proto_ProtobufJoystickDescriptor_DEFAULT NULL
+
+#define mrc_proto_ProtobufJoystickOutputData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, FIXED32,  HidOutputs,        1) \
+X(a, STATIC,   SINGULAR, FLOAT,    LeftRumble,        2) \
+X(a, STATIC,   SINGULAR, FLOAT,    RightRumble,       3)
+#define mrc_proto_ProtobufJoystickOutputData_CALLBACK NULL
+#define mrc_proto_ProtobufJoystickOutputData_DEFAULT NULL
+
+#define mrc_proto_ProtobufVersionInfo_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, FIXED32,  DeviceId,          1) \
+X(a, CALLBACK, SINGULAR, STRING,   Name,              2) \
+X(a, CALLBACK, SINGULAR, STRING,   Version,           3)
+#define mrc_proto_ProtobufVersionInfo_CALLBACK pb_default_field_callback
+#define mrc_proto_ProtobufVersionInfo_DEFAULT NULL
+
+#define mrc_proto_ProtobufMatchInfo_FIELDLIST(X, a) \
+X(a, CALLBACK, SINGULAR, STRING,   EventName,         1) \
+X(a, STATIC,   SINGULAR, INT32,    MatchNumber,       2) \
+X(a, STATIC,   SINGULAR, INT32,    ReplayNumber,      3) \
+X(a, STATIC,   SINGULAR, INT32,    MatchType,         4)
+#define mrc_proto_ProtobufMatchInfo_CALLBACK pb_default_field_callback
+#define mrc_proto_ProtobufMatchInfo_DEFAULT NULL
+
+/* Maximum encoded size of messages (where known) */
+/* mrc_proto_ProtobufJoystickData_size depends on runtime parameters */
+/* mrc_proto_ProtobufControlData_size depends on runtime parameters */
+/* mrc_proto_ProtobufJoystickDescriptor_size depends on runtime parameters */
+/* mrc_proto_ProtobufVersionInfo_size depends on runtime parameters */
+/* mrc_proto_ProtobufMatchInfo_size depends on runtime parameters */
+#define MRC_PROTO_MRCCOMM_NPB_H_MAX_SIZE         mrc_proto_ProtobufJoystickOutputData_size
+#define mrc_proto_ProtobufJoystickOutputData_size 15
+
+
+#endif
diff --git a/hal/src/main/native/cpp/proto/ControlDataProto.cpp b/hal/src/main/native/cpp/proto/ControlDataProto.cpp
new file mode 100644
index 00000000000..372f020a744
--- /dev/null
+++ b/hal/src/main/native/cpp/proto/ControlDataProto.cpp
@@ -0,0 +1,163 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <string>
+#include <utility>
+
+#include <wpi/protobuf/ProtobufCallbacks.h>
+
+#include "hal/proto/ControlData.h"
+
+static_assert(sizeof(mrc::ControlFlags) == sizeof(uint32_t));
+
+namespace {
+constexpr uint32_t EnabledMask = 0x1;
+constexpr uint32_t EStopMask = 0x8;
+constexpr uint32_t FmsConnectedMask = 0x10;
+constexpr uint32_t DsConnectedMask = 0x20;
+constexpr uint32_t WatchdogActiveMask = 0x40;
+constexpr uint32_t AllianceMask = 0x1F80;
+
+constexpr uint32_t EnabledShift = 0;
+constexpr uint32_t EStopShift = 3;
+constexpr uint32_t FmsConnectedShift = 4;
+constexpr uint32_t DsConnectedShift = 5;
+constexpr uint32_t WatchdogActiveShift = 6;
+constexpr uint32_t AllianceShift = 7;
+
+#define WORD_TO_INT(Name) Ret |= (Word.Name << Name##Shift)
+
+constexpr uint32_t FromControlWord(mrc::ControlFlags Word) {
+  uint32_t Ret = 0;
+  WORD_TO_INT(Enabled);
+  WORD_TO_INT(EStop);
+  WORD_TO_INT(FmsConnected);
+  WORD_TO_INT(DsConnected);
+  WORD_TO_INT(WatchdogActive);
+  WORD_TO_INT(Alliance);
+  return Ret;
+}
+
+#undef WORD_TO_INT
+
+#define INT_TO_WORD(Name) Ret.Name = ((Word & Name##Mask) >> Name##Shift)
+
+constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
+  mrc::ControlFlags Ret = {};
+  INT_TO_WORD(Enabled);
+  INT_TO_WORD(EStop);
+  INT_TO_WORD(FmsConnected);
+  INT_TO_WORD(DsConnected);
+  INT_TO_WORD(WatchdogActive);
+  INT_TO_WORD(Alliance);
+  return Ret;
+}
+
+}  // namespace
+
+std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
+    InputStream& Stream) {
+  wpi::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
+  wpi::UnpackCallback<std::string> OpModeCb;
+
+  mrc_proto_ProtobufControlData Msg{
+      .ControlWord = 0,
+      .MatchTime = 0,
+      .Joysticks = JoystickCb.Callback(),
+      .OpMode = OpModeCb.Callback(),
+  };
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  auto Joysticks = JoystickCb.Items();
+  auto OpMode = OpModeCb.Items();
+
+  mrc::ControlData ControlData;
+
+  if (!OpMode.empty()) {
+    ControlData.MoveOpMode(std::move(OpMode[0]));
+  }
+
+  ControlData.ControlWord = ToControlWord(Msg.ControlWord);
+  ControlData.MatchTime = Msg.MatchTime;
+  ControlData.SetJoystickCount(Joysticks.size());
+
+  for (size_t i = 0; i < ControlData.GetJoystickCount(); i++) {
+    ControlData.Joysticks()[i] = Joysticks[i];
+  }
+
+  return ControlData;
+}
+
+bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
+                                           const mrc::ControlData& Value) {
+  std::string_view OpMode = Value.GetOpMode();
+  wpi::PackCallback OpModeCb{&OpMode};
+  std::span<const mrc::Joystick> Sticks = Value.Joysticks();
+  wpi::PackCallback Joysticks{Sticks};
+
+  mrc_proto_ProtobufControlData Msg{
+      .ControlWord = FromControlWord(Value.ControlWord),
+      .MatchTime = Value.MatchTime,
+      .Joysticks = Joysticks.Callback(),
+      .OpMode = OpModeCb.Callback(),
+  };
+
+  return Stream.Encode(Msg);
+}
+
+std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
+    InputStream& Stream) {
+  wpi::UnpackCallback<float, MRC_MAX_NUM_AXES> AxesCb;
+  wpi::UnpackCallback<uint16_t, MRC_MAX_NUM_POVS> PovsCb;
+
+  mrc_proto_ProtobufJoystickData Msg{
+      .ButtonCount = 0,
+      .Buttons = 0,
+      .Axes = AxesCb.Callback(),
+      .POVs = PovsCb.Callback(),
+  };
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  auto Axes = AxesCb.Items();
+  auto Povs = PovsCb.Items();
+
+  mrc::Joystick Joystick;
+  Joystick.Axes.SetCount(Axes.size());
+
+  for (size_t i = 0; i < Joystick.Axes.GetCount(); i++) {
+    Joystick.Axes.Axes()[i] = Axes[i];
+  }
+
+  Joystick.Povs.SetCount(Povs.size());
+
+  for (size_t i = 0; i < Joystick.Povs.GetCount(); i++) {
+    Joystick.Povs.Povs()[i] = Povs[i];
+  }
+
+  Joystick.Buttons.SetCount(Msg.ButtonCount);
+  Joystick.Buttons.Buttons = Msg.Buttons;
+
+  return Joystick;
+}
+
+bool wpi::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
+                                        const mrc::Joystick& Value) {
+  wpi::PackCallback AxesCb{Value.Axes.Axes()};
+  wpi::PackCallback PovsCb{Value.Povs.Povs()};
+
+  mrc_proto_ProtobufJoystickData Msg{
+      .ButtonCount = static_cast<uint32_t>(Value.Buttons.GetCount()),
+      .Buttons = Value.Buttons.Buttons,
+      .Axes = AxesCb.Callback(),
+      .POVs = PovsCb.Callback(),
+  };
+
+  return Stream.Encode(Msg);
+}
diff --git a/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp b/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
new file mode 100644
index 00000000000..15aef89139e
--- /dev/null
+++ b/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
@@ -0,0 +1,68 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <string>
+#include <utility>
+
+#include <wpi/protobuf/ProtobufCallbacks.h>
+
+#include "hal/proto/JoystickDescriptor.h"
+
+std::optional<mrc::JoystickDescriptor>
+wpi::Protobuf<mrc::JoystickDescriptor>::Unpack(InputStream& Stream) {
+  wpi::UnpackCallback<std::string> JoystickNameCb;
+  wpi::UnpackCallback<uint8_t, MRC_MAX_NUM_AXES> AxisTypesCb;
+
+  mrc_proto_ProtobufJoystickDescriptor Msg;
+  Msg.JoystickName = JoystickNameCb.Callback();
+  Msg.AxisTypes = AxisTypesCb.Callback();
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  auto JoystickName = JoystickNameCb.Items();
+  auto AxisTypes = AxisTypesCb.Items();
+
+  if (JoystickName.empty()) {
+    return {};
+  }
+
+  mrc::JoystickDescriptor OutputData;
+  OutputData.MoveName(std::move(JoystickName[0]));
+
+  OutputData.SetAxesCount(AxisTypes.size());
+
+  for (size_t i = 0; i < OutputData.GetAxesCount(); i++) {
+    OutputData.AxesTypes()[i] = AxisTypes[i];
+  }
+
+  OutputData.SetPovsCount(Msg.PovCount);
+  OutputData.SetButtonsCount(Msg.ButtonCount);
+
+  OutputData.IsXbox = Msg.IsXbox ? 1 : 0;
+  OutputData.Type = Msg.JoystickType;
+
+  return OutputData;
+}
+
+bool wpi::Protobuf<mrc::JoystickDescriptor>::Pack(
+    OutputStream& Stream, const mrc::JoystickDescriptor& Value) {
+  std::string_view JoystickName = Value.GetName();
+  wpi::PackCallback JoystickNameCb{&JoystickName};
+
+  std::span<const uint8_t> AxisTypes = Value.AxesTypes();
+  wpi::PackCallback AxisTypesCb{AxisTypes};
+
+  mrc_proto_ProtobufJoystickDescriptor Msg{
+      .JoystickName = JoystickNameCb.Callback(),
+      .AxisTypes = AxisTypesCb.Callback(),
+      .IsXbox = Value.IsXbox ? true : false,
+      .JoystickType = Value.Type,
+      .ButtonCount = static_cast<int32_t>(Value.GetButtonsCount()),
+      .PovCount = static_cast<int32_t>(Value.GetPovsCount()),
+  };
+
+  return Stream.Encode(Msg);
+}
diff --git a/hal/src/main/native/cpp/proto/JoystickOutputDataProto.cpp b/hal/src/main/native/cpp/proto/JoystickOutputDataProto.cpp
new file mode 100644
index 00000000000..cd6a3d70b26
--- /dev/null
+++ b/hal/src/main/native/cpp/proto/JoystickOutputDataProto.cpp
@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <wpi/protobuf/ProtobufCallbacks.h>
+
+#include "hal/proto/JoystickOutputData.h"
+
+std::optional<mrc::JoystickOutputData>
+wpi::Protobuf<mrc::JoystickOutputData>::Unpack(InputStream& Stream) {
+  mrc_proto_ProtobufJoystickOutputData Msg;
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  return mrc::JoystickOutputData{
+      .HidOutputs = Msg.HidOutputs,
+      .LeftRumble = Msg.LeftRumble,
+      .RightRumble = Msg.RightRumble,
+  };
+}
+
+bool wpi::Protobuf<mrc::JoystickOutputData>::Pack(
+    OutputStream& Stream, const mrc::JoystickOutputData& Value) {
+  mrc_proto_ProtobufJoystickOutputData Msg{
+      .HidOutputs = Value.HidOutputs,
+      .LeftRumble = Value.LeftRumble,
+      .RightRumble = Value.RightRumble,
+  };
+
+  return Stream.Encode(Msg);
+}
diff --git a/hal/src/main/native/cpp/proto/MatchInfoProto.cpp b/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
new file mode 100644
index 00000000000..537655477db
--- /dev/null
+++ b/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <string>
+#include <utility>
+
+#include <wpi/protobuf/ProtobufCallbacks.h>
+
+#include "hal/proto/MatchInfo.h"
+
+std::optional<mrc::MatchInfo> wpi::Protobuf<mrc::MatchInfo>::Unpack(
+    InputStream& Stream) {
+  wpi::UnpackCallback<std::string> NameCb;
+
+  mrc_proto_ProtobufMatchInfo Msg;
+  Msg.EventName = NameCb.Callback();
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  auto Name = NameCb.Items();
+
+  if (Name.empty()) {
+    return {};
+  }
+
+  mrc::MatchInfo OutputData;
+  OutputData.MoveEventName(std::move(Name[0]));
+
+  OutputData.MatchNumber = Msg.MatchNumber;
+  OutputData.ReplayNumber = Msg.ReplayNumber;
+  OutputData.Type = static_cast<mrc::MatchType>(Msg.MatchType);
+
+  return OutputData;
+}
+
+bool wpi::Protobuf<mrc::MatchInfo>::Pack(OutputStream& Stream,
+                                         const mrc::MatchInfo& Value) {
+  std::string_view EventNameStr = Value.GetEventName();
+  wpi::PackCallback EventName{&EventNameStr};
+
+  mrc_proto_ProtobufMatchInfo Msg{
+      .EventName = EventName.Callback(),
+      .MatchNumber = Value.MatchNumber,
+      .ReplayNumber = Value.ReplayNumber,
+      .MatchType = static_cast<int32_t>(Value.Type),
+  };
+
+  return Stream.Encode(Msg);
+}
diff --git a/hal/src/main/native/cpp/proto/VersionInfoProto.cpp b/hal/src/main/native/cpp/proto/VersionInfoProto.cpp
new file mode 100644
index 00000000000..200029ea2ed
--- /dev/null
+++ b/hal/src/main/native/cpp/proto/VersionInfoProto.cpp
@@ -0,0 +1,56 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <string>
+#include <utility>
+
+#include <wpi/protobuf/ProtobufCallbacks.h>
+
+#include "hal/proto/VersionInfo.h"
+
+std::optional<mrc::VersionInfo> wpi::Protobuf<mrc::VersionInfo>::Unpack(
+    InputStream& Stream) {
+  wpi::UnpackCallback<std::string> NameCb;
+  wpi::UnpackCallback<std::string> VersionCb;
+
+  mrc_proto_ProtobufVersionInfo Msg{
+      .DeviceId = 0,
+      .Name = NameCb.Callback(),
+      .Version = VersionCb.Callback(),
+  };
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  auto Name = NameCb.Items();
+  auto Version = VersionCb.Items();
+
+  if (Name.empty() || Version.empty()) {
+    return {};
+  }
+
+  mrc::VersionInfo ToRet;
+
+  ToRet.DeviceId = Msg.DeviceId;
+  ToRet.MoveName(std::move(Name[0]));
+  ToRet.MoveVersion(std::move(Version[0]));
+
+  return ToRet;
+}
+
+bool wpi::Protobuf<mrc::VersionInfo>::Pack(OutputStream& Stream,
+                                           const mrc::VersionInfo& Value) {
+  std::string_view NameView = Value.GetName();
+  std::string_view VersionView = Value.GetVersion();
+  wpi::PackCallback NameCb{&NameView};
+  wpi::PackCallback VersionCb{&VersionView};
+
+  mrc_proto_ProtobufVersionInfo Msg{
+      .DeviceId = Value.DeviceId,
+      .Name = NameCb.Callback(),
+      .Version = VersionCb.Callback(),
+  };
+  return Stream.Encode(Msg);
+}
diff --git a/hal/src/main/native/include/hal/proto/ControlData.h b/hal/src/main/native/include/hal/proto/ControlData.h
new file mode 100644
index 00000000000..e5039a233df
--- /dev/null
+++ b/hal/src/main/native/include/hal/proto/ControlData.h
@@ -0,0 +1,30 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <wpi/protobuf/Protobuf.h>
+
+#include "MrcComm.npb.h"
+#include "mrc/NetComm.h"
+
+template <>
+struct wpi::Protobuf<mrc::ControlData> {
+  using MessageStruct = mrc_proto_ProtobufControlData;
+  using InputStream = wpi::ProtoInputStream<mrc::ControlData>;
+  using OutputStream = wpi::ProtoOutputStream<mrc::ControlData>;
+  static std::optional<mrc::ControlData> Unpack(InputStream& Stream);
+  static bool Pack(OutputStream& Stream, const mrc::ControlData& Value);
+};
+
+template <>
+struct wpi::Protobuf<mrc::Joystick> {
+  using MessageStruct = mrc_proto_ProtobufJoystickData;
+  using InputStream = wpi::ProtoInputStream<mrc::Joystick>;
+  using OutputStream = wpi::ProtoOutputStream<mrc::Joystick>;
+  static std::optional<mrc::Joystick> Unpack(InputStream& Stream);
+  static bool Pack(OutputStream& Stream, const mrc::Joystick& Value);
+};
diff --git a/hal/src/main/native/include/hal/proto/JoystickDescriptor.h b/hal/src/main/native/include/hal/proto/JoystickDescriptor.h
new file mode 100644
index 00000000000..42a5eeceae0
--- /dev/null
+++ b/hal/src/main/native/include/hal/proto/JoystickDescriptor.h
@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <wpi/protobuf/Protobuf.h>
+
+#include "MrcComm.npb.h"
+#include "mrc/NetComm.h"
+
+template <>
+struct wpi::Protobuf<mrc::JoystickDescriptor> {
+  using MessageStruct = mrc_proto_ProtobufJoystickDescriptor;
+  using InputStream = wpi::ProtoInputStream<mrc::JoystickDescriptor>;
+  using OutputStream = wpi::ProtoOutputStream<mrc::JoystickDescriptor>;
+  static std::optional<mrc::JoystickDescriptor> Unpack(InputStream& Stream);
+  static bool Pack(OutputStream& Stream, const mrc::JoystickDescriptor& Value);
+};
diff --git a/hal/src/main/native/include/hal/proto/JoystickOutputData.h b/hal/src/main/native/include/hal/proto/JoystickOutputData.h
new file mode 100644
index 00000000000..8dc4c4eab4f
--- /dev/null
+++ b/hal/src/main/native/include/hal/proto/JoystickOutputData.h
@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <wpi/protobuf/Protobuf.h>
+
+#include "MrcComm.npb.h"
+#include "mrc/NetComm.h"
+
+template <>
+struct wpi::Protobuf<mrc::JoystickOutputData> {
+  using MessageStruct = mrc_proto_ProtobufJoystickOutputData;
+  using InputStream = wpi::ProtoInputStream<mrc::JoystickOutputData>;
+  using OutputStream = wpi::ProtoOutputStream<mrc::JoystickOutputData>;
+  static std::optional<mrc::JoystickOutputData> Unpack(InputStream& Stream);
+  static bool Pack(OutputStream& Stream, const mrc::JoystickOutputData& Value);
+};
diff --git a/hal/src/main/native/include/hal/proto/MatchInfo.h b/hal/src/main/native/include/hal/proto/MatchInfo.h
new file mode 100644
index 00000000000..ccb806750e7
--- /dev/null
+++ b/hal/src/main/native/include/hal/proto/MatchInfo.h
@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <wpi/protobuf/Protobuf.h>
+
+#include "MrcComm.npb.h"
+#include "mrc/NetComm.h"
+
+template <>
+struct wpi::Protobuf<mrc::MatchInfo> {
+  using MessageStruct = mrc_proto_ProtobufMatchInfo;
+  using InputStream = wpi::ProtoInputStream<mrc::MatchInfo>;
+  using OutputStream = wpi::ProtoOutputStream<mrc::MatchInfo>;
+  static std::optional<mrc::MatchInfo> Unpack(InputStream& Stream);
+  static bool Pack(OutputStream& Stream, const mrc::MatchInfo& Value);
+};
diff --git a/hal/src/main/native/include/hal/proto/VersionInfo.h b/hal/src/main/native/include/hal/proto/VersionInfo.h
new file mode 100644
index 00000000000..6a835bf8848
--- /dev/null
+++ b/hal/src/main/native/include/hal/proto/VersionInfo.h
@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <wpi/protobuf/Protobuf.h>
+
+#include "MrcComm.npb.h"
+#include "mrc/NetComm.h"
+
+template <>
+struct wpi::Protobuf<mrc::VersionInfo> {
+  using MessageStruct = mrc_proto_ProtobufVersionInfo;
+  using InputStream = wpi::ProtoInputStream<mrc::VersionInfo>;
+  using OutputStream = wpi::ProtoOutputStream<mrc::VersionInfo>;
+  static std::optional<mrc::VersionInfo> Unpack(InputStream& Stream);
+  static bool Pack(OutputStream& Stream, const mrc::VersionInfo& Value);
+};
diff --git a/hal/src/main/native/systemcore/HAL.cpp b/hal/src/main/native/systemcore/HAL.cpp
index a58581b8042..72b6da25211 100644
--- a/hal/src/main/native/systemcore/HAL.cpp
+++ b/hal/src/main/native/systemcore/HAL.cpp
@@ -27,11 +27,11 @@
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
+#include "SystemServer.h"
 #include "hal/DriverStation.h"
 #include "hal/Errors.h"
 #include "hal/Notifier.h"
 #include "hal/handles/HandlesInternal.h"
-#include "hal/roborio/HMB.h"
 
 using namespace hal;
 
@@ -337,6 +337,8 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
 
   prctl(PR_SET_PDEATHSIG, SIGTERM);
 
+  hal::InitializeSystemServer();
+
   // // Return false if program failed to kill an existing program
   // if (!killExistingProgram(timeout, mode)) {
   //   return false;
diff --git a/hal/src/main/native/systemcore/SystemServer.cpp b/hal/src/main/native/systemcore/SystemServer.cpp
new file mode 100644
index 00000000000..584643e71b3
--- /dev/null
+++ b/hal/src/main/native/systemcore/SystemServer.cpp
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "SystemServer.h"
+
+#include "mrc/NtNetComm.h"
+
+namespace hal {
+
+static nt::NetworkTableInstance ServerInstance;
+
+void InitializeSystemServer() {
+  if (ServerInstance) {
+    return;
+  }
+  ServerInstance = nt::NetworkTableInstance::Create();
+  ServerInstance.SetServer("localhost", ROBOT_SYSTEM_SERVER_NT_PORT);
+  ServerInstance.StartClient4("RobotProgram");
+}
+
+void ShutdownSystemServer() {
+  if (!ServerInstance) {
+    return;
+  }
+
+  ServerInstance.StopClient();
+  nt::NetworkTableInstance::Destroy(ServerInstance);
+}
+
+nt::NetworkTableInstance GetSystemServer() {
+  return ServerInstance;
+}
+
+}  // namespace hal
diff --git a/hal/src/main/native/systemcore/SystemServer.h b/hal/src/main/native/systemcore/SystemServer.h
new file mode 100644
index 00000000000..258687fef93
--- /dev/null
+++ b/hal/src/main/native/systemcore/SystemServer.h
@@ -0,0 +1,13 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <networktables/NetworkTableInstance.h>
+
+namespace hal {
+void InitializeSystemServer();
+void ShutdownSystemServer();
+nt::NetworkTableInstance GetSystemServer();
+}  // namespace hal
diff --git a/hal/src/mrc/include/mrc/NetComm.h b/hal/src/mrc/include/mrc/NetComm.h
new file mode 100644
index 00000000000..b859e53c97f
--- /dev/null
+++ b/hal/src/mrc/include/mrc/NetComm.h
@@ -0,0 +1,308 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <array>
+#include <span>
+#include <string>
+#include <string_view>
+#include <utility>
+
+#include "mrc/NtNetComm.h"
+
+namespace mrc {
+
+struct ControlFlags {
+  uint32_t Enabled : 1;
+  uint32_t ModeReserved : 2;
+  uint32_t EStop : 1;
+  uint32_t FmsConnected : 1;
+  uint32_t DsConnected : 1;
+  uint32_t WatchdogActive : 1;
+  uint32_t Alliance : 6;
+  uint32_t Reserved : 19;
+};
+
+struct JoystickAxes {
+ public:
+  std::span<float> Axes() { return std::span{AxesStore.data(), GetCount()}; }
+
+  std::span<const float> Axes() const {
+    return std::span{AxesStore.data(), GetCount()};
+  }
+
+  void SetCount(uint8_t NewCount) {
+    Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_AXES));
+  }
+
+  size_t GetCount() const { return Count; }
+
+ private:
+  std::array<float, MRC_MAX_NUM_AXES> AxesStore;
+  uint8_t Count{0};
+};
+
+struct JoystickPovs {
+ public:
+  std::span<int16_t> Povs() { return std::span{PovsStore.data(), GetCount()}; }
+
+  std::span<const int16_t> Povs() const {
+    return std::span{PovsStore.data(), GetCount()};
+  }
+
+  void SetCount(uint8_t NewCount) {
+    Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_POVS));
+  }
+
+  size_t GetCount() const { return Count; }
+
+ private:
+  std::array<int16_t, MRC_MAX_NUM_POVS> PovsStore;
+  uint8_t Count{0};
+};
+
+struct JoystickButtons {
+  uint32_t Buttons;
+
+  void SetCount(uint8_t NewCount) {
+    Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_BUTTONS));
+  }
+
+  size_t GetCount() const { return Count; }
+
+ private:
+  uint8_t Count{0};
+};
+
+struct Joystick {
+  JoystickAxes Axes;
+  JoystickPovs Povs;
+  JoystickButtons Buttons;
+};
+
+struct ControlData {
+  ControlFlags ControlWord;
+  float MatchTime;
+
+  std::span<Joystick> Joysticks() {
+    return std::span{JoysticksStore.data(), GetJoystickCount()};
+  }
+
+  std::span<const Joystick> Joysticks() const {
+    return std::span{JoysticksStore.data(), GetJoystickCount()};
+  }
+
+  size_t GetJoystickCount() const { return JoystickCount; }
+
+  void SetJoystickCount(uint8_t NewCount) {
+    JoystickCount =
+        (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_JOYSTICKS));
+  }
+
+  void SetOpMode(std::string_view Mode) {
+    if (Mode.size() > MRC_MAX_OPMODE_LEN) {
+      Mode = Mode.substr(0, MRC_MAX_OPMODE_LEN);
+    }
+    OpMode = Mode;
+  }
+
+  void MoveOpMode(std::string&& Mode) {
+    OpMode = std::move(Mode);
+    if (OpMode.size() > MRC_MAX_OPMODE_LEN) {
+      OpMode.resize(MRC_MAX_OPMODE_LEN);
+    }
+  }
+
+  std::string_view GetOpMode() const { return OpMode; }
+
+  std::span<uint8_t> WritableOpModeBuffer(size_t Len) {
+    if (Len > MRC_MAX_OPMODE_LEN) {
+      Len = MRC_MAX_OPMODE_LEN;
+    }
+    OpMode.resize(Len);
+    return std::span<uint8_t>{reinterpret_cast<uint8_t*>(OpMode.data()),
+                              OpMode.size()};
+  }
+
+ private:
+  std::array<Joystick, MRC_MAX_NUM_JOYSTICKS> JoysticksStore;
+  uint8_t JoystickCount{0};
+  std::string OpMode;
+};
+
+struct JoystickOutputData {
+  uint32_t HidOutputs{0};
+  float LeftRumble{0};
+  float RightRumble{0};
+};
+
+enum class MatchType : uint8_t {
+  None = 0,
+  Practice = 1,
+  Qualification = 2,
+  Playoff = 3,
+  Test = 4,
+};
+
+struct MatchInfo {
+  uint16_t MatchNumber{0};
+  uint8_t ReplayNumber{0};
+  MatchType Type{MatchType::None};
+
+  void SetEventName(std::string_view Name) {
+    if (Name.size() > MRC_MAX_EVENT_NAME_LEN) {
+      Name = Name.substr(0, MRC_MAX_EVENT_NAME_LEN);
+    }
+    EventName = Name;
+  }
+
+  void MoveEventName(std::string&& Name) {
+    EventName = std::move(Name);
+    if (EventName.size() > MRC_MAX_EVENT_NAME_LEN) {
+      EventName.resize(MRC_MAX_EVENT_NAME_LEN);
+    }
+  }
+
+  std::string_view GetEventName() const { return EventName; }
+
+  std::span<uint8_t> WritableNameBuffer(size_t Len) {
+    if (Len > MRC_MAX_EVENT_NAME_LEN) {
+      Len = MRC_MAX_EVENT_NAME_LEN;
+    }
+    EventName.resize(Len);
+    return std::span<uint8_t>{reinterpret_cast<uint8_t*>(EventName.data()),
+                              EventName.size()};
+  }
+
+ private:
+  std::string EventName;
+};
+
+struct JoystickDescriptor {
+ public:
+  bool IsXbox{0};
+  uint8_t Type{0};
+
+  std::span<uint8_t> AxesTypes() {
+    return std::span{AxesTypesStore.data(), GetAxesCount()};
+  }
+
+  std::span<const uint8_t> AxesTypes() const {
+    return std::span{AxesTypesStore.data(), GetAxesCount()};
+  }
+
+  void SetAxesCount(uint8_t NewCount) {
+    AxesCount = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_AXES));
+  }
+
+  size_t GetAxesCount() const { return AxesCount; }
+
+  void SetPovsCount(uint8_t NewCount) {
+    PovCount = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_POVS));
+  }
+
+  size_t GetPovsCount() const { return PovCount; }
+
+  void SetButtonsCount(uint8_t NewCount) {
+    ButtonCount =
+        (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_BUTTONS));
+  }
+
+  size_t GetButtonsCount() const { return ButtonCount; }
+
+  void SetName(std::string_view Name) {
+    if (Name.size() > MRC_MAX_JOYSTICK_NAME_LEN) {
+      Name = Name.substr(0, MRC_MAX_JOYSTICK_NAME_LEN);
+    }
+    JoystickName = Name;
+  }
+
+  void MoveName(std::string&& Name) {
+    JoystickName = std::move(Name);
+    if (JoystickName.size() > MRC_MAX_JOYSTICK_NAME_LEN) {
+      JoystickName.resize(MRC_MAX_JOYSTICK_NAME_LEN);
+    }
+  }
+
+  std::string_view GetName() const { return JoystickName; }
+
+  std::span<uint8_t> WritableNameBuffer(size_t Len) {
+    if (Len > MRC_MAX_JOYSTICK_NAME_LEN) {
+      Len = MRC_MAX_JOYSTICK_NAME_LEN;
+    }
+    JoystickName.resize(Len);
+    return std::span<uint8_t>{reinterpret_cast<uint8_t*>(JoystickName.data()),
+                              JoystickName.size()};
+  }
+
+ private:
+  std::string JoystickName;
+  std::array<uint8_t, MRC_MAX_NUM_AXES> AxesTypesStore;
+  uint8_t AxesCount{0};
+  uint8_t ButtonCount{0};
+  uint8_t PovCount{0};
+};
+
+struct VersionInfo {
+  uint32_t DeviceId{0};
+
+  void SetName(std::string_view NewName) {
+    if (NewName.size() > MRC_MAX_VERSION_SIZE) {
+      NewName = NewName.substr(0, MRC_MAX_VERSION_SIZE);
+    }
+    Name = NewName;
+  }
+
+  void MoveName(std::string&& NewName) {
+    Name = std::move(NewName);
+    if (Name.size() > MRC_MAX_VERSION_SIZE) {
+      Name.resize(MRC_MAX_VERSION_SIZE);
+    }
+  }
+
+  std::string_view GetName() const { return Name; }
+
+  std::span<uint8_t> WritableNameBuffer(size_t Len) {
+    if (Len > MRC_MAX_VERSION_SIZE) {
+      Len = MRC_MAX_VERSION_SIZE;
+    }
+    Name.resize(Len);
+    return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Name.data()),
+                              Name.size()};
+  }
+
+  void SetVersion(std::string_view NewVersion) {
+    if (NewVersion.size() > MRC_MAX_VERSION_SIZE) {
+      NewVersion = NewVersion.substr(0, MRC_MAX_VERSION_SIZE);
+    }
+    Version = NewVersion;
+  }
+
+  void MoveVersion(std::string&& NewVersion) {
+    Version = std::move(NewVersion);
+    if (Version.size() > MRC_MAX_VERSION_SIZE) {
+      Version.resize(MRC_MAX_VERSION_SIZE);
+    }
+  }
+
+  std::string_view GetVersion() const { return Version; }
+
+  std::span<uint8_t> WritableVersionBuffer(size_t Len) {
+    if (Len > MRC_MAX_VERSION_SIZE) {
+      Len = MRC_MAX_VERSION_SIZE;
+    }
+    Version.resize(Len);
+    return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Version.data()),
+                              Version.size()};
+  }
+
+ private:
+  std::string Name;
+  std::string Version;
+};
+
+}  // namespace mrc
diff --git a/hal/src/mrc/include/mrc/NtNetComm.h b/hal/src/mrc/include/mrc/NtNetComm.h
new file mode 100644
index 00000000000..faa306a1bd6
--- /dev/null
+++ b/hal/src/mrc/include/mrc/NtNetComm.h
@@ -0,0 +1,60 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#define ROBOT_SYSTEM_SERVER_NT_PORT 6810
+
+#define ROBOT_CONTROL_DATA_PREFIX "/Netcomm/Control/"
+
+#define ROBOT_WATCHDOG_ACTIVE_PATH (ROBOT_CONTROL_DATA_PREFIX "WatchdogActive")
+#define ROBOT_CONTROL_DATA_PATH (ROBOT_CONTROL_DATA_PREFIX "ControlData")
+#define ROBOT_GAME_SPECIFIC_MESSAGE_PATH \
+  (ROBOT_CONTROL_DATA_PREFIX "GameSpecificMessage")
+#define ROBOT_MATCH_INFO_PATH (ROBOT_CONTROL_DATA_PREFIX "MatchInfo")
+#define ROBOT_JOYSTICK_DESCRIPTORS_PATH \
+  (ROBOT_CONTROL_DATA_PREFIX "JoystickDescriptors/")
+
+#define ROBOT_STATUS_DATA_PREFIX "/Netcomm/Status/"
+
+#define ROBOT_NEW_ROBOT_PROGRAM_PATH \
+  (ROBOT_STATUS_DATA_PREFIX "NewRobotProgram")
+#define ROBOT_CODE_STARTED_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeStarted")
+#define ROBOT_DISABLED_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeDisabled")
+#define ROBOT_AUTON_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeAutonomous")
+#define ROBOT_TELEOP_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeTeleop")
+#define ROBOT_TEST_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeTest")
+
+#define ROBOT_OUTPUTS_DATA_PREFIX "/Netcomm/Outputs/"
+#define ROBOT_JOYSTICK_OUTPUTS_PATH (ROBOT_OUTPUTS_DATA_PREFIX "Joysticks/")
+
+#define ROBOT_CONSOLE_DATA_PREFIX "/Netcomm/Console/"
+#define ROBOT_CONSOLE_LINE_PATH (ROBOT_CONSOLE_DATA_PREFIX "ConsoleLine")
+
+#define ROBOT_REPORTING_DATA_PREFIX "/Netcomm/Reporting/"
+#define ROBOT_LIB_VERSION_PATH (ROBOT_REPORTING_DATA_PREFIX "LibVersion")
+#define ROBOT_USER_REPORTING_PATH (ROBOT_REPORTING_DATA_PREFIX "User")
+
+#define ROBOT_MODES_PREFIX "/Netcomm/Modes/"
+#define ROBOT_AVAILABLE_OP_MODES_PATH (ROBOT_MODES_PREFIX "AvailableOpModes")
+
+#define ROBOT_SYSTEM_SERVER_PREFIX "/sys/"
+#define ROBOT_BATTERY_VOLTAGE_PATH (ROBOT_SYSTEM_SERVER_PREFIX "battery")
+#define ROBOT_RAM_USED_PATH (ROBOT_SYSTEM_SERVER_PREFIX "ram")
+#define ROBOT_RAM_BYTES_PATH (ROBOT_SYSTEM_SERVER_PREFIX "ramtotal")
+#define ROBOT_STORAGE_USED_PATH (ROBOT_SYSTEM_SERVER_PREFIX "storage")
+#define ROBOT_STORAGE_BYTES_PATH (ROBOT_SYSTEM_SERVER_PREFIX "storagetotal")
+#define ROBOT_CPU_PATH (ROBOT_SYSTEM_SERVER_PREFIX "cpu")
+#define ROBOT_CAN_BW_PATH (ROBOT_SYSTEM_SERVER_PREFIX "canbusban")
+#define ROBOT_TEAM_PATH (ROBOT_SYSTEM_SERVER_PREFIX "team")
+
+#define MRC_MAX_NUM_JOYSTICKS 6
+#define MRC_MAX_NUM_AXES 12
+#define MRC_MAX_NUM_POVS 12
+#define MRC_MAX_NUM_BUTTONS 32
+#define MRC_MAX_OPMODE_LEN 32
+#define MRC_MAX_GAME_SPECIFIC_MESSAGE_LEN 128
+#define MRC_MAX_EVENT_NAME_LEN 64
+#define MRC_MAX_JOYSTICK_NAME_LEN 256
+#define MRC_MAX_VERSION_SIZE 256
diff --git a/hal/src/mrc/proto/MrcComm.proto b/hal/src/mrc/proto/MrcComm.proto
new file mode 100644
index 00000000000..7db585663fb
--- /dev/null
+++ b/hal/src/mrc/proto/MrcComm.proto
@@ -0,0 +1,47 @@
+syntax = "proto3";
+
+package mrc.proto;
+
+option java_package = "com.mrc.proto";
+
+message ProtobufJoystickData {
+    uint32 ButtonCount = 1;
+    fixed32 Buttons = 2;
+    repeated float Axes = 3;
+    repeated sint32 POVs = 4;
+}
+
+message ProtobufControlData {
+    uint32 ControlWord = 1;
+    float MatchTime = 2;
+    repeated ProtobufJoystickData Joysticks = 3;
+    string OpMode = 4;
+}
+
+message ProtobufJoystickDescriptor {
+    string JoystickName = 1;
+    repeated int32 AxisTypes = 2;
+    bool IsXbox = 3;
+    int32 JoystickType = 4;
+    int32 ButtonCount = 5;
+    int32 PovCount = 6;
+}
+
+message ProtobufJoystickOutputData {
+    fixed32 HidOutputs = 1;
+    float LeftRumble = 2;
+    float RightRumble = 3;
+}
+
+message ProtobufVersionInfo {
+    fixed32 DeviceId = 1;
+    string Name = 2;
+    string Version = 3;
+}
+
+message ProtobufMatchInfo {
+    string EventName = 1;
+    int32 MatchNumber = 2;
+    int32 ReplayNumber = 3;
+    int32 MatchType = 4;
+}
diff --git a/outlineviewer/build.gradle b/outlineviewer/build.gradle
index 0538767d704..6544873877e 100644
--- a/outlineviewer/build.gradle
+++ b/outlineviewer/build.gradle
@@ -91,7 +91,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
diff --git a/processstarter/build.gradle b/processstarter/build.gradle
index 00788a5ca4b..240f24e236c 100644
--- a/processstarter/build.gradle
+++ b/processstarter/build.gradle
@@ -33,7 +33,7 @@ model {
         "${nativeName}"(NativeExecutableSpec) {
             baseName = 'processstarter'
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
diff --git a/roborioteamnumbersetter/build.gradle b/roborioteamnumbersetter/build.gradle
index 7831565f655..e8e9a0072a1 100644
--- a/roborioteamnumbersetter/build.gradle
+++ b/roborioteamnumbersetter/build.gradle
@@ -93,7 +93,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
diff --git a/simulation/halsim_ds_socket/build.gradle b/simulation/halsim_ds_socket/build.gradle
index 60148d7b18b..7bc0878e28c 100644
--- a/simulation/halsim_ds_socket/build.gradle
+++ b/simulation/halsim_ds_socket/build.gradle
@@ -42,11 +42,13 @@ model {
     }
     binaries {
         all {
+            project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
         withType(GoogleTestTestSuiteBinarySpec) {
             project(':hal').addHalDependency(it, 'shared')
+            project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             lib library: pluginName, linkage: 'shared'
diff --git a/simulation/halsim_gui/build.gradle b/simulation/halsim_gui/build.gradle
index e346002c5e8..0bc04c4f123 100644
--- a/simulation/halsim_gui/build.gradle
+++ b/simulation/halsim_gui/build.gradle
@@ -32,7 +32,7 @@ model {
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
             lib project: ':thirdparty:imgui_suite', library: 'imgui', linkage: 'static'
-            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                 it.buildable = false
                 return
             }
diff --git a/simulation/halsim_ws_client/build.gradle b/simulation/halsim_ws_client/build.gradle
index 0bd66437e80..fb074e5fbef 100644
--- a/simulation/halsim_ws_client/build.gradle
+++ b/simulation/halsim_ws_client/build.gradle
@@ -23,7 +23,7 @@ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
 model {
     binaries {
         all {
-            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                 it.buildable = false
                 return
             }
diff --git a/simulation/halsim_ws_core/build.gradle b/simulation/halsim_ws_core/build.gradle
index 30f2d5b5c15..a4fa586f42e 100644
--- a/simulation/halsim_ws_core/build.gradle
+++ b/simulation/halsim_ws_core/build.gradle
@@ -41,6 +41,7 @@ model {
             }
             binaries.all {
                 project(':hal').addHalDependency(it, 'shared')
+                project(':ntcore').addNtcoreDependency(it, 'shared')
                 lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             }
@@ -49,7 +50,7 @@ model {
     }
     binaries {
         all {
-            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                 it.buildable = false
                 return
             }
diff --git a/simulation/halsim_ws_server/build.gradle b/simulation/halsim_ws_server/build.gradle
index 0a4e32c2646..7a265d4a397 100644
--- a/simulation/halsim_ws_server/build.gradle
+++ b/simulation/halsim_ws_server/build.gradle
@@ -44,17 +44,19 @@ model {
 
     binaries {
         all {
-            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                 it.buildable = false
                 return
             }
 
+            project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ":simulation:halsim_ws_core", library: "halsim_ws_core", linkage: "static"
         }
 
         withType(GoogleTestTestSuiteBinarySpec) {
             project(':hal').addHalDependency(it, 'shared')
+            project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             lib library: pluginName, linkage: 'shared'
             if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
diff --git a/simulation/halsim_xrp/build.gradle b/simulation/halsim_xrp/build.gradle
index 21457efba3b..b8d7b6a6b71 100644
--- a/simulation/halsim_xrp/build.gradle
+++ b/simulation/halsim_xrp/build.gradle
@@ -23,11 +23,12 @@ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
 model {
     binaries {
         all {
-            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                 it.buildable = false
                 return
             }
 
+            project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ":simulation:halsim_ws_core", library: "halsim_ws_core", linkage: "static"
         }
diff --git a/sysid/build.gradle b/sysid/build.gradle
index 851be251914..dbe238e6cba 100644
--- a/sysid/build.gradle
+++ b/sysid/build.gradle
@@ -92,7 +92,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
@@ -131,7 +131,7 @@ model {
                 include "**/*.cpp"
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
diff --git a/thirdparty/imgui_suite/build.gradle b/thirdparty/imgui_suite/build.gradle
index 1a695cb0b3f..653498e78e9 100644
--- a/thirdparty/imgui_suite/build.gradle
+++ b/thirdparty/imgui_suite/build.gradle
@@ -49,7 +49,7 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
diff --git a/wpigui/build.gradle b/wpigui/build.gradle
index 48e78103a96..fca27e7b55e 100644
--- a/wpigui/build.gradle
+++ b/wpigui/build.gradle
@@ -36,7 +36,7 @@ model {
             }
             binaries.all {
                 lib project: ':thirdparty:imgui_suite', library: 'imgui', linkage: 'static'
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                     it.buildable = false
                     return
                 }
@@ -105,7 +105,7 @@ model {
     }
     binaries {
         all {
-            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                 it.buildable = false
                 return
             }