diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
index 7225dee1a97..838053f1748 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
@@ -59,7 +59,7 @@ public ProxyCommand(Command command) {
   @Override
   public void initialize() {
     m_command = m_supplier.get();
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
index cc2234119ea..788f6fc2b0a 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
@@ -28,7 +28,7 @@ public ScheduleCommand(Command... toSchedule) {
   @Override
   public void initialize() {
     for (Command command : m_toSchedule) {
-      command.schedule();
+      CommandScheduler.getInstance().schedule(command);
     }
   }
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
index d7b1dd08937..84d1e1033ac 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -66,7 +66,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (m_pressedLast != pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             }
 
             m_pressedLast = pressed;
@@ -92,7 +92,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (!m_pressedLast && pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             }
 
             m_pressedLast = pressed;
@@ -118,7 +118,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (m_pressedLast && !pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             }
 
             m_pressedLast = pressed;
@@ -148,7 +148,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (!m_pressedLast && pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             } else if (m_pressedLast && !pressed) {
               command.cancel();
             }
@@ -180,7 +180,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (m_pressedLast && !pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             } else if (!m_pressedLast && pressed) {
               command.cancel();
             }
@@ -211,7 +211,7 @@ public void run() {
               if (command.isScheduled()) {
                 command.cancel();
               } else {
-                command.schedule();
+                CommandScheduler.getInstance().schedule(command);
               }
             }
 
@@ -241,7 +241,7 @@ public void run() {
               if (command.isScheduled()) {
                 command.cancel();
               } else {
-                command.schedule();
+                CommandScheduler.getInstance().schedule(command);
               }
             }
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index ff5e8f6aa51..b0635c92bf5 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -200,7 +200,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
       [this](bool value) {
         bool isScheduled = IsScheduled();
         if (value && !isScheduled) {
-          Schedule();
+          CommandScheduler::GetInstance().Schedule(this);
         } else if (!value && isScheduled) {
           Cancel();
         }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
index fa72906b622..7ec5973138f 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -34,7 +34,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {
 
 void ProxyCommand::Initialize() {
   m_command = m_supplier();
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
 }
 
 void ProxyCommand::End(bool interrupted) {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
index c96f21835e5..e0ce85d2911 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
@@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) {
 
 void ScheduleCommand::Initialize() {
   for (auto command : m_toSchedule) {
-    command->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(command);
   }
 }
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
index 78fd0b3f769..8495bd08e16 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -19,7 +19,7 @@ Trigger Trigger::OnChange(Command* command) {
         bool current = condition();
 
         if (previous != current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         }
 
         previous = current;
@@ -47,7 +47,7 @@ Trigger Trigger::OnTrue(Command* command) {
         bool current = condition();
 
         if (!previous && current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         }
 
         previous = current;
@@ -75,7 +75,7 @@ Trigger Trigger::OnFalse(Command* command) {
         bool current = condition();
 
         if (previous && !current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         }
 
         previous = current;
@@ -103,7 +103,7 @@ Trigger Trigger::WhileTrue(Command* command) {
         bool current = condition();
 
         if (!previous && current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         } else if (previous && !current) {
           command->Cancel();
         }
@@ -135,7 +135,7 @@ Trigger Trigger::WhileFalse(Command* command) {
         bool current = condition();
 
         if (previous && !current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         } else if (!previous && current) {
           command->Cancel();
         }
@@ -170,7 +170,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) {
       if (command->IsScheduled()) {
         command->Cancel();
       } else {
-        command->Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
       }
     }
 
@@ -206,7 +206,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) {
       if (command->IsScheduled()) {
         command->Cancel();
       } else {
-        command->Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
       }
     }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java
index c89ed7f7f3e..809044aeb03 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java
@@ -55,7 +55,7 @@ void trueAndNotScheduledSchedules() {
   @Test
   void trueAndScheduledNoOp() {
     // Scheduled and true -> no-op
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
     CommandScheduler.getInstance().run();
     SmartDashboard.updateValues();
     assertTrue(m_command.isScheduled());
@@ -90,7 +90,7 @@ void falseAndNotScheduledNoOp() {
   @Test
   void falseAndScheduledCancel() {
     // Scheduled and false -> cancel
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
     CommandScheduler.getInstance().run();
     SmartDashboard.updateValues();
     assertTrue(m_command.isScheduled());
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java
index c4b43a609b7..59e7bd69d5f 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java
@@ -22,7 +22,7 @@ void proxyCommandScheduleTest() {
 
       scheduler.schedule(scheduleCommand);
 
-      verify(command1).schedule();
+      verify(command1).initialize();
     }
   }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
index 9014bc7b96e..eeaa9ee8c88 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
@@ -22,8 +22,8 @@ void scheduleCommandScheduleTest() {
 
       scheduler.schedule(scheduleCommand);
 
-      verify(command1).schedule();
-      verify(command2).schedule();
+      verify(command1).initialize();
+      verify(command2).initialize();
     }
   }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
index b9adc1344c3..7b1de35046f 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
@@ -39,10 +39,10 @@ void setNetworkButtonTest() {
     pub.set(false);
     button.onTrue(command);
     scheduler.run();
-    verify(command, never()).schedule();
+    verify(command, never()).initialize();
     pub.set(true);
     scheduler.run();
     scheduler.run();
-    verify(command).schedule();
+    verify(command).initialize();
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
index 8cd5fdea2f1..58406847eff 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
@@ -207,7 +207,7 @@ void cancelWhenActiveTest() {
             .until(button);
 
     button.setPressed(false);
-    command1.schedule();
+    scheduler.schedule(command1);
     scheduler.run();
     assertEquals(1, startCounter.get());
     assertEquals(0, endCounter.get());
@@ -258,13 +258,13 @@ void debounceTest() {
 
     button.setPressed(true);
     scheduler.run();
-    verify(command, never()).schedule();
+    verify(command, never()).initialize();
 
     SimHooks.stepTiming(0.3);
 
     button.setPressed(true);
     scheduler.run();
-    verify(command).schedule();
+    verify(command).initialize();
   }
 
   @Test
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
index 08caa5cddaf..ae2a1098ed3 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
@@ -49,7 +49,7 @@ TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {
 
 TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
   // Scheduled and true -> no-op
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
   GetScheduler().Run();
   frc::SmartDashboard::UpdateValues();
   EXPECT_TRUE(m_command->IsScheduled());
@@ -82,7 +82,7 @@ TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {
 
 TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
   // Scheduled and false -> cancel
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
   GetScheduler().Run();
   frc::SmartDashboard::UpdateValues();
   EXPECT_TRUE(m_command->IsScheduled());
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
index 142d59fa6be..08952dfed1d 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
index d731edc1c90..fdd7a4941fc 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
index 142d59fa6be..08952dfed1d 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
index d28c275f8ef..53b470bf35d 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
@@ -26,7 +26,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_robot.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
index 59163407357..904a39eb4f6 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
index 580decec83e..798be1ab1de 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
index 142d59fa6be..08952dfed1d 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp
index 2ed3f804f55..494e73b9988 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
index 59163407357..904a39eb4f6 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index 6a1eb4beea5..6902d0217af 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
index 2ed3f804f55..494e73b9988 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
index 208c6bc8f0e..0525a1d4f65 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
@@ -65,7 +65,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
index df9582e035e..faaa97ffd45 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
@@ -67,7 +67,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
index 39ea80d06a3..720316874b7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
@@ -74,7 +74,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
index f4453a37e25..beec10031af 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
@@ -65,7 +65,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
index 463e1d6f3c8..c90dd0d18b6 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
@@ -63,7 +63,7 @@ public void autonomousInit() {
     m_autonomousCommand = m_robot.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
index 6ea9e353ed6..337a4782644 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
@@ -58,7 +58,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
index 8bcf44391b9..0e00fa479e9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
@@ -65,7 +65,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
index 850fcfe71e2..94f7eecf724 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
@@ -65,7 +65,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java
index 3f9640ffed9..6a33ccdacb2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java
@@ -55,7 +55,7 @@ public void autonomousInit() {
     m_autonomousCommand = m_robot.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java
index bf3b76c13da..9bb81b3374b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java
@@ -58,7 +58,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
index 3ea9a262699..053bd402fc5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -58,7 +58,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java
index 753f54f3623..45dc6fc8f26 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java
@@ -36,7 +36,7 @@ public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
index 3282138cf2c..6831a89e269 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
@@ -58,7 +58,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java
index f9a51fec871..4196c275e28 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java
@@ -58,7 +58,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }