diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/cpp/SysIdRoutineBot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/cpp/SysIdRoutineBot.cpp
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/cpp/subsystems/Drive.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/cpp/subsystems/Drive.cpp
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/cpp/subsystems/Shooter.cpp
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.h
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/include/Constants.h
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.h
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.h
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/include/Robot.h
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.h
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/SysIdRoutineBot.h b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.h
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/include/SysIdRoutineBot.h
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.h
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Drive.h b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.h
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Drive.h
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.h
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Shooter.h b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.h
similarity index 100%
rename from wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Shooter.h
rename to wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.h
diff --git a/wpilibcExamples/src/main/cpp/examples/examples.json b/wpilibcExamples/src/main/cpp/examples/examples.json
index ef53f478c0e..ea40670bb0e 100644
--- a/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -809,7 +809,7 @@
       "Command-based",
       "DataLog"
     ],
-    "foldername": "SysId",
+    "foldername": "SysIdRoutine",
     "gradlebase": "cpp",
     "commandversion": 2
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
index 8a108ac3540..3ed52e1bef9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
@@ -857,7 +857,7 @@
       "Command-based",
       "DataLog"
     ],
-    "foldername": "sysid",
+    "foldername": "sysidroutine",
     "gradlebase": "java",
     "commandversion": 2,
     "mainclass": "Main"
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Constants.java
similarity index 98%
rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Constants.java
rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Constants.java
index a6f09eb2d92..7e45d022479 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Constants.java
@@ -2,7 +2,7 @@
 // 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.
 
-package edu.wpi.first.wpilibj.examples.sysid;
+package edu.wpi.first.wpilibj.examples.sysidroutine;
 
 import edu.wpi.first.math.util.Units;
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Main.java
similarity index 93%
rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Main.java
rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Main.java
index 1fdd4b7374c..8c9ee5ed134 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Main.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Main.java
@@ -2,7 +2,7 @@
 // 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.
 
-package edu.wpi.first.wpilibj.examples.sysid;
+package edu.wpi.first.wpilibj.examples.sysidroutine;
 
 import edu.wpi.first.wpilibj.RobotBase;
 
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/sysidroutine/Robot.java
similarity index 98%
rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java
rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java
index 3f9640ffed9..fcf7e60473f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java
@@ -2,7 +2,7 @@
 // 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.
 
-package edu.wpi.first.wpilibj.examples.sysid;
+package edu.wpi.first.wpilibj.examples.sysidroutine;
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/SysIdRoutineBot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/SysIdRoutineBot.java
similarity index 93%
rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/SysIdRoutineBot.java
rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/SysIdRoutineBot.java
index 7537c0bf937..acaa1579a26 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/SysIdRoutineBot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/SysIdRoutineBot.java
@@ -2,11 +2,11 @@
 // 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.
 
-package edu.wpi.first.wpilibj.examples.sysid;
+package edu.wpi.first.wpilibj.examples.sysidroutine;
 
-import edu.wpi.first.wpilibj.examples.sysid.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.sysid.subsystems.Drive;
-import edu.wpi.first.wpilibj.examples.sysid.subsystems.Shooter;
+import edu.wpi.first.wpilibj.examples.sysidroutine.Constants.OIConstants;
+import edu.wpi.first.wpilibj.examples.sysidroutine.subsystems.Drive;
+import edu.wpi.first.wpilibj.examples.sysidroutine.subsystems.Shooter;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Drive.java
similarity index 97%
rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java
rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Drive.java
index ae1b1aa37f3..490b38acab2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Drive.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Drive.java
@@ -2,7 +2,7 @@
 // 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.
 
-package edu.wpi.first.wpilibj.examples.sysid.subsystems;
+package edu.wpi.first.wpilibj.examples.sysidroutine.subsystems;
 
 import static edu.wpi.first.units.Units.Meters;
 import static edu.wpi.first.units.Units.MetersPerSecond;
@@ -14,7 +14,7 @@
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.examples.sysid.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.sysidroutine.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Shooter.java
similarity index 97%
rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java
rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Shooter.java
index 2b62f5c8064..cc7fbac2fe4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/subsystems/Shooter.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Shooter.java
@@ -2,7 +2,7 @@
 // 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.
 
-package edu.wpi.first.wpilibj.examples.sysid.subsystems;
+package edu.wpi.first.wpilibj.examples.sysidroutine.subsystems;
 
 import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
@@ -17,7 +17,7 @@
 import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.examples.sysid.Constants.ShooterConstants;
+import edu.wpi.first.wpilibj.examples.sysidroutine.Constants.ShooterConstants;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;