diff --git a/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Controller.java b/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Controller.java
index ed423da5831..1498b67a62a 100644
--- a/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Controller.java
+++ b/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Controller.java
@@ -18,36 +18,37 @@
 import us.hebi.quickbuf.RepeatedByte;
 
 public final class Controller {
-  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1684,
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1755,
     "ChBjb250cm9sbGVyLnByb3RvEgl3cGkucHJvdG8iWAoWUHJvdG9idWZBcm1GZWVkZm9yd2FyZBIOCgJr" + 
     "cxgBIAEoAVICa3MSDgoCa2cYAiABKAFSAmtnEg4KAmt2GAMgASgBUgJrdhIOCgJrYRgEIAEoAVICa2Ei" + 
     "ngEKJFByb3RvYnVmRGlmZmVyZW50aWFsRHJpdmVGZWVkZm9yd2FyZBIbCglrdl9saW5lYXIYASABKAFS" + 
     "CGt2TGluZWFyEhsKCWthX2xpbmVhchgCIAEoAVIIa2FMaW5lYXISHQoKa3ZfYW5ndWxhchgDIAEoAVIJ" + 
     "a3ZBbmd1bGFyEh0KCmthX2FuZ3VsYXIYBCABKAFSCWthQW5ndWxhciJdChtQcm90b2J1ZkVsZXZhdG9y" + 
     "RmVlZGZvcndhcmQSDgoCa3MYASABKAFSAmtzEg4KAmtnGAIgASgBUgJrZxIOCgJrdhgDIAEoAVICa3YS" + 
-    "DgoCa2EYBCABKAFSAmthIlAKHlByb3RvYnVmU2ltcGxlTW90b3JGZWVkZm9yd2FyZBIOCgJrcxgBIAEo" + 
-    "AVICa3MSDgoCa3YYAiABKAFSAmt2Eg4KAmthGAMgASgBUgJrYSJSCiZQcm90b2J1ZkRpZmZlcmVudGlh" + 
-    "bERyaXZlV2hlZWxWb2x0YWdlcxISCgRsZWZ0GAEgASgBUgRsZWZ0EhQKBXJpZ2h0GAIgASgBUgVyaWdo" + 
-    "dEIaChhlZHUud3BpLmZpcnN0Lm1hdGgucHJvdG9K0AgKBhIEAAAkAQoICgEMEgMAABIKCAoBAhIDAgAS" + 
-    "CggKAQgSAwQAMQoJCgIIARIDBAAxCgoKAgQAEgQGAAsBCgoKAwQAARIDBggeCgsKBAQAAgASAwcCEAoM" + 
-    "CgUEAAIABRIDBwIICgwKBQQAAgABEgMHCQsKDAoFBAACAAMSAwcODwoLCgQEAAIBEgMIAhAKDAoFBAAC" + 
-    "AQUSAwgCCAoMCgUEAAIBARIDCAkLCgwKBQQAAgEDEgMIDg8KCwoEBAACAhIDCQIQCgwKBQQAAgIFEgMJ" + 
-    "AggKDAoFBAACAgESAwkJCwoMCgUEAAICAxIDCQ4PCgsKBAQAAgMSAwoCEAoMCgUEAAIDBRIDCgIICgwK" + 
-    "BQQAAgMBEgMKCQsKDAoFBAACAwMSAwoODwoKCgIEARIEDQASAQoKCgMEAQESAw0ILAoLCgQEAQIAEgMO" + 
-    "AhcKDAoFBAECAAUSAw4CCAoMCgUEAQIAARIDDgkSCgwKBQQBAgADEgMOFRYKCwoEBAECARIDDwIXCgwK" + 
-    "BQQBAgEFEgMPAggKDAoFBAECAQESAw8JEgoMCgUEAQIBAxIDDxUWCgsKBAQBAgISAxACGAoMCgUEAQIC" + 
-    "BRIDEAIICgwKBQQBAgIBEgMQCRMKDAoFBAECAgMSAxAWFwoLCgQEAQIDEgMRAhgKDAoFBAECAwUSAxEC" + 
-    "CAoMCgUEAQIDARIDEQkTCgwKBQQBAgMDEgMRFhcKCgoCBAISBBQAGQEKCgoDBAIBEgMUCCMKCwoEBAIC" + 
-    "ABIDFQIQCgwKBQQCAgAFEgMVAggKDAoFBAICAAESAxUJCwoMCgUEAgIAAxIDFQ4PCgsKBAQCAgESAxYC",
-    "EAoMCgUEAgIBBRIDFgIICgwKBQQCAgEBEgMWCQsKDAoFBAICAQMSAxYODwoLCgQEAgICEgMXAhAKDAoF" + 
-    "BAICAgUSAxcCCAoMCgUEAgICARIDFwkLCgwKBQQCAgIDEgMXDg8KCwoEBAICAxIDGAIQCgwKBQQCAgMF" + 
-    "EgMYAggKDAoFBAICAwESAxgJCwoMCgUEAgIDAxIDGA4PCgoKAgQDEgQbAB8BCgoKAwQDARIDGwgmCgsK" + 
-    "BAQDAgASAxwCEAoMCgUEAwIABRIDHAIICgwKBQQDAgABEgMcCQsKDAoFBAMCAAMSAxwODwoLCgQEAwIB" + 
-    "EgMdAhAKDAoFBAMCAQUSAx0CCAoMCgUEAwIBARIDHQkLCgwKBQQDAgEDEgMdDg8KCwoEBAMCAhIDHgIQ" + 
-    "CgwKBQQDAgIFEgMeAggKDAoFBAMCAgESAx4JCwoMCgUEAwICAxIDHg4PCgoKAgQEEgQhACQBCgoKAwQE" + 
-    "ARIDIQguCgsKBAQEAgASAyICEgoMCgUEBAIABRIDIgIICgwKBQQEAgABEgMiCQ0KDAoFBAQCAAMSAyIQ" + 
-    "EQoLCgQEBAIBEgMjAhMKDAoFBAQCAQUSAyMCCAoMCgUEBAIBARIDIwkOCgwKBQQEAgEDEgMjERJiBnBy" + 
-    "b3RvMw==");
+    "DgoCa2EYBCABKAFSAmthImAKHlByb3RvYnVmU2ltcGxlTW90b3JGZWVkZm9yd2FyZBIOCgJrcxgBIAEo" + 
+    "AVICa3MSDgoCa3YYAiABKAFSAmt2Eg4KAmthGAMgASgBUgJrYRIOCgJkdBgEIAEoAVICZHQiUgomUHJv" + 
+    "dG9idWZEaWZmZXJlbnRpYWxEcml2ZVdoZWVsVm9sdGFnZXMSEgoEbGVmdBgBIAEoAVIEbGVmdBIUCgVy" + 
+    "aWdodBgCIAEoAVIFcmlnaHRCGgoYZWR1LndwaS5maXJzdC5tYXRoLnByb3RvSocJCgYSBAAAJQEKCAoB" + 
+    "DBIDAAASCggKAQISAwIAEgoICgEIEgMEADEKCQoCCAESAwQAMQoKCgIEABIEBgALAQoKCgMEAAESAwYI" + 
+    "HgoLCgQEAAIAEgMHAhAKDAoFBAACAAUSAwcCCAoMCgUEAAIAARIDBwkLCgwKBQQAAgADEgMHDg8KCwoE" + 
+    "BAACARIDCAIQCgwKBQQAAgEFEgMIAggKDAoFBAACAQESAwgJCwoMCgUEAAIBAxIDCA4PCgsKBAQAAgIS" + 
+    "AwkCEAoMCgUEAAICBRIDCQIICgwKBQQAAgIBEgMJCQsKDAoFBAACAgMSAwkODwoLCgQEAAIDEgMKAhAK" + 
+    "DAoFBAACAwUSAwoCCAoMCgUEAAIDARIDCgkLCgwKBQQAAgMDEgMKDg8KCgoCBAESBA0AEgEKCgoDBAEB" + 
+    "EgMNCCwKCwoEBAECABIDDgIXCgwKBQQBAgAFEgMOAggKDAoFBAECAAESAw4JEgoMCgUEAQIAAxIDDhUW" + 
+    "CgsKBAQBAgESAw8CFwoMCgUEAQIBBRIDDwIICgwKBQQBAgEBEgMPCRIKDAoFBAECAQMSAw8VFgoLCgQE" + 
+    "AQICEgMQAhgKDAoFBAECAgUSAxACCAoMCgUEAQICARIDEAkTCgwKBQQBAgIDEgMQFhcKCwoEBAECAxID" + 
+    "EQIYCgwKBQQBAgMFEgMRAggKDAoFBAECAwESAxEJEwoMCgUEAQIDAxIDERYXCgoKAgQCEgQUABkBCgoK" + 
+    "AwQCARIDFAgjCgsKBAQCAgASAxUCEAoMCgUEAgIABRIDFQIICgwKBQQCAgABEgMVCQsKDAoFBAICAAMS",
+    "AxUODwoLCgQEAgIBEgMWAhAKDAoFBAICAQUSAxYCCAoMCgUEAgIBARIDFgkLCgwKBQQCAgEDEgMWDg8K" + 
+    "CwoEBAICAhIDFwIQCgwKBQQCAgIFEgMXAggKDAoFBAICAgESAxcJCwoMCgUEAgICAxIDFw4PCgsKBAQC" + 
+    "AgMSAxgCEAoMCgUEAgIDBRIDGAIICgwKBQQCAgMBEgMYCQsKDAoFBAICAwMSAxgODwoKCgIEAxIEGwAg" + 
+    "AQoKCgMEAwESAxsIJgoLCgQEAwIAEgMcAhAKDAoFBAMCAAUSAxwCCAoMCgUEAwIAARIDHAkLCgwKBQQD" + 
+    "AgADEgMcDg8KCwoEBAMCARIDHQIQCgwKBQQDAgEFEgMdAggKDAoFBAMCAQESAx0JCwoMCgUEAwIBAxID" + 
+    "HQ4PCgsKBAQDAgISAx4CEAoMCgUEAwICBRIDHgIICgwKBQQDAgIBEgMeCQsKDAoFBAMCAgMSAx4ODwoL" + 
+    "CgQEAwIDEgMfAhAKDAoFBAMCAwUSAx8CCAoMCgUEAwIDARIDHwkLCgwKBQQDAgMDEgMfDg8KCgoCBAQS" + 
+    "BCIAJQEKCgoDBAQBEgMiCC4KCwoEBAQCABIDIwISCgwKBQQEAgAFEgMjAggKDAoFBAQCAAESAyMJDQoM" + 
+    "CgUEBAIAAxIDIxARCgsKBAQEAgESAyQCEwoMCgUEBAIBBRIDJAIICgwKBQQEAgEBEgMkCQ4KDAoFBAQC" + 
+    "AQMSAyQREmIGcHJvdG8z");
 
   static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("controller.proto", "wpi.proto", descriptorData);
 
@@ -57,9 +58,9 @@ public final class Controller {
 
   static final Descriptors.Descriptor wpi_proto_ProtobufElevatorFeedforward_descriptor = descriptor.internalContainedType(282, 93, "ProtobufElevatorFeedforward", "wpi.proto.ProtobufElevatorFeedforward");
 
-  static final Descriptors.Descriptor wpi_proto_ProtobufSimpleMotorFeedforward_descriptor = descriptor.internalContainedType(377, 80, "ProtobufSimpleMotorFeedforward", "wpi.proto.ProtobufSimpleMotorFeedforward");
+  static final Descriptors.Descriptor wpi_proto_ProtobufSimpleMotorFeedforward_descriptor = descriptor.internalContainedType(377, 96, "ProtobufSimpleMotorFeedforward", "wpi.proto.ProtobufSimpleMotorFeedforward");
 
-  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelVoltages_descriptor = descriptor.internalContainedType(459, 82, "ProtobufDifferentialDriveWheelVoltages", "wpi.proto.ProtobufDifferentialDriveWheelVoltages");
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelVoltages_descriptor = descriptor.internalContainedType(475, 82, "ProtobufDifferentialDriveWheelVoltages", "wpi.proto.ProtobufDifferentialDriveWheelVoltages");
 
   /**
    * @return this proto file's descriptor.
@@ -1576,6 +1577,11 @@ public static final class ProtobufSimpleMotorFeedforward extends ProtoMessage<Pr
      */
     private double ka;
 
+    /**
+     * <code>optional double dt = 4;</code>
+     */
+    private double dt;
+
     private ProtobufSimpleMotorFeedforward() {
     }
 
@@ -1697,6 +1703,43 @@ public ProtobufSimpleMotorFeedforward setKa(final double value) {
       return this;
     }
 
+    /**
+     * <code>optional double dt = 4;</code>
+     * @return whether the dt field is set
+     */
+    public boolean hasDt() {
+      return (bitField0_ & 0x00000008) != 0;
+    }
+
+    /**
+     * <code>optional double dt = 4;</code>
+     * @return this
+     */
+    public ProtobufSimpleMotorFeedforward clearDt() {
+      bitField0_ &= ~0x00000008;
+      dt = 0D;
+      return this;
+    }
+
+    /**
+     * <code>optional double dt = 4;</code>
+     * @return the dt
+     */
+    public double getDt() {
+      return dt;
+    }
+
+    /**
+     * <code>optional double dt = 4;</code>
+     * @param value the dt to set
+     * @return this
+     */
+    public ProtobufSimpleMotorFeedforward setDt(final double value) {
+      bitField0_ |= 0x00000008;
+      dt = value;
+      return this;
+    }
+
     @Override
     public ProtobufSimpleMotorFeedforward copyFrom(final ProtobufSimpleMotorFeedforward other) {
       cachedSize = other.cachedSize;
@@ -1705,6 +1748,7 @@ public ProtobufSimpleMotorFeedforward copyFrom(final ProtobufSimpleMotorFeedforw
         ks = other.ks;
         kv = other.kv;
         ka = other.ka;
+        dt = other.dt;
       }
       return this;
     }
@@ -1724,6 +1768,9 @@ public ProtobufSimpleMotorFeedforward mergeFrom(final ProtobufSimpleMotorFeedfor
       if (other.hasKa()) {
         setKa(other.ka);
       }
+      if (other.hasDt()) {
+        setDt(other.dt);
+      }
       return this;
     }
 
@@ -1737,6 +1784,7 @@ public ProtobufSimpleMotorFeedforward clear() {
       ks = 0D;
       kv = 0D;
       ka = 0D;
+      dt = 0D;
       return this;
     }
 
@@ -1762,7 +1810,8 @@ public boolean equals(Object o) {
       return bitField0_ == other.bitField0_
         && (!hasKs() || ProtoUtil.isEqual(ks, other.ks))
         && (!hasKv() || ProtoUtil.isEqual(kv, other.kv))
-        && (!hasKa() || ProtoUtil.isEqual(ka, other.ka));
+        && (!hasKa() || ProtoUtil.isEqual(ka, other.ka))
+        && (!hasDt() || ProtoUtil.isEqual(dt, other.dt));
     }
 
     @Override
@@ -1779,6 +1828,10 @@ public void writeTo(final ProtoSink output) throws IOException {
         output.writeRawByte((byte) 25);
         output.writeDoubleNoTag(ka);
       }
+      if ((bitField0_ & 0x00000008) != 0) {
+        output.writeRawByte((byte) 33);
+        output.writeDoubleNoTag(dt);
+      }
     }
 
     @Override
@@ -1793,6 +1846,9 @@ protected int computeSerializedSize() {
       if ((bitField0_ & 0x00000004) != 0) {
         size += 9;
       }
+      if ((bitField0_ & 0x00000008) != 0) {
+        size += 9;
+      }
       return size;
     }
 
@@ -1826,6 +1882,15 @@ public ProtobufSimpleMotorFeedforward mergeFrom(final ProtoSource input) throws
             ka = input.readDouble();
             bitField0_ |= 0x00000004;
             tag = input.readTag();
+            if (tag != 33) {
+              break;
+            }
+          }
+          case 33: {
+            // dt
+            dt = input.readDouble();
+            bitField0_ |= 0x00000008;
+            tag = input.readTag();
             if (tag != 0) {
               break;
             }
@@ -1856,6 +1921,9 @@ public void writeTo(final JsonSink output) throws IOException {
       if ((bitField0_ & 0x00000004) != 0) {
         output.writeDouble(FieldNames.ka, ka);
       }
+      if ((bitField0_ & 0x00000008) != 0) {
+        output.writeDouble(FieldNames.dt, dt);
+      }
       output.endObject();
     }
 
@@ -1899,6 +1967,17 @@ public ProtobufSimpleMotorFeedforward mergeFrom(final JsonSource input) throws I
             }
             break;
           }
+          case 3216: {
+            if (input.isAtField(FieldNames.dt)) {
+              if (!input.trySkipNullValue()) {
+                dt = input.readDouble();
+                bitField0_ |= 0x00000008;
+              }
+            } else {
+              input.skipUnknownField();
+            }
+            break;
+          }
           default: {
             input.skipUnknownField();
             break;
@@ -1966,6 +2045,8 @@ static class FieldNames {
       static final FieldName kv = FieldName.forField("kv");
 
       static final FieldName ka = FieldName.forField("ka");
+
+      static final FieldName dt = FieldName.forField("dt");
     }
   }