diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 0000000..8b1f3a5
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,76 @@
+name: Build
+
+on:
+  push:
+    branches:
+      - 'master'
+    tags-ignore:
+      - '*'
+  pull_request:
+    branches:
+      - '*'
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  build:
+    timeout-minutes: 15
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [Java, C++]
+        example: [
+          Alternate Encoder,
+          Analog Feedback Device,
+          Arcade Drive With CAN,
+          Arcade Drive with PWM,
+          Bus Measurements,
+          Encoder Feedback Device,
+          Get and Set Parameters,
+          Limit Switch,
+          Motor Follower,
+          Position Closed Loop Control,
+          Read Encoder Values,
+          Smart Motion Example,
+          Soft Limits,
+          Tank Drive With CAN,
+          Velocity Closed Loop Control,
+        ]
+        include:
+          - example: Arcade Drive With CAN
+            skip-java: true
+          - example: Arcade Drive with PWM
+            skip-java: true
+          - example: Motor Follower
+            skip-cpp: true
+          - example: Tank Drive With CAN
+            skip-cpp: true
+    name: Build ${{ matrix.example }} - ${{ matrix.language }}
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+      - name: Checkout
+        if: (matrix.language == 'Java' && !matrix.skip-java) || (matrix.language == 'C++' && !matrix.skip-cpp)
+        uses: actions/checkout@v3
+
+      - name: Cache
+        if: (matrix.language == 'Java' && !matrix.skip-java) || (matrix.language == 'C++' && !matrix.skip-cpp)
+        uses: actions/cache@v3
+        with:
+          path: |
+            ${{ matrix.language }}/${{ matrix.example }}/.gradle
+            ${{ matrix.language }}/${{ matrix.example }}/bin
+            ${{ matrix.language }}/${{ matrix.example }}/build
+          key: ${{ matrix.example }}-${{ matrix.language }}-build-${{ github.sha }}
+          restore-keys: |
+            ${{ matrix.example }}-${{ matrix.language }}-build-
+
+      - name: Build
+        if: (matrix.language == 'Java' && !matrix.skip-java) || (matrix.language == 'C++' && !matrix.skip-cpp)
+        run: |
+          cd "${{ matrix.language }}"
+          cd "${{ matrix.example }}"
+          chmod +x gradlew
+          ./gradlew build
diff --git a/C++/Position PID Control/.gitignore b/C++/Position Closed Loop Control/.gitignore
similarity index 100%
rename from C++/Position PID Control/.gitignore
rename to C++/Position Closed Loop Control/.gitignore
diff --git a/C++/Position PID Control/.vscode/launch.json b/C++/Position Closed Loop Control/.vscode/launch.json
similarity index 100%
rename from C++/Position PID Control/.vscode/launch.json
rename to C++/Position Closed Loop Control/.vscode/launch.json
diff --git a/C++/Position PID Control/.vscode/settings.json b/C++/Position Closed Loop Control/.vscode/settings.json
similarity index 100%
rename from C++/Position PID Control/.vscode/settings.json
rename to C++/Position Closed Loop Control/.vscode/settings.json
diff --git a/C++/Position PID Control/.wpilib/wpilib_preferences.json b/C++/Position Closed Loop Control/.wpilib/wpilib_preferences.json
similarity index 100%
rename from C++/Position PID Control/.wpilib/wpilib_preferences.json
rename to C++/Position Closed Loop Control/.wpilib/wpilib_preferences.json
diff --git a/C++/Position PID Control/README.md b/C++/Position Closed Loop Control/README.md
similarity index 100%
rename from C++/Position PID Control/README.md
rename to C++/Position Closed Loop Control/README.md
diff --git a/C++/Position PID Control/WPILib-License.md b/C++/Position Closed Loop Control/WPILib-License.md
similarity index 100%
rename from C++/Position PID Control/WPILib-License.md
rename to C++/Position Closed Loop Control/WPILib-License.md
diff --git a/C++/Position PID Control/build.gradle b/C++/Position Closed Loop Control/build.gradle
similarity index 100%
rename from C++/Position PID Control/build.gradle
rename to C++/Position Closed Loop Control/build.gradle
diff --git a/C++/Position PID Control/gradle/wrapper/gradle-wrapper.jar b/C++/Position Closed Loop Control/gradle/wrapper/gradle-wrapper.jar
similarity index 100%
rename from C++/Position PID Control/gradle/wrapper/gradle-wrapper.jar
rename to C++/Position Closed Loop Control/gradle/wrapper/gradle-wrapper.jar
diff --git a/C++/Position PID Control/gradle/wrapper/gradle-wrapper.properties b/C++/Position Closed Loop Control/gradle/wrapper/gradle-wrapper.properties
similarity index 100%
rename from C++/Position PID Control/gradle/wrapper/gradle-wrapper.properties
rename to C++/Position Closed Loop Control/gradle/wrapper/gradle-wrapper.properties
diff --git a/C++/Position PID Control/gradlew b/C++/Position Closed Loop Control/gradlew
similarity index 100%
rename from C++/Position PID Control/gradlew
rename to C++/Position Closed Loop Control/gradlew
diff --git a/C++/Position PID Control/gradlew.bat b/C++/Position Closed Loop Control/gradlew.bat
similarity index 100%
rename from C++/Position PID Control/gradlew.bat
rename to C++/Position Closed Loop Control/gradlew.bat
diff --git a/C++/Position PID Control/settings.gradle b/C++/Position Closed Loop Control/settings.gradle
similarity index 100%
rename from C++/Position PID Control/settings.gradle
rename to C++/Position Closed Loop Control/settings.gradle
diff --git a/C++/Position PID Control/src/main/cpp/Robot.cpp b/C++/Position Closed Loop Control/src/main/cpp/Robot.cpp
similarity index 100%
rename from C++/Position PID Control/src/main/cpp/Robot.cpp
rename to C++/Position Closed Loop Control/src/main/cpp/Robot.cpp
diff --git a/C++/Position PID Control/src/main/deploy/example.txt b/C++/Position Closed Loop Control/src/main/deploy/example.txt
similarity index 100%
rename from C++/Position PID Control/src/main/deploy/example.txt
rename to C++/Position Closed Loop Control/src/main/deploy/example.txt
diff --git a/C++/Position PID Control/src/test/cpp/main.cpp b/C++/Position Closed Loop Control/src/test/cpp/main.cpp
similarity index 100%
rename from C++/Position PID Control/src/test/cpp/main.cpp
rename to C++/Position Closed Loop Control/src/test/cpp/main.cpp
diff --git a/C++/Position PID Control/vendordeps/REVLib.json b/C++/Position Closed Loop Control/vendordeps/REVLib.json
similarity index 100%
rename from C++/Position PID Control/vendordeps/REVLib.json
rename to C++/Position Closed Loop Control/vendordeps/REVLib.json
diff --git a/C++/Position PID Control/vendordeps/WPILibNewCommands.json b/C++/Position Closed Loop Control/vendordeps/WPILibNewCommands.json
similarity index 100%
rename from C++/Position PID Control/vendordeps/WPILibNewCommands.json
rename to C++/Position Closed Loop Control/vendordeps/WPILibNewCommands.json
diff --git a/C++/Velocity PID Control/.gitignore b/C++/Velocity Closed Loop Control/.gitignore
similarity index 100%
rename from C++/Velocity PID Control/.gitignore
rename to C++/Velocity Closed Loop Control/.gitignore
diff --git a/C++/Velocity PID Control/.vscode/launch.json b/C++/Velocity Closed Loop Control/.vscode/launch.json
similarity index 100%
rename from C++/Velocity PID Control/.vscode/launch.json
rename to C++/Velocity Closed Loop Control/.vscode/launch.json
diff --git a/C++/Velocity PID Control/.vscode/settings.json b/C++/Velocity Closed Loop Control/.vscode/settings.json
similarity index 100%
rename from C++/Velocity PID Control/.vscode/settings.json
rename to C++/Velocity Closed Loop Control/.vscode/settings.json
diff --git a/C++/Velocity PID Control/.wpilib/wpilib_preferences.json b/C++/Velocity Closed Loop Control/.wpilib/wpilib_preferences.json
similarity index 100%
rename from C++/Velocity PID Control/.wpilib/wpilib_preferences.json
rename to C++/Velocity Closed Loop Control/.wpilib/wpilib_preferences.json
diff --git a/C++/Velocity PID Control/README.md b/C++/Velocity Closed Loop Control/README.md
similarity index 100%
rename from C++/Velocity PID Control/README.md
rename to C++/Velocity Closed Loop Control/README.md
diff --git a/C++/Velocity PID Control/WPILib-License.md b/C++/Velocity Closed Loop Control/WPILib-License.md
similarity index 100%
rename from C++/Velocity PID Control/WPILib-License.md
rename to C++/Velocity Closed Loop Control/WPILib-License.md
diff --git a/C++/Velocity PID Control/build.gradle b/C++/Velocity Closed Loop Control/build.gradle
similarity index 100%
rename from C++/Velocity PID Control/build.gradle
rename to C++/Velocity Closed Loop Control/build.gradle
diff --git a/C++/Velocity PID Control/gradle/wrapper/gradle-wrapper.jar b/C++/Velocity Closed Loop Control/gradle/wrapper/gradle-wrapper.jar
similarity index 100%
rename from C++/Velocity PID Control/gradle/wrapper/gradle-wrapper.jar
rename to C++/Velocity Closed Loop Control/gradle/wrapper/gradle-wrapper.jar
diff --git a/C++/Velocity PID Control/gradle/wrapper/gradle-wrapper.properties b/C++/Velocity Closed Loop Control/gradle/wrapper/gradle-wrapper.properties
similarity index 100%
rename from C++/Velocity PID Control/gradle/wrapper/gradle-wrapper.properties
rename to C++/Velocity Closed Loop Control/gradle/wrapper/gradle-wrapper.properties
diff --git a/C++/Velocity PID Control/gradlew b/C++/Velocity Closed Loop Control/gradlew
similarity index 100%
rename from C++/Velocity PID Control/gradlew
rename to C++/Velocity Closed Loop Control/gradlew
diff --git a/C++/Velocity PID Control/gradlew.bat b/C++/Velocity Closed Loop Control/gradlew.bat
similarity index 100%
rename from C++/Velocity PID Control/gradlew.bat
rename to C++/Velocity Closed Loop Control/gradlew.bat
diff --git a/C++/Velocity PID Control/settings.gradle b/C++/Velocity Closed Loop Control/settings.gradle
similarity index 100%
rename from C++/Velocity PID Control/settings.gradle
rename to C++/Velocity Closed Loop Control/settings.gradle
diff --git a/C++/Velocity PID Control/src/main/cpp/Robot.cpp b/C++/Velocity Closed Loop Control/src/main/cpp/Robot.cpp
similarity index 100%
rename from C++/Velocity PID Control/src/main/cpp/Robot.cpp
rename to C++/Velocity Closed Loop Control/src/main/cpp/Robot.cpp
diff --git a/C++/Velocity PID Control/src/main/deploy/example.txt b/C++/Velocity Closed Loop Control/src/main/deploy/example.txt
similarity index 100%
rename from C++/Velocity PID Control/src/main/deploy/example.txt
rename to C++/Velocity Closed Loop Control/src/main/deploy/example.txt
diff --git a/C++/Velocity PID Control/src/test/cpp/main.cpp b/C++/Velocity Closed Loop Control/src/test/cpp/main.cpp
similarity index 100%
rename from C++/Velocity PID Control/src/test/cpp/main.cpp
rename to C++/Velocity Closed Loop Control/src/test/cpp/main.cpp
diff --git a/C++/Velocity PID Control/vendordeps/REVLib.json b/C++/Velocity Closed Loop Control/vendordeps/REVLib.json
similarity index 100%
rename from C++/Velocity PID Control/vendordeps/REVLib.json
rename to C++/Velocity Closed Loop Control/vendordeps/REVLib.json
diff --git a/C++/Velocity PID Control/vendordeps/WPILibNewCommands.json b/C++/Velocity Closed Loop Control/vendordeps/WPILibNewCommands.json
similarity index 100%
rename from C++/Velocity PID Control/vendordeps/WPILibNewCommands.json
rename to C++/Velocity Closed Loop Control/vendordeps/WPILibNewCommands.json