diff --git a/.github/workflows/bazel.yml b/.github/workflows/bazel.yml
index a2f0c381d6f..8949d6b055d 100644
--- a/.github/workflows/bazel.yml
+++ b/.github/workflows/bazel.yml
@@ -57,6 +57,7 @@ jobs:
       matrix:
         include:
           - { name: "Linux (native)",  os: ubuntu-24.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (systemcore)",  os: ubuntu-24.04,   action: "build",  config: "--config=systemcore",    }
     name: "${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     steps:
diff --git a/.styleguide b/.styleguide
index feb5dc3e00e..a23842e2f53 100644
--- a/.styleguide
+++ b/.styleguide
@@ -14,6 +14,7 @@ modifiableFileExclude {
   thirdparty/
   \.patch$
   gradlew
+  BUILD.bazel
 }
 
 generatedFileExclude {
diff --git a/WORKSPACE b/WORKSPACE
index eb731acfd2a..7362421731f 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -13,6 +13,7 @@ load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
 rules_jvm_external_deps()
 
 load("@rules_jvm_external//:defs.bzl", "maven_install")
+load("@rules_jvm_external//:specs.bzl", "maven")
 
 maven_artifacts = [
     "org.ejml:ejml-simple:0.43.1",
@@ -21,6 +22,72 @@ maven_artifacts = [
     "com.fasterxml.jackson.core:jackson-databind:2.15.2",
     "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
     "com.google.code.gson:gson:2.10.1",
+    maven.artifact(
+        "org.junit.jupiter",
+        "junit-jupiter",
+        "5.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-console",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-launcher",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-reporting",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.google.code.gson",
+        "gson",
+        "2.10.1",
+        testonly = False,
+    ),
+    maven.artifact(
+        "org.hamcrest",
+        "hamcrest-all",
+        "1.3",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.googlecode.junit-toolbox",
+        "junit-toolbox",
+        "2.4",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.apache.ant",
+        "ant",
+        "1.10.12",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.apache.ant",
+        "ant-junit",
+        "1.10.12",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.mockito",
+        "mockito-core",
+        "4.1.0",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.google.testing.compile",
+        "compile-testing",
+        "0.21.0",
+        testonly = True,
+    ),
 ]
 
 maven_install(
diff --git a/apriltag/BUILD.bazel b/apriltag/BUILD.bazel
index ea1ef1abe00..3544d27ef0a 100644
--- a/apriltag/BUILD.bazel
+++ b/apriltag/BUILD.bazel
@@ -1,6 +1,8 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
 load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
 cc_library(
@@ -59,9 +61,20 @@ cc_library(
     ],
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "apriltagjni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":apriltag-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":apriltag.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "apriltag-java",
     srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":apriltagjni"],
     resource_strip_prefix = "apriltag/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
     visibility = ["//visibility:public"],
@@ -88,6 +101,20 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "apriltag-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    resource_strip_prefix = "apriltag/src/test/resources",
+    resources = glob(["src/test/resources/**"]),
+    deps = [
+        ":apriltag-java",
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/cscore/BUILD.bazel b/cscore/BUILD.bazel
index d40fb4d2fd9..1c0ac8d9b7c 100644
--- a/cscore/BUILD.bazel
+++ b/cscore/BUILD.bazel
@@ -1,5 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test", "objc_library")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
 WIN_SRCS = glob([
     "src/main/native/windows/**/*.cpp",
@@ -71,9 +73,20 @@ cc_library(
     }),
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "cscorejni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":cscore-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":cscore.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "cscore-java",
     srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":cscorejni"],
     visibility = ["//visibility:public"],
     deps = [
         "//wpiutil:wpiutil-java",
@@ -91,6 +104,15 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "cscore-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":cscore-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/epilogue-processor/BUILD.bazel b/epilogue-processor/BUILD.bazel
index a9a8e083ab4..290132009d0 100644
--- a/epilogue-processor/BUILD.bazel
+++ b/epilogue-processor/BUILD.bazel
@@ -1,4 +1,5 @@
 load("@rules_java//java:defs.bzl", "java_library", "java_plugin")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 
 java_library(
     name = "processor",
@@ -20,3 +21,15 @@ java_plugin(
         ":processor",
     ],
 )
+
+wpilib_java_junit5_test(
+    name = "processor-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    plugins = [
+        ":plugin",
+    ],
+    deps = [
+        ":processor",
+        "@maven//:com_google_testing_compile_compile_testing",
+    ],
+)
diff --git a/epilogue-runtime/BUILD.bazel b/epilogue-runtime/BUILD.bazel
index 05db6b75270..6e02a5dfcb8 100644
--- a/epilogue-runtime/BUILD.bazel
+++ b/epilogue-runtime/BUILD.bazel
@@ -1,4 +1,5 @@
 load("@rules_java//java:defs.bzl", "java_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 
 java_library(
     name = "epilogue",
@@ -10,3 +11,12 @@ java_library(
         "//wpiutil:wpiutil-java",
     ],
 )
+
+wpilib_java_junit5_test(
+    name = "epilogue-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":epilogue",
+        "//wpiutil:wpiutil-java",
+    ],
+)
diff --git a/fieldImages/BUILD.bazel b/fieldImages/BUILD.bazel
index b5cfc82cfa4..e006e9ef83c 100644
--- a/fieldImages/BUILD.bazel
+++ b/fieldImages/BUILD.bazel
@@ -1,5 +1,6 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
 load("@rules_java//java:defs.bzl", "java_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
 generate_resources(
@@ -29,3 +30,11 @@ java_library(
         "@maven//:com_fasterxml_jackson_core_jackson_databind",
     ],
 )
+
+wpilib_java_junit5_test(
+    name = "fieldImages-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":fieldImages-java",
+    ],
+)
diff --git a/hal/BUILD.bazel b/hal/BUILD.bazel
index 6f8097b070f..2a1c00a1fc6 100644
--- a/hal/BUILD.bazel
+++ b/hal/BUILD.bazel
@@ -1,5 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
 cc_library(
     name = "generated_cc_headers",
@@ -31,23 +33,14 @@ filegroup(
     visibility = ["//hal:__subpackages__"],
 )
 
-ATHENA_SRCS = glob(["src/main/native/athena/**"])
-
-ATHENA_DEPS = ["@bzlmodrio-ni//libraries/cpp/ni:shared"]
+SYSTEMCORE_SRCS = glob(["src/main/native/systemcore/**"])
 
 SIM_SRCS = glob(["src/main/native/sim/**"])
 
-SIM_DEPS = []
-
-HAL_DEPS = select({
-    "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ATHENA_DEPS,
-    "//conditions:default": SIM_DEPS,
-})
-
 filegroup(
     name = "platform-srcs",
     srcs = select({
-        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ATHENA_SRCS,
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": SYSTEMCORE_SRCS,
         "//conditions:default": SIM_SRCS,
     }),
 )
@@ -67,17 +60,28 @@ cc_library(
     visibility = ["//visibility:public"],
     deps = [
         ":generated_cc_headers",
-        ":mrc_cc_headers",
         ":generated_mrc_cc_headers",
+        ":mrc_cc_headers",
         "//ntcore:ntcore.static",
         "//wpinet:wpinet.static",
         "//wpiutil:wpiutil.static",
-    ] + HAL_DEPS,
+    ],
+)
+
+wpilib_jni_cc_library(
+    name = "wpiHaljni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":hal-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpiHal.static",
+    ],
 )
 
-java_library(
+wpilib_jni_java_library(
     name = "hal-java",
     srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
+    native_libs = [":wpiHaljni"],
     visibility = ["//visibility:public"],
     deps = [
         "//ntcore:networktables-java",
@@ -99,6 +103,14 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "hal-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":hal-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/ntcore/BUILD.bazel b/ntcore/BUILD.bazel
index 1156cff691e..9b020297c59 100644
--- a/ntcore/BUILD.bazel
+++ b/ntcore/BUILD.bazel
@@ -1,5 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
 cc_library(
     name = "generated_cc_headers",
@@ -18,6 +20,12 @@ filegroup(
     visibility = ["//ntcore:__subpackages__"],
 )
 
+filegroup(
+    name = "generated_jni",
+    srcs = glob(["src/generated/main/native/cpp/jni/**"]),
+    visibility = ["//ntcore:__subpackages__"],
+)
+
 filegroup(
     name = "generated_java",
     srcs = glob(["src/generated/main/java/**/*.java"]),
@@ -44,9 +52,20 @@ cc_library(
     ],
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "ntcorejni",
+    srcs = glob(["src/main/native/cpp/jni/**"]) + [":generated_jni"],
+    java_dep = ":networktables-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":ntcore.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "networktables-java",
     srcs = glob(["src/main/java/**/*.java"]) + [":generated_java"],
+    native_libs = [":ntcorejni"],
     visibility = ["//visibility:public"],
     deps = [
         "//wpiutil:wpiutil-java",
@@ -73,6 +92,16 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "ntcore-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    tags = ["exclusive"],
+    deps = [
+        ":networktables-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/shared/bazel/rules/BUILD.bazel b/shared/bazel/rules/BUILD.bazel
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/shared/bazel/rules/java_rules.bzl b/shared/bazel/rules/java_rules.bzl
new file mode 100644
index 00000000000..b712c0cb7c1
--- /dev/null
+++ b/shared/bazel/rules/java_rules.bzl
@@ -0,0 +1,35 @@
+load("@rules_java//java:defs.bzl", "java_binary")
+
+def wpilib_java_junit5_test(
+        name,
+        deps = [],
+        runtime_deps = [],
+        args = [],
+        tags = [],
+        package = "edu",
+        **kwargs):
+    """
+    Convenience helper to make a junit5 test
+    """
+    junit_deps = [
+        "@maven//:org_junit_jupiter_junit_jupiter_api",
+        "@maven//:org_junit_jupiter_junit_jupiter_params",
+        "@maven//:org_junit_jupiter_junit_jupiter_engine",
+    ]
+
+    junit_runtime_deps = [
+        "@maven//:org_junit_platform_junit_platform_console",
+    ]
+
+    # TODO - replace with java_test once shared libraries are hooked up.
+    java_binary(
+        name = name,
+        deps = deps + junit_deps,
+        runtime_deps = runtime_deps + junit_runtime_deps,
+        args = args + ["--select-package", package],
+        main_class = "org.junit.platform.console.ConsoleLauncher",
+        use_testrunner = False,
+        testonly = True,
+        tags = tags + ["no-roborio", "no-bionic", "no-raspbian", "allwpilib-build-java", "no-asan", "no-tsan", "no-ubsan"],
+        **kwargs
+    )
diff --git a/shared/bazel/rules/jni_rules.bzl b/shared/bazel/rules/jni_rules.bzl
new file mode 100644
index 00000000000..dfc23dbb481
--- /dev/null
+++ b/shared/bazel/rules/jni_rules.bzl
@@ -0,0 +1,101 @@
+load("@bazel_tools//tools/cpp:toolchain_utils.bzl", "find_cpp_toolchain")
+load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_java//java:defs.bzl", "java_library")
+
+def _jni_headers_impl(ctx):
+    include_dir = ctx.actions.declare_directory(ctx.attr.name + ".h")
+    native_headers_jar = ctx.attr.lib[JavaInfo].outputs.native_headers
+    args = ["xf", native_headers_jar.path, "-d", include_dir.path]
+
+    ctx.actions.run(
+        inputs = [native_headers_jar],
+        tools = [ctx.executable._zipper],
+        outputs = [include_dir],
+        executable = ctx.executable._zipper.path,
+        arguments = args,
+    )
+
+    cc_toolchain = find_cpp_toolchain(ctx)
+    feature_configuration = cc_common.configure_features(
+        ctx = ctx,
+        cc_toolchain = cc_toolchain,
+        requested_features = ctx.features,
+        unsupported_features = ctx.disabled_features,
+    )
+    compilation_context, _ = cc_common.compile(
+        name = ctx.attr.name,
+        actions = ctx.actions,
+        feature_configuration = feature_configuration,
+        cc_toolchain = cc_toolchain,
+        public_hdrs = [include_dir],
+        quote_includes = [include_dir.path],
+    )
+    cc_info_with_jni = cc_common.merge_cc_infos(
+        direct_cc_infos = [
+            CcInfo(compilation_context = compilation_context),
+            ctx.attr.jni[CcInfo],
+        ],
+    )
+
+    return [
+        DefaultInfo(files = depset([include_dir])),
+        cc_info_with_jni,
+    ]
+
+_jni_headers = rule(
+    implementation = _jni_headers_impl,
+    attrs = {
+        "jni": attr.label(mandatory = True),
+        "lib": attr.label(
+            mandatory = True,
+            providers = [JavaInfo],
+        ),
+        "_cc_toolchain": attr.label(default = Label("@bazel_tools//tools/cpp:current_cc_toolchain")),
+        "_zipper": attr.label(
+            executable = True,
+            cfg = "exec",
+            default = Label("@bazel_tools//tools/zip:zipper"),
+        ),
+    },
+    fragments = ["cpp"],
+    incompatible_use_toolchain_transition = True,
+    provides = [CcInfo],
+    toolchains = ["@bazel_tools//tools/cpp:toolchain_type"],
+)
+
+def wpilib_jni_java_library(
+        name,
+        native_libs = [],
+        **java_library_args):
+    tags = java_library_args.pop("tags", default = None)
+    visibility = java_library_args.pop("visibility", default = None)
+    testonly = java_library_args.pop("testonly", default = None)
+    headers_name = name + ".hdrs"
+    java_library(
+        name = name,
+        visibility = visibility,
+        testonly = testonly,
+        **java_library_args
+    )
+
+    jni = "@rules_bzlmodrio_toolchains//jni"
+    _jni_headers(
+        name = headers_name,
+        tags = ["manual"],
+        jni = jni,
+        lib = ":" + name,
+        testonly = testonly,
+        visibility = visibility,
+    )
+
+def wpilib_jni_cc_library(
+        name,
+        deps = [],
+        java_dep = None,
+        **kwargs):
+    jni = "@rules_bzlmodrio_toolchains//jni"
+    cc_library(
+        name = name + ".static",
+        deps = [jni, java_dep + ".hdrs"] + deps,
+        **kwargs
+    )
diff --git a/wpilibNewCommands/BUILD.bazel b/wpilibNewCommands/BUILD.bazel
index 6add11137ad..37b063dd5bf 100644
--- a/wpilibNewCommands/BUILD.bazel
+++ b/wpilibNewCommands/BUILD.bazel
@@ -1,5 +1,6 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 
 cc_library(
     name = "generated_cc_headers",
@@ -67,6 +68,23 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "wpilibNewCommands-java-test",
+    srcs = glob(["**/*.java"]),
+    resource_strip_prefix = "wpilibNewCommands/src/test/resources",
+    resources = glob(["src/test/resources/**"]),
+    deps = [
+        ":wpilibNewCommands-java",
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpilibj",
+        "//wpimath:wpimath-java",
+        "//wpiunits",
+        "//wpiutil:wpiutil-java",
+        "@maven//:org_mockito_mockito_core",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/wpilibj/BUILD.bazel b/wpilibj/BUILD.bazel
index f0a9359ae91..e5b8b0dd993 100644
--- a/wpilibj/BUILD.bazel
+++ b/wpilibj/BUILD.bazel
@@ -1,5 +1,6 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 
 generate_version_file(
@@ -36,6 +37,21 @@ java_library(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "wpilibj-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    resource_strip_prefix = "wpilibj/src/test/resources",
+    resources = glob(["src/test/resources/**"]),
+    deps = [
+        ":wpilibj",
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpimath:wpimath-java",
+        "//wpiunits",
+        "//wpiutil:wpiutil-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/wpimath/BUILD.bazel b/wpimath/BUILD.bazel
index 7979a8ba1cb..d6763b68dec 100644
--- a/wpimath/BUILD.bazel
+++ b/wpimath/BUILD.bazel
@@ -1,6 +1,8 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
 load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 
 filegroup(
     name = "generated_java",
@@ -78,9 +80,20 @@ cc_library(
     ],
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "wpimathjni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":wpimath-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpimath.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "wpimath-java",
     srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
+    native_libs = [":wpimathjni"],
     visibility = ["//visibility:public"],
     deps = [
         "//wpiunits",
@@ -121,6 +134,19 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "wpimath-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":wpimath-java",
+        "//wpiunits",
+        "//wpiutil:wpiutil-java",
+        "@maven//:org_ejml_ejml_core",
+        "@maven//:org_ejml_ejml_simple",
+        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/wpinet/BUILD.bazel b/wpinet/BUILD.bazel
index c6bdebae7a0..8a56e0b3459 100644
--- a/wpinet/BUILD.bazel
+++ b/wpinet/BUILD.bazel
@@ -1,5 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
 WIN_UV_SRCS = glob([
@@ -131,9 +133,23 @@ cc_library(
     ],
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "wpinetjni",
+    srcs = glob([
+        "src/main/native/cpp/jni/**",
+        "src/main/native/cpp/**/*.h",
+    ]),
+    java_dep = ":wpinet-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpinet.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "wpinet-java",
     srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":wpinetjni"],
     visibility = ["//visibility:public"],
     deps = [
         "//wpiutil:wpiutil-java",
@@ -155,6 +171,14 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "wpinet-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":wpinet-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
diff --git a/wpiunits/BUILD.bazel b/wpiunits/BUILD.bazel
index d6686308a97..d6609a4f00f 100644
--- a/wpiunits/BUILD.bazel
+++ b/wpiunits/BUILD.bazel
@@ -1,4 +1,5 @@
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 
 java_library(
     name = "wpiunits",
@@ -7,6 +8,14 @@ java_library(
     deps = [],
 )
 
+wpilib_java_junit5_test(
+    name = "wpiunits-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":wpiunits",
+    ],
+)
+
 java_binary(
     name = "DevMain-Java",
     srcs = ["src/dev/java/edu/wpi/first/units/DevMain.java"],
diff --git a/wpiutil/BUILD.bazel b/wpiutil/BUILD.bazel
index 928fa4e8f3d..646858441c5 100644
--- a/wpiutil/BUILD.bazel
+++ b/wpiutil/BUILD.bazel
@@ -1,6 +1,8 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_java//java:defs.bzl", "java_binary")
 load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
 cc_library(
@@ -224,9 +226,20 @@ cc_library(
     }),
 )
 
-java_library(
+wpilib_jni_cc_library(
+    name = "wpiutiljni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":wpiutil-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpiutil.static",
+    ],
+)
+
+wpilib_jni_java_library(
     name = "wpiutil-java",
     srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":wpiutiljni"],
     visibility = ["//visibility:public"],
     deps = [
         "@maven//:com_fasterxml_jackson_core_jackson_annotations",
@@ -268,6 +281,14 @@ cc_test(
     ],
 )
 
+wpilib_java_junit5_test(
+    name = "wpiutil-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":wpiutil-java",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],