diff --git a/wpilibc/src/main/native/include/frc2/command/CommandScheduler.h b/wpilibc/src/main/native/include/frc2/command/CommandScheduler.h
index ac6179d0b2..92dffc7d56 100644
--- a/wpilibc/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibc/src/main/native/include/frc2/command/CommandScheduler.h
@@ -170,8 +170,8 @@ class CommandScheduler final : public frc::SendableBase, frc::ErrorBase {
    * @param subsystem      the subsystem whose default command will be set
    * @param defaultCommand the default command to associate with the subsystem
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   void SetDefaultCommand(Subsystem* subsystem, T&& defaultCommand) {
     if (!defaultCommand.HasRequirement(subsystem)) {
       wpi_setWPIErrorWithContext(
diff --git a/wpilibc/src/main/native/include/frc2/command/ConditionalCommand.h b/wpilibc/src/main/native/include/frc2/command/ConditionalCommand.h
index 01571861d7..0419cf97ec 100644
--- a/wpilibc/src/main/native/include/frc2/command/ConditionalCommand.h
+++ b/wpilibc/src/main/native/include/frc2/command/ConditionalCommand.h
@@ -46,9 +46,9 @@ class ConditionalCommand
    */
   template <class T1, class T2,
             typename = std::enable_if_t<
-                std::is_base_of<Command, std::remove_reference_t<T1>>::value>,
+                std::is_base_of_v<Command, std::remove_reference_t<T1>>>,
             typename = std::enable_if_t<
-                std::is_base_of<Command, std::remove_reference_t<T2>>::value>>
+                std::is_base_of_v<Command, std::remove_reference_t<T2>>>>
   ConditionalCommand(T1&& onTrue, T2&& onFalse, std::function<bool()> condition)
       : ConditionalCommand(std::make_unique<std::remove_reference_t<T1>>(
                                std::forward<T1>(onTrue)),
diff --git a/wpilibc/src/main/native/include/frc2/command/ParallelDeadlineGroup.h b/wpilibc/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
index d76f033841..d453ab5f2e 100644
--- a/wpilibc/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
+++ b/wpilibc/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
@@ -51,7 +51,7 @@ class ParallelDeadlineGroup
    */
   template <class T, class... Types,
             typename = std::enable_if_t<
-                std::is_base_of<Command, std::remove_reference_t<T>>::value>,
+                std::is_base_of_v<Command, std::remove_reference_t<T>>>,
             typename = std::enable_if_t<std::conjunction_v<
                 std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
   explicit ParallelDeadlineGroup(T&& deadline, Types&&... commands) {
diff --git a/wpilibc/src/main/native/include/frc2/command/PerpetualCommand.h b/wpilibc/src/main/native/include/frc2/command/PerpetualCommand.h
index 7ed2dfc2b6..c5e8407207 100644
--- a/wpilibc/src/main/native/include/frc2/command/PerpetualCommand.h
+++ b/wpilibc/src/main/native/include/frc2/command/PerpetualCommand.h
@@ -43,8 +43,8 @@ class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
    *
    * @param command the command to run perpetually
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   explicit PerpetualCommand(T&& command)
       : PerpetualCommand(std::make_unique<std::remove_reference_t<T>>(
             std::forward<T>(command))) {}
diff --git a/wpilibc/src/main/native/include/frc2/command/Subsystem.h b/wpilibc/src/main/native/include/frc2/command/Subsystem.h
index f549e64264..5eb10bc302 100644
--- a/wpilibc/src/main/native/include/frc2/command/Subsystem.h
+++ b/wpilibc/src/main/native/include/frc2/command/Subsystem.h
@@ -56,8 +56,8 @@ class Subsystem {
    *
    * @param defaultCommand the default command to associate with this subsystem
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   void SetDefaultCommand(T&& defaultCommand) {
     CommandScheduler::GetInstance().SetDefaultCommand(
         this, std::forward<T>(defaultCommand));
diff --git a/wpilibc/src/main/native/include/frc2/command/button/Button.h b/wpilibc/src/main/native/include/frc2/command/button/Button.h
index dc4c54a837..3e0f7fe33d 100644
--- a/wpilibc/src/main/native/include/frc2/command/button/Button.h
+++ b/wpilibc/src/main/native/include/frc2/command/button/Button.h
@@ -54,8 +54,8 @@ class Button : public Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The trigger, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Button WhenPressed(T&& command, bool interruptible = true) {
     WhenActive(std::forward<T>(command), interruptible);
     return *this;
@@ -89,8 +89,8 @@ class Button : public Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The button, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Button WhileHeld(T&& command, bool interruptible = true) {
     WhileActiveContinous(std::forward<T>(command), interruptible);
     return *this;
@@ -124,8 +124,8 @@ class Button : public Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The button, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Button WhenHeld(T&& command, bool interruptible = true) {
     WhileActiveOnce(std::forward<T>(command), interruptible);
     return *this;
@@ -152,8 +152,8 @@ class Button : public Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The button, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Button WhenReleased(T&& command, bool interruptible = true) {
     WhenInactive(std::forward<T>(command), interruptible);
     return *this;
@@ -187,8 +187,8 @@ class Button : public Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The button, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Button ToggleWhenPressed(T&& command, bool interruptible = true) {
     ToggleWhenActive(std::forward<T>(command), interruptible);
     return *this;
diff --git a/wpilibc/src/main/native/include/frc2/command/button/Trigger.h b/wpilibc/src/main/native/include/frc2/command/button/Trigger.h
index 30de38d394..1a65ff64c1 100644
--- a/wpilibc/src/main/native/include/frc2/command/button/Trigger.h
+++ b/wpilibc/src/main/native/include/frc2/command/button/Trigger.h
@@ -72,8 +72,8 @@ class Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The trigger, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Trigger WhenActive(T&& command, bool interruptible = true) {
     CommandScheduler::GetInstance().AddButton(
         [pressedLast = Get(), *this,
@@ -120,8 +120,8 @@ class Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The trigger, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Trigger WhileActiveContinous(T&& command, bool interruptible = true) {
     CommandScheduler::GetInstance().AddButton(
         [pressedLast = Get(), *this,
@@ -169,8 +169,8 @@ class Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The trigger, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Trigger WhileActiveOnce(T&& command, bool interruptible = true) {
     CommandScheduler::GetInstance().AddButton(
         [pressedLast = Get(), *this,
@@ -211,8 +211,8 @@ class Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The trigger, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Trigger WhenInactive(T&& command, bool interruptible = true) {
     CommandScheduler::GetInstance().AddButton(
         [pressedLast = Get(), *this,
@@ -258,8 +258,8 @@ class Trigger {
    * @param interruptible Whether the command should be interruptible.
    * @return The trigger, for chained calls.
    */
-  template <class T, typename = std::enable_if_t<std::is_base_of<
-                         Command, std::remove_reference_t<T>>::value>>
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
   Trigger ToggleWhenActive(T&& command, bool interruptible = true) {
     CommandScheduler::GetInstance().AddButton(
         [pressedLast = Get(), *this,
diff --git a/wpilibc/src/test/native/cpp/frc2/command/make_vector.h b/wpilibc/src/test/native/cpp/frc2/command/make_vector.h
index a15f5a8e5d..89d55b63cd 100644
--- a/wpilibc/src/test/native/cpp/frc2/command/make_vector.h
+++ b/wpilibc/src/test/native/cpp/frc2/command/make_vector.h
@@ -22,7 +22,7 @@ struct vec_type_helper {
 
 template <typename... Args>
 struct vec_type_helper<void, Args...> {
-  using type = typename std::common_type<Args...>::type;
+  using type = typename std::common_type_t<Args...>;
 };
 
 template <typename T, typename... Args>
@@ -33,14 +33,12 @@ struct all_constructible_and_convertible : std::true_type {};
 
 template <typename T, typename First, typename... Rest>
 struct all_constructible_and_convertible<T, First, Rest...>
-    : std::conditional<std::is_constructible<T, First>::value &&
-                           std::is_convertible<First, T>::value,
-                       all_constructible_and_convertible<T, Rest...>,
-                       std::false_type>::type {};
+    : std::conditional_t<
+          std::is_constructible_v<T, First> && std::is_convertible_v<First, T>,
+          all_constructible_and_convertible<T, Rest...>, std::false_type> {};
 
 template <typename T, typename... Args,
-          typename std::enable_if<!std::is_trivially_copyable<T>::value,
-                                  int>::type = 0>
+          typename std::enable_if_t<!std::is_trivially_copyable_v<T>, int> = 0>
 std::vector<T> make_vector_impl(Args&&... args) {
   std::vector<T> vec;
   vec.reserve(sizeof...(Args));
@@ -50,19 +48,18 @@ std::vector<T> make_vector_impl(Args&&... args) {
 }
 
 template <typename T, typename... Args,
-          typename std::enable_if<std::is_trivially_copyable<T>::value,
-                                  int>::type = 0>
+          typename std::enable_if_t<std::is_trivially_copyable_v<T>, int> = 0>
 std::vector<T> make_vector_impl(Args&&... args) {
   return std::vector<T>{std::forward<Args>(args)...};
 }
 
 }  // namespace detail
 
-template <typename T = void, typename... Args,
-          typename V = detail::vec_type_helper_t<T, Args...>,
-          typename std::enable_if<
-              detail::all_constructible_and_convertible<V, Args...>::value,
-              int>::type = 0>
+template <
+    typename T = void, typename... Args,
+    typename V = detail::vec_type_helper_t<T, Args...>,
+    typename std::enable_if_t<
+        detail::all_constructible_and_convertible<V, Args...>::value, int> = 0>
 std::vector<V> make_vector(Args&&... args) {
   return detail::make_vector_impl<V>(std::forward<Args>(args)...);
 }