diff --git a/robotpyExamples/DifferentialDriveBot/drivetrain.py b/robotpyExamples/DifferentialDriveBot/drivetrain.py
index 27ca18e1d0..258ab381b1 100755
--- a/robotpyExamples/DifferentialDriveBot/drivetrain.py
+++ b/robotpyExamples/DifferentialDriveBot/drivetrain.py
@@ -37,7 +37,7 @@ class Drivetrain:
         self.leftEncoder = wpilib.Encoder(0, 1)
         self.rightEncoder = wpilib.Encoder(2, 3)
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
 
         self.leftPIDController = wpimath.PIDController(1.0, 0.0, 0.0)
         self.rightPIDController = wpimath.PIDController(1.0, 0.0, 0.0)
diff --git a/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py b/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
index deb62ca496..d8efdc8f7a 100644
--- a/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
+++ b/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
@@ -33,7 +33,7 @@ class Drivetrain:
         self.leftEncoder = wpilib.Encoder(0, 1)
         self.rightEncoder = wpilib.Encoder(2, 3)
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
 
         self.leftPIDController = wpimath.PIDController(1, 0, 0)
         self.rightPIDController = wpimath.PIDController(1, 0, 0)
diff --git a/robotpyExamples/Gyro/robot.py b/robotpyExamples/Gyro/robot.py
index 12c44da6d8..96e5616655 100755
--- a/robotpyExamples/Gyro/robot.py
+++ b/robotpyExamples/Gyro/robot.py
@@ -20,7 +20,7 @@ class MyRobot(wpilib.TimedRobot):
 
     kLeftMotorPort = 0
     kRightMotorPort = 1
-    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.kFlat
+    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.FLAT
     kJoystickPort = 0
 
     def __init__(self) -> None:
diff --git a/robotpyExamples/MecanumBot/drivetrain.py b/robotpyExamples/MecanumBot/drivetrain.py
index fc628aec4b..118ccc80d5 100755
--- a/robotpyExamples/MecanumBot/drivetrain.py
+++ b/robotpyExamples/MecanumBot/drivetrain.py
@@ -12,8 +12,8 @@ import wpimath
 class Drivetrain:
     """Represents a mecanum drive style drivetrain."""
 
-    kMaxVelocity = 3.0  # 3 meters per second
-    kMaxAngularVelocity = math.pi  # 1/2 rotation per second
+    MAX_VELOCITY = 3.0  # 3 meters per second
+    MAX_ANGULAR_VELOCITY = math.pi  # 1/2 rotation per second
 
     def __init__(self) -> None:
         self.frontLeftMotor = wpilib.PWMSparkMax(1)
@@ -36,7 +36,7 @@ class Drivetrain:
         self.backLeftPIDController = wpimath.PIDController(1, 0, 0)
         self.backRightPIDController = wpimath.PIDController(1, 0, 0)
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
 
         self.kinematics = wpimath.MecanumDriveKinematics(
             self.frontLeftLocation,
@@ -121,7 +121,7 @@ class Drivetrain:
         self.setVelocities(
             self.kinematics.toWheelVelocities(
                 chassisVelocities.discretize(periodSeconds)
-            ).desaturate(self.kMaxVelocity)
+            ).desaturate(self.MAX_VELOCITY)
         )
 
     def updateOdometry(self) -> None:
diff --git a/robotpyExamples/MecanumBot/robot.py b/robotpyExamples/MecanumBot/robot.py
index f37940048c..e489ce06e7 100755
--- a/robotpyExamples/MecanumBot/robot.py
+++ b/robotpyExamples/MecanumBot/robot.py
@@ -35,7 +35,7 @@ class MyRobot(wpilib.TimedRobot):
         # negative values when we push forward.
         xVelocity = (
             -self.xvelocityLimiter.calculate(self.controller.getLeftY())
-            * Drivetrain.kMaxVelocity
+            * Drivetrain.MAX_VELOCITY
         )
 
         # Get the y velocity or sideways/strafe velocity. We are inverting this because
@@ -43,7 +43,7 @@ class MyRobot(wpilib.TimedRobot):
         # return positive values when you pull to the right by default.
         yVelocity = (
             -self.yvelocityLimiter.calculate(self.controller.getLeftX())
-            * Drivetrain.kMaxVelocity
+            * Drivetrain.MAX_VELOCITY
         )
 
         # Get the rate of angular rotation. We are inverting this because we want a
@@ -52,7 +52,7 @@ class MyRobot(wpilib.TimedRobot):
         # the right by default.
         rot = (
             -self.rotLimiter.calculate(self.controller.getRightX())
-            * Drivetrain.kMaxAngularVelocity
+            * Drivetrain.MAX_ANGULAR_VELOCITY
         )
 
         self.mecanum.drive(xVelocity, yVelocity, rot, fieldRelative, self.getPeriod())
diff --git a/robotpyExamples/MecanumDrive/robot.py b/robotpyExamples/MecanumDrive/robot.py
index bb06d6d3dd..36f38018ee 100755
--- a/robotpyExamples/MecanumDrive/robot.py
+++ b/robotpyExamples/MecanumDrive/robot.py
@@ -19,7 +19,7 @@ class MyRobot(wpilib.TimedRobot):
     kRearLeftChannel = 1
     kFrontRightChannel = 2
     kRearRightChannel = 3
-    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.kFlat
+    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.FLAT
     kJoystickPort = 0
 
     def __init__(self) -> None:
diff --git a/robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py b/robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py
index 7ecf3a5c16..12cbe3599f 100644
--- a/robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py
+++ b/robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py
@@ -16,8 +16,8 @@ from exampleglobalmeasurementsensor import ExampleGlobalMeasurementSensor
 class Drivetrain:
     """Represents a mecanum drive style drivetrain."""
 
-    kMaxVelocity = 3.0  # 3 meters per second
-    kMaxAngularVelocity = math.pi  # 1/2 rotation per second
+    MAX_VELOCITY = 3.0  # 3 meters per second
+    MAX_ANGULAR_VELOCITY = math.pi  # 1/2 rotation per second
 
     def __init__(self) -> None:
         self.frontLeftMotor = wpilib.PWMSparkMax(1)
@@ -40,7 +40,7 @@ class Drivetrain:
         self.backLeftPIDController = wpimath.PIDController(1, 0, 0)
         self.backRightPIDController = wpimath.PIDController(1, 0, 0)
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
 
         self.kinematics = wpimath.MecanumDriveKinematics(
             self.frontLeftLocation,
@@ -146,7 +146,7 @@ class Drivetrain:
         self.setVelocities(
             self.kinematics.toWheelVelocities(
                 chassisVelocities.discretize(period)
-            ).desaturate(self.kMaxVelocity)
+            ).desaturate(self.MAX_VELOCITY)
         )
 
     def updateOdometry(self) -> None:
diff --git a/robotpyExamples/MecanumDrivePoseEstimator/robot.py b/robotpyExamples/MecanumDrivePoseEstimator/robot.py
index 9905300dba..2cc0dfc5f1 100644
--- a/robotpyExamples/MecanumDrivePoseEstimator/robot.py
+++ b/robotpyExamples/MecanumDrivePoseEstimator/robot.py
@@ -34,19 +34,19 @@ class MyRobot(wpilib.TimedRobot):
         # Get the x velocity. We are inverting this because Xbox controllers return
         # negative values when we push forward.
         xVelocity = -self.xvelocityLimiter.calculate(self.controller.getLeftY())
-        xVelocity *= Drivetrain.kMaxVelocity
+        xVelocity *= Drivetrain.MAX_VELOCITY
 
         # Get the y velocity or sideways/strafe velocity. We are inverting this because
         # we want a positive value when we pull to the left. Xbox controllers
         # return positive values when you pull to the right by default.
         yVelocity = -self.yvelocityLimiter.calculate(self.controller.getLeftX())
-        yVelocity *= Drivetrain.kMaxVelocity
+        yVelocity *= Drivetrain.MAX_VELOCITY
 
         # Get the rate of angular rotation. We are inverting this because we want a
         # positive value when we pull to the left (remember, CCW is positive in
         # mathematics). Xbox controllers return positive values when you pull to
         # the right by default.
         rot = -self.rotLimiter.calculate(self.controller.getRightX())
-        rot *= Drivetrain.kMaxAngularVelocity
+        rot *= Drivetrain.MAX_ANGULAR_VELOCITY
 
         self.mecanum.drive(xVelocity, yVelocity, rot, fieldRelative, self.getPeriod())
diff --git a/robotpyExamples/RapidReactCommandBot/subsystems/drive.py b/robotpyExamples/RapidReactCommandBot/subsystems/drive.py
index 4f3abafb5f..948e720119 100644
--- a/robotpyExamples/RapidReactCommandBot/subsystems/drive.py
+++ b/robotpyExamples/RapidReactCommandBot/subsystems/drive.py
@@ -43,7 +43,7 @@ class Drive(Subsystem):
             DriveConstants.kRightEncoderReversed,
         )
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
         self.controller = wpimath.ProfiledPIDController(
             DriveConstants.kTurnP,
             DriveConstants.kTurnI,
diff --git a/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py b/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
index c0e86a92a7..c6b426be3f 100644
--- a/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
+++ b/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
@@ -35,7 +35,7 @@ class Drivetrain:
         self.leftPIDController = wpimath.PIDController(8.5, 0, 0)
         self.rightPIDController = wpimath.PIDController(8.5, 0, 0)
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
 
         self.kinematics = wpimath.DifferentialDriveKinematics(self.kTrackwidth)
         self.odometry = wpimath.DifferentialDriveOdometry(
diff --git a/robotpyExamples/SwerveBot/drivetrain.py b/robotpyExamples/SwerveBot/drivetrain.py
index 269908ef20..2121100bb1 100644
--- a/robotpyExamples/SwerveBot/drivetrain.py
+++ b/robotpyExamples/SwerveBot/drivetrain.py
@@ -29,7 +29,7 @@ class Drivetrain:
         self.backLeft = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11)
         self.backRight = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15)
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
 
         self.kinematics = wpimath.SwerveDrive4Kinematics(
             self.frontLeftLocation,
diff --git a/robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py b/robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py
index 68af3c409a..e211978831 100644
--- a/robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py
+++ b/robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py
@@ -31,7 +31,7 @@ class Drivetrain:
         self.backLeft = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11)
         self.backRight = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15)
 
-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
 
         self.kinematics = wpimath.SwerveDrive4Kinematics(
             self.frontLeftLocation,
diff --git a/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp b/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
index 174e62f7b4..4ee5173105 100644
--- a/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
@@ -18,13 +18,13 @@ wpi::units::radian_t OnboardIMU::GetYawNoOffset() {
   int64_t timestamp;
   double val;
   switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
       val = HAL_GetIMUYawFlat(&timestamp);
       break;
-    case kLandscape:
+    case LANDSCAPE:
       val = HAL_GetIMUYawLandscape(&timestamp);
       break;
-    case kPortrait:
+    case PORTRAIT:
       val = HAL_GetIMUYawPortrait(&timestamp);
       break;
     default:
@@ -61,13 +61,13 @@ wpi::units::radian_t OnboardIMU::GetAngleX() {
   HAL_EulerAngles3d val;
   int32_t status = 0;
   switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
       HAL_GetIMUEulerAnglesFlat(&val, &status);
       break;
-    case kLandscape:
+    case LANDSCAPE:
       HAL_GetIMUEulerAnglesLandscape(&val, &status);
       break;
-    case kPortrait:
+    case PORTRAIT:
       HAL_GetIMUEulerAnglesPortrait(&val, &status);
       break;
   }
@@ -79,13 +79,13 @@ wpi::units::radian_t OnboardIMU::GetAngleY() {
   HAL_EulerAngles3d val;
   int32_t status = 0;
   switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
       HAL_GetIMUEulerAnglesFlat(&val, &status);
       break;
-    case kLandscape:
+    case LANDSCAPE:
       HAL_GetIMUEulerAnglesLandscape(&val, &status);
       break;
-    case kPortrait:
+    case PORTRAIT:
       HAL_GetIMUEulerAnglesPortrait(&val, &status);
       break;
   }
@@ -97,13 +97,13 @@ wpi::units::radian_t OnboardIMU::GetAngleZ() {
   HAL_EulerAngles3d val;
   int32_t status = 0;
   switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
       HAL_GetIMUEulerAnglesFlat(&val, &status);
       break;
-    case kLandscape:
+    case LANDSCAPE:
       HAL_GetIMUEulerAnglesLandscape(&val, &status);
       break;
-    case kPortrait:
+    case PORTRAIT:
       HAL_GetIMUEulerAnglesPortrait(&val, &status);
       break;
   }
diff --git a/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp b/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
index 74e08a0d02..6c417ecd5d 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
@@ -22,13 +22,13 @@ class OnboardIMU {
    */
   enum MountOrientation {
     /** Flat (mounted parallel to the ground). */
-    kFlat,
+    FLAT,
     /** Landscape (vertically mounted with long edge of Systemcore parallel to
        the ground). */
-    kLandscape,
+    LANDSCAPE,
     /** Portrait (vertically mounted with the short edge of Systemcore parallel
        to the ground). */
-    kPortrait
+    PORTRAIT
   };
 
   /**
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
index e39039f4f0..66865080b6 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
@@ -72,7 +72,7 @@ class Drivetrain {
   wpi::math::PIDController m_leftPIDController{1.0, 0.0, 0.0};
   wpi::math::PIDController m_rightPIDController{1.0, 0.0, 0.0};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
   wpi::math::DifferentialDriveOdometry m_odometry{
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
index 3a7d62c3d8..e047396a59 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
@@ -144,7 +144,7 @@ class Drivetrain {
   wpi::math::PIDController m_leftPIDController{1.0, 0.0, 0.0};
   wpi::math::PIDController m_rightPIDController{1.0, 0.0, 0.0};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
 
diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
index 1e5a761cdc..24862fd34d 100644
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -45,7 +45,7 @@ class Robot : public wpi::TimedRobot {
   static constexpr int kLeftMotorPort = 0;
   static constexpr int kRightMotorPort = 1;
   static constexpr wpi::OnboardIMU::MountOrientation kIMUMountOrientation =
-      wpi::OnboardIMU::kFlat;
+      wpi::OnboardIMU::FLAT;
   static constexpr int kJoystickPort = 0;
 
   wpi::PWMSparkMax m_left{kLeftMotorPort};
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
index 9377148b60..dc18c7e4e4 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
@@ -66,7 +66,7 @@ class Drivetrain {
   wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
   wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::MecanumDriveKinematics m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
index f2430e8654..f2c32c4e6f 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -44,7 +44,7 @@ class Robot : public wpi::TimedRobot {
   static constexpr int kFrontRightMotorPort = 2;
   static constexpr int kRearRightMotorPort = 3;
   static constexpr wpi::OnboardIMU::MountOrientation kIMUMountOrientation =
-      wpi::OnboardIMU::kFlat;
+      wpi::OnboardIMU::FLAT;
   static constexpr int kJoystickPort = 0;
 
   wpi::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
index 595c1655da..8715083f16 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
@@ -65,7 +65,7 @@ class Drivetrain {
   wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
   wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::MecanumDriveKinematics m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
index 2702b083ac..97ba7ba6f4 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
@@ -65,7 +65,7 @@ class Drive : public wpi::cmd::SubsystemBase {
                               DriveConstants::kRightEncoderPorts[1],
                               DriveConstants::kRightEncoderReversed};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::ProfiledPIDController<wpi::units::radians> m_controller{
       DriveConstants::kTurnP,
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
index 8f679eabc4..3445331cb9 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
@@ -87,7 +87,7 @@ class Drivetrain {
   wpi::math::PIDController m_leftPIDController{8.5, 0.0, 0.0};
   wpi::math::PIDController m_rightPIDController{8.5, 0.0, 0.0};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
   wpi::math::DifferentialDriveOdometry m_odometry{
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
index 23e37ed6e8..261bbaf705 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
@@ -41,7 +41,7 @@ class Drivetrain {
   SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
   SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::SwerveDriveKinematics<4> m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
index f73be90122..211b569821 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
@@ -40,7 +40,7 @@ class Drivetrain {
   SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
   SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
 
-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
 
   wpi::math::SwerveDriveKinematics<4> m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
index 870408de1b..ab1f7278b3 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
@@ -30,7 +30,7 @@ class Robot : public wpi::TimedRobot {
  private:
   wpi::units::meters_per_second_squared_t m_prevXAccel = 0.0_mps_sq;
   wpi::units::meters_per_second_squared_t m_prevYAccel = 0.0_mps_sq;
-  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::kFlat};
+  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::FLAT};
 };
 
 #ifndef RUNNING_WPILIB_TESTS
diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
index 75f55ff712..ac6ebaf457 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
@@ -27,7 +27,7 @@ class Robot : public wpi::TimedRobot {
   }
 
  private:
-  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::kFlat};
+  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::FLAT};
   wpi::math::LinearFilter<wpi::units::meters_per_second_squared_t>
       m_xAccelFilter = wpi::math::LinearFilter<
           wpi::units::meters_per_second_squared_t>::MovingAverage(10);
diff --git a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
index 291f9b43b1..6e4563aa3a 100644
--- a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
@@ -35,7 +35,7 @@ class Robot : public wpi::TimedRobot {
 
  private:
   // Creates an object for the Systemcore IMU
-  wpi::OnboardIMU m_IMU{wpi::OnboardIMU::MountOrientation::kFlat};
+  wpi::OnboardIMU m_IMU{wpi::OnboardIMU::MountOrientation::FLAT};
 };
 
 #ifndef RUNNING_WPILIB_TESTS
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/imu/OnboardIMU.java b/wpilibj/src/main/java/org/wpilib/hardware/imu/OnboardIMU.java
index 9035a5ae86..dc7f67f47f 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/imu/OnboardIMU.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/imu/OnboardIMU.java
@@ -14,11 +14,11 @@ public class OnboardIMU {
   /** A mount orientation of Systemcore. */
   public enum MountOrientation {
     /** Flat (mounted parallel to the ground). */
-    kFlat,
+    FLAT,
     /** Landscape (vertically mounted with long edge of Systemcore parallel to the ground). */
-    kLandscape,
+    LANDSCAPE,
     /** Portrait (vertically mounted with the short edge of Systemcore parallel to the ground). */
-    kPortrait
+    PORTRAIT
   }
 
   /**
@@ -160,9 +160,9 @@ public class OnboardIMU {
   private double[] getRawEulerAngles() {
     double[] anglesRaw = new double[3];
     switch (m_mountOrientation) {
-      case kFlat -> IMUJNI.getIMUEulerAnglesFlat(anglesRaw);
-      case kLandscape -> IMUJNI.getIMUEulerAnglesLandscape(anglesRaw);
-      case kPortrait -> IMUJNI.getIMUEulerAnglesPortrait(anglesRaw);
+      case FLAT -> IMUJNI.getIMUEulerAnglesFlat(anglesRaw);
+      case LANDSCAPE -> IMUJNI.getIMUEulerAnglesLandscape(anglesRaw);
+      case PORTRAIT -> IMUJNI.getIMUEulerAnglesPortrait(anglesRaw);
       default -> {
         // NOP
       }
@@ -184,9 +184,9 @@ public class OnboardIMU {
 
   private double getYawNoOffset() {
     return switch (m_mountOrientation) {
-      case kFlat -> IMUJNI.getIMUYawFlat();
-      case kLandscape -> IMUJNI.getIMUYawLandscape();
-      case kPortrait -> IMUJNI.getIMUYawPortrait();
+      case FLAT -> IMUJNI.getIMUYawFlat();
+      case LANDSCAPE -> IMUJNI.getIMUYawLandscape();
+      case PORTRAIT -> IMUJNI.getIMUYawPortrait();
       default -> 0;
     };
   }
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java
index e126e68050..5c4682d4e0 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java
@@ -31,7 +31,7 @@ public class Drivetrain {
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
 
   private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
   private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
index feb0c38129..3c875525d2 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
@@ -54,7 +54,7 @@ public class Drivetrain {
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
 
   private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
   private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
index 21f450319a..141091f907 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
@@ -23,7 +23,7 @@ public class Robot extends TimedRobot {
   private static final int kLeftMotorPort = 0;
   private static final int kRightMotorPort = 1;
   private static final OnboardIMU.MountOrientation kIMUMountOrientation =
-      OnboardIMU.MountOrientation.kFlat;
+      OnboardIMU.MountOrientation.FLAT;
   private static final int kJoystickPort = 0;
 
   private final PWMSparkMax m_leftDrive = new PWMSparkMax(kLeftMotorPort);
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java
index 1b84e32ce1..f6648d111d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java
@@ -41,7 +41,7 @@ public class Drivetrain {
   private final PIDController m_backLeftPIDController = new PIDController(1, 0, 0);
   private final PIDController m_backRightPIDController = new PIDController(1, 0, 0);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
 
   private final MecanumDriveKinematics m_kinematics =
       new MecanumDriveKinematics(
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
index 3f51ec78c6..ef5dedd299 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
@@ -21,7 +21,7 @@ public class Robot extends TimedRobot {
   private static final int kFrontRightChannel = 2;
   private static final int kRearRightChannel = 3;
   private static final OnboardIMU.MountOrientation kIMUMountOrientation =
-      OnboardIMU.MountOrientation.kFlat;
+      OnboardIMU.MountOrientation.FLAT;
   private static final int kJoystickPort = 0;
 
   private final MecanumDrive m_robotDrive;
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java
index d23f255022..650d0b99ad 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -45,7 +45,7 @@ public class Drivetrain {
   private final PIDController m_backLeftPIDController = new PIDController(1, 0, 0);
   private final PIDController m_backRightPIDController = new PIDController(1, 0, 0);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
 
   private final MecanumDriveKinematics m_kinematics =
       new MecanumDriveKinematics(
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
index 48683349a9..37f0abe202 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
@@ -49,7 +49,7 @@ public class Drive extends SubsystemBase {
           DriveConstants.kRightEncoderPorts[1],
           DriveConstants.kRightEncoderReversed);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
   private final ProfiledPIDController m_controller =
       new ProfiledPIDController(
           DriveConstants.kTurnP,
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
index 63203d9cae..53c894295c 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -45,7 +45,7 @@ public class Drivetrain {
   private final PIDController m_leftPIDController = new PIDController(8.5, 0, 0);
   private final PIDController m_rightPIDController = new PIDController(8.5, 0, 0);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
 
   private final DifferentialDriveKinematics m_kinematics =
       new DifferentialDriveKinematics(kTrackwidth);
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java
index 3e2a491c75..607f96d7af 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java
@@ -26,7 +26,7 @@ public class Drivetrain {
   private final SwerveModule m_backLeft = new SwerveModule(5, 6, 8, 9, 10, 11);
   private final SwerveModule m_backRight = new SwerveModule(7, 8, 12, 13, 14, 15);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
 
   private final SwerveDriveKinematics m_kinematics =
       new SwerveDriveKinematics(
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java
index 73f9ea2720..d587eefc23 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java
@@ -30,7 +30,7 @@ public class Drivetrain {
   private final SwerveModule m_backLeft = new SwerveModule(5, 6, 8, 9, 10, 11);
   private final SwerveModule m_backRight = new SwerveModule(7, 8, 12, 13, 14, 15);
 
-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
 
   private final SwerveDriveKinematics m_kinematics =
       new SwerveDriveKinematics(
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometercollision/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometercollision/Robot.java
index 399b180493..ebb5e8ab75 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometercollision/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometercollision/Robot.java
@@ -17,7 +17,7 @@ import org.wpilib.smartdashboard.SmartDashboard;
 public class Robot extends TimedRobot {
   double m_prevXAccel;
   double m_prevYAccel;
-  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
+  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.FLAT);
 
   @Override
   public void robotPeriodic() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java
index 59d5e2840c..508a7950c8 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java
@@ -15,7 +15,7 @@ import org.wpilib.smartdashboard.SmartDashboard;
  * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
  */
 public class Robot extends TimedRobot {
-  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
+  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.FLAT);
   // Create a LinearFilter that will calculate a moving average of the measured X acceleration over
   // the past 10 iterations of the main loop
   LinearFilter m_xAccelFilter = LinearFilter.movingAverage(10);
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/onboardimu/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/onboardimu/Robot.java
index 55641205fc..294c40807d 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/onboardimu/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/onboardimu/Robot.java
@@ -14,7 +14,7 @@ import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
  */
 public class Robot extends TimedRobot {
   // Creates an object for the on board IMU
-  OnboardIMU m_iMU = new OnboardIMU(MountOrientation.kFlat);
+  OnboardIMU m_iMU = new OnboardIMU(MountOrientation.FLAT);
 
   /** Called once at the beginning of the robot program. */
   public Robot() {}