diff --git a/apriltag/src/dev/native/cpp/main.cpp b/apriltag/src/dev/native/cpp/main.cpp
index 515202edf0..346b591d44 100644
--- a/apriltag/src/dev/native/cpp/main.cpp
+++ b/apriltag/src/dev/native/cpp/main.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagDetector.h"
+#include "wpi/apriltag/AprilTagDetector.hpp"
 
 int main() {
   frc::AprilTagDetector detector;
diff --git a/apriltag/src/main/native/cpp/AprilTag.cpp b/apriltag/src/main/native/cpp/AprilTag.cpp
index 99ac81b49c..8c8309bcb8 100644
--- a/apriltag/src/main/native/cpp/AprilTag.cpp
+++ b/apriltag/src/main/native/cpp/AprilTag.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTag.h"
+#include "wpi/apriltag/AprilTag.hpp"
 
 #include <cstring>
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)
diff --git a/apriltag/src/main/native/cpp/AprilTagDetection.cpp b/apriltag/src/main/native/cpp/AprilTagDetection.cpp
index aaa80be8c6..9e88513b3c 100644
--- a/apriltag/src/main/native/cpp/AprilTagDetection.cpp
+++ b/apriltag/src/main/native/cpp/AprilTagDetection.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagDetection.h"
+#include "wpi/apriltag/AprilTagDetection.hpp"
 
 #include <type_traits>
 
diff --git a/apriltag/src/main/native/cpp/AprilTagDetector.cpp b/apriltag/src/main/native/cpp/AprilTagDetector.cpp
index 458aa39798..fd3a41eebc 100644
--- a/apriltag/src/main/native/cpp/AprilTagDetector.cpp
+++ b/apriltag/src/main/native/cpp/AprilTagDetector.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagDetector.h"
+#include "wpi/apriltag/AprilTagDetector.hpp"
 
 #include <cmath>
 #include <utility>
diff --git a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
index 8388210b25..82b964d6a0 100644
--- a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
+++ b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagFieldLayout.h"
+#include "wpi/apriltag/AprilTagFieldLayout.hpp"
 
 #include <system_error>
 #include <utility>
 #include <vector>
 
-#include <units/angle.h>
-#include <units/length.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 using namespace frc;
 
diff --git a/apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp b/apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp
index f755fd539c..a139b7fa91 100644
--- a/apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp
+++ b/apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagPoseEstimate.h"
+#include "wpi/apriltag/AprilTagPoseEstimate.hpp"
 
 #include <algorithm>
 
diff --git a/apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp b/apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp
index 29a0802ded..4c07d5cc5c 100644
--- a/apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp
+++ b/apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagPoseEstimator.h"
+#include "wpi/apriltag/AprilTagPoseEstimator.hpp"
 
 #include <Eigen/QR>
 
-#include "frc/apriltag/AprilTagDetection.h"
+#include "wpi/apriltag/AprilTagDetection.hpp"
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)
diff --git a/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp b/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
index c345ba47f8..77904a9d7a 100644
--- a/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
+++ b/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
@@ -8,13 +8,13 @@
 #include <cstring>
 
 #define WPI_RAWFRAME_JNI
-#include <wpi/RawFrame.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/RawFrame.h"
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_vision_apriltag_jni_AprilTagJNI.h"
-#include "frc/apriltag/AprilTag.h"
-#include "frc/apriltag/AprilTagDetector.h"
-#include "frc/apriltag/AprilTagPoseEstimator.h"
+#include "wpi/apriltag/AprilTag.hpp"
+#include "wpi/apriltag/AprilTagDetector.hpp"
+#include "wpi/apriltag/AprilTagPoseEstimator.hpp"
 
 using namespace frc;
 using namespace wpi::java;
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp
index a9ef78cc45..668db92d93 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/RawFrame.h>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/RawFrame.h"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 namespace frc {
 
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp
index 74f8c64ceb..dfc3c1fe56 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp
@@ -10,7 +10,7 @@
 #include <string_view>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
 namespace frc {
 
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp
index 29e5b79d4f..d8ebf55e7a 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp
@@ -11,11 +11,11 @@
 #include <string_view>
 #include <utility>
 
-#include <units/angle.h>
-#include <wpi/StringMap.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/apriltag/AprilTagDetection.h"
+#include "wpi/apriltag/AprilTagDetection.hpp"
 
 namespace frc {
 
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp
index 7231430ed3..887d1d0979 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp
@@ -6,7 +6,7 @@
 
 #include <opencv2/core/mat.hpp>
 
-#include "frc/apriltag/AprilTagDetector.h"
+#include "wpi/apriltag/AprilTagDetector.hpp"
 
 namespace frc {
 
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp
index c2e73c78c4..509a8b4a9c 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp
@@ -9,13 +9,13 @@
 #include <unordered_map>
 #include <vector>
 
-#include <units/length.h>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/units/length.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/apriltag/AprilTag.h"
-#include "frc/apriltag/AprilTagFields.h"
-#include "frc/geometry/Pose3d.h"
+#include "wpi/apriltag/AprilTag.hpp"
+#include "wpi/apriltag/AprilTagFields.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 namespace frc {
 /**
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp
index 2e1f5cc795..039250760a 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
 namespace frc {
 
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp
index 28c7d51a6b..59c9a44d6c 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 namespace frc {
 
diff --git a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp b/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp
index 1e1e852427..21c35667f1 100644
--- a/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp
+++ b/apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp
@@ -6,11 +6,11 @@
 
 #include <span>
 
-#include <units/length.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/units/length.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/apriltag/AprilTagPoseEstimate.h"
-#include "frc/geometry/Transform3d.h"
+#include "wpi/apriltag/AprilTagPoseEstimate.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 namespace frc {
 
diff --git a/apriltag/src/main/python/pyproject.toml b/apriltag/src/main/python/pyproject.toml
index 5eed3fe586..83e4728f68 100644
--- a/apriltag/src/main/python/pyproject.toml
+++ b/apriltag/src/main/python/pyproject.toml
@@ -51,7 +51,7 @@ scan_headers_ignore = [
   "apriltag_math.h",
   "apriltag_pose.h",
 
-  "frc/apriltag/AprilTagDetector_cv.h",
+  "wpi/apriltag/AprilTagDetector_cv.hpp",
 
   "tag16h5.h",
   "tag36h11.h",
@@ -64,11 +64,11 @@ depends = ["wpiutil", "wpimath"]
 
 [tool.semiwrap.extension_modules."robotpy_apriltag._apriltag".headers]
 # frc/apriltag
-AprilTag = "frc/apriltag/AprilTag.h"
-AprilTagDetection = "frc/apriltag/AprilTagDetection.h"
-AprilTagDetector = "frc/apriltag/AprilTagDetector.h"
-# AprilTagDetector_cv = "frc/apriltag/AprilTagDetector_cv.h"
-AprilTagFieldLayout = "frc/apriltag/AprilTagFieldLayout.h"
-AprilTagFields = "frc/apriltag/AprilTagFields.h"
-AprilTagPoseEstimate = "frc/apriltag/AprilTagPoseEstimate.h"
-AprilTagPoseEstimator = "frc/apriltag/AprilTagPoseEstimator.h"
+AprilTag = "wpi/apriltag/AprilTag.hpp"
+AprilTagDetection = "wpi/apriltag/AprilTagDetection.hpp"
+AprilTagDetector = "wpi/apriltag/AprilTagDetector.hpp"
+# AprilTagDetector_cv = "wpi/apriltag/AprilTagDetector_cv.hpp"
+AprilTagFieldLayout = "wpi/apriltag/AprilTagFieldLayout.hpp"
+AprilTagFields = "wpi/apriltag/AprilTagFields.hpp"
+AprilTagPoseEstimate = "wpi/apriltag/AprilTagPoseEstimate.hpp"
+AprilTagPoseEstimator = "wpi/apriltag/AprilTagPoseEstimator.hpp"
diff --git a/apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml b/apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml
index d5f39edf3b..a6ce2f9e69 100644
--- a/apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml
+++ b/apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/apriltag/AprilTagDetection.h
+- wpi/apriltag/AprilTagDetection.hpp
 
 classes:
   frc::AprilTagPoseEstimator:
diff --git a/apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp b/apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp
index af7fc6ee52..5a7dc5f4ba 100644
--- a/apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp
+++ b/apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/apriltag/AprilTagDetector.h"
+#include "wpi/apriltag/AprilTagDetector.hpp"
 
 using namespace frc;
 
diff --git a/apriltag/src/test/native/cpp/AprilTagJsonTest.cpp b/apriltag/src/test/native/cpp/AprilTagJsonTest.cpp
index 4216479813..af72106eb8 100644
--- a/apriltag/src/test/native/cpp/AprilTagJsonTest.cpp
+++ b/apriltag/src/test/native/cpp/AprilTagJsonTest.cpp
@@ -5,11 +5,11 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "frc/apriltag/AprilTag.h"
-#include "frc/apriltag/AprilTagFieldLayout.h"
-#include "frc/geometry/Pose3d.h"
+#include "wpi/apriltag/AprilTag.hpp"
+#include "wpi/apriltag/AprilTagFieldLayout.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 
diff --git a/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp b/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
index 58fd873df3..3f2cb79424 100644
--- a/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
+++ b/apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
@@ -5,11 +5,11 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "frc/apriltag/AprilTag.h"
-#include "frc/apriltag/AprilTagFieldLayout.h"
-#include "frc/geometry/Pose3d.h"
+#include "wpi/apriltag/AprilTag.hpp"
+#include "wpi/apriltag/AprilTagFieldLayout.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 
diff --git a/apriltag/src/test/native/cpp/LoadConfigTest.cpp b/apriltag/src/test/native/cpp/LoadConfigTest.cpp
index 9cf5b6fa10..3e414ae4ed 100644
--- a/apriltag/src/test/native/cpp/LoadConfigTest.cpp
+++ b/apriltag/src/test/native/cpp/LoadConfigTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/apriltag/AprilTagFieldLayout.h"
-#include "frc/apriltag/AprilTagFields.h"
+#include "wpi/apriltag/AprilTagFieldLayout.hpp"
+#include "wpi/apriltag/AprilTagFields.hpp"
 
 namespace frc {
 
diff --git a/benchmark/src/main/native/cpp/Main.cpp b/benchmark/src/main/native/cpp/Main.cpp
index eb97dd941e..4d8d1214f2 100644
--- a/benchmark/src/main/native/cpp/Main.cpp
+++ b/benchmark/src/main/native/cpp/Main.cpp
@@ -3,12 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <benchmark/benchmark.h>
-#include <frc/geometry/Pose2d.h>
-#include <frc/path/TravelingSalesman.h>
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/path/TravelingSalesman.hpp"
 
-#include <units/angle.h>
-#include <units/length.h>
-#include <wpi/array.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/array.hpp"
 
 static constexpr wpi::array<frc::Pose2d, 6> poses{
     frc::Pose2d{-1_m, 1_m, -90_deg}, frc::Pose2d{-1_m, 2_m, 90_deg},
diff --git a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
index 196477e565..d3a873a4e7 100644
--- a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
+++ b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
@@ -9,15 +9,15 @@
 #include <utility>
 #include <vector>
 
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fmt/raw_ostream.h>
-#include <wpi/json.h>
-#include <wpi/print.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fmt/raw_ostream.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "cameraserver/CameraServer.h"
+#include "wpi/cameraserver/CameraServer.hpp"
 
 /*
    JSON format:
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
index 2266347aa2..5c08054206 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cameraserver/CameraServer.h"
+#include "wpi/cameraserver/CameraServer.hpp"
 
 #include <atomic>
 #include <memory>
@@ -11,20 +11,20 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <networktables/BooleanTopic.h>
-#include <networktables/IntegerTopic.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringArrayTopic.h>
-#include <networktables/StringTopic.h>
-#include <wpi/DenseMap.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
-#include <wpi/mutex.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "cameraserver/CameraServerShared.h"
-#include "ntcore_cpp.h"
+#include "wpi/cameraserver/CameraServerShared.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace frc;
 
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
index bf4d1df2d6..36722f1ee1 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
+++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cameraserver/CameraServerShared.h"
+#include "wpi/cameraserver/CameraServerShared.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 namespace {
 class DefaultCameraServerShared : public frc::CameraServerShared {
diff --git a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
index 1458db502b..4c20b8a1ef 100644
--- a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
+++ b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "vision/VisionRunner.h"
+#include "wpi/vision/VisionRunner.hpp"
 
 #include <memory>
 #include <thread>
 
 #include <opencv2/core/mat.hpp>
 
-#include "cameraserver/CameraServerShared.h"
+#include "wpi/cameraserver/CameraServerShared.hpp"
 
 using namespace frc;
 
diff --git a/cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp b/cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp
index acb608db79..3082cf56f0 100644
--- a/cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp
+++ b/cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp
@@ -11,7 +11,7 @@
 #include <string_view>
 #include <vector>
 
-#include "cscore_cv.h"
+#include "wpi/cs/cscore_cv.hpp"
 
 namespace frc {
 
diff --git a/cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp b/cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp
index 750d15797a..ba9726b05b 100644
--- a/cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp
+++ b/cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp
@@ -8,8 +8,8 @@
 #include <functional>
 #include <memory>
 
-#include "cscore_cv.h"
-#include "vision/VisionPipeline.h"
+#include "wpi/cs/cscore_cv.hpp"
+#include "wpi/vision/VisionPipeline.hpp"
 
 namespace frc {
 
diff --git a/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja b/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja
index 00cf3267d3..168c8b112e 100644
--- a/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja
+++ b/commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja
@@ -9,9 +9,9 @@
 #pragma once
 #include <frc/{{ ConsoleName }}Controller.h>
 
-#include "frc2/command/button/Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
+#include "wpi/commands2/button/Trigger.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
index ce18ffc048..62a68e6110 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
-#include "frc2/command/button/CommandPS4Controller.h"
+#include "wpi/commands2/button/CommandPS4Controller.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
index df64ecc834..28bfb454bd 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
-#include "frc2/command/button/CommandPS5Controller.h"
+#include "wpi/commands2/button/CommandPS5Controller.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
index 9fb68f26db..4ba12c3779 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
-#include "frc2/command/button/CommandStadiaController.h"
+#include "wpi/commands2/button/CommandStadiaController.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
index e35e016376..27def8a8ba 100644
--- a/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
+++ b/commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp
@@ -4,7 +4,7 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
-#include "frc2/command/button/CommandXboxController.h"
+#include "wpi/commands2/button/CommandXboxController.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
index 0067efcc13..7e651cb23d 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp
@@ -5,11 +5,11 @@
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
-#include <frc/PS4Controller.h>
+#include "wpi/driverstation/PS4Controller.hpp"
 
-#include "frc2/command/button/Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
+#include "wpi/commands2/button/Trigger.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
index f2de3f4e50..f91ac6f618 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp
@@ -5,11 +5,11 @@
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
-#include <frc/PS5Controller.h>
+#include "wpi/driverstation/PS5Controller.hpp"
 
-#include "frc2/command/button/Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
+#include "wpi/commands2/button/Trigger.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
index 6aff78acec..f549617a04 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp
@@ -5,11 +5,11 @@
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
-#include <frc/StadiaController.h>
+#include "wpi/driverstation/StadiaController.hpp"
 
-#include "frc2/command/button/Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
+#include "wpi/commands2/button/Trigger.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
index 9edcf96e24..e70eb9a95f 100644
--- a/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
+++ b/commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp
@@ -5,11 +5,11 @@
 // THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY
 
 #pragma once
-#include <frc/XboxController.h>
+#include "wpi/driverstation/XboxController.hpp"
 
-#include "frc2/command/button/Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
+#include "wpi/commands2/button/Trigger.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/cpp/frc2/command/Command.cpp b/commandsv2/src/main/native/cpp/frc2/command/Command.cpp
index fea3c1a865..7355c218de 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/Command.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/Command.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/Command.h"
+#include "wpi/commands2/Command.hpp"
 
 #include <string>
 #include <utility>
 
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/CommandScheduler.h"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp b/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
index d4125fdceb..0202a8315a 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -2,26 +2,26 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/CommandPtr.h"
+#include "wpi/commands2/CommandPtr.hpp"
 
 #include <memory>
 #include <utility>
 #include <vector>
 
-#include <frc/Errors.h>
+#include "wpi/system/Errors.hpp"
 
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/ConditionalCommand.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelCommandGroup.h"
-#include "frc2/command/ParallelDeadlineGroup.h"
-#include "frc2/command/ParallelRaceGroup.h"
-#include "frc2/command/ProxyCommand.h"
-#include "frc2/command/RepeatCommand.h"
-#include "frc2/command/SequentialCommandGroup.h"
-#include "frc2/command/WaitCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
-#include "frc2/command/WrapperCommand.h"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/ConditionalCommand.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/ParallelCommandGroup.hpp"
+#include "wpi/commands2/ParallelDeadlineGroup.hpp"
+#include "wpi/commands2/ParallelRaceGroup.hpp"
+#include "wpi/commands2/ProxyCommand.hpp"
+#include "wpi/commands2/RepeatCommand.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
+#include "wpi/commands2/WaitCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
+#include "wpi/commands2/WrapperCommand.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index c6c61a46ad..09d9307954 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/CommandScheduler.h"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 #include <cstdio>
 #include <memory>
@@ -10,20 +10,20 @@
 #include <utility>
 #include <vector>
 
-#include <frc/RobotBase.h>
-#include <frc/RobotState.h>
-#include <frc/TimedRobot.h>
-#include <hal/HALBase.h>
-#include <hal/UsageReporting.h>
-#include <networktables/IntegerArrayTopic.h>
-#include <networktables/StringArrayTopic.h>
-#include <wpi/DenseMap.h>
-#include <wpi/SmallVector.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/opmode/RobotBase.hpp"
+#include "wpi/opmode/RobotState.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/nt/IntegerArrayTopic.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/Subsystem.h"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/Subsystem.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/Commands.cpp b/commandsv2/src/main/native/cpp/frc2/command/Commands.cpp
index 84c056f1f7..4ecead1129 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/Commands.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/Commands.cpp
@@ -2,27 +2,27 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/Commands.h"
+#include "wpi/commands2/Commands.hpp"
 
 #include <utility>
 #include <vector>
 
-#include <wpi/FunctionExtras.h>
-#include <wpi/deprecated.h>
+#include "wpi/util/FunctionExtras.hpp"
+#include "wpi/util/deprecated.hpp"
 
-#include "frc2/command/ConditionalCommand.h"
-#include "frc2/command/DeferredCommand.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelCommandGroup.h"
-#include "frc2/command/ParallelDeadlineGroup.h"
-#include "frc2/command/ParallelRaceGroup.h"
-#include "frc2/command/PrintCommand.h"
-#include "frc2/command/ProxyCommand.h"
-#include "frc2/command/RunCommand.h"
-#include "frc2/command/SequentialCommandGroup.h"
-#include "frc2/command/WaitCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "wpi/commands2/ConditionalCommand.hpp"
+#include "wpi/commands2/DeferredCommand.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/ParallelCommandGroup.hpp"
+#include "wpi/commands2/ParallelDeadlineGroup.hpp"
+#include "wpi/commands2/ParallelRaceGroup.hpp"
+#include "wpi/commands2/PrintCommand.hpp"
+#include "wpi/commands2/ProxyCommand.hpp"
+#include "wpi/commands2/RunCommand.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
+#include "wpi/commands2/WaitCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
index 753eb85a70..2679ff9ab7 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/ConditionalCommand.h"
+#include "wpi/commands2/ConditionalCommand.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp
index 0bb0e14176..c827109fa4 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/DeferredCommand.h"
+#include "wpi/commands2/DeferredCommand.hpp"
 
 #include <utility>
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc2/command/Commands.h"
+#include "wpi/commands2/Commands.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
index e28c7c4709..07bc61fb56 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/FunctionalCommand.h"
+#include "wpi/commands2/FunctionalCommand.hpp"
 
 #include <utility>
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp
index c8a189e99f..737fa7700a 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/InstantCommand.h"
+#include "wpi/commands2/InstantCommand.hpp"
 
 #include <utility>
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp
index a49ead9eef..a74b666dd7 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/NotifierCommand.h"
+#include "wpi/commands2/NotifierCommand.hpp"
 
 #include <utility>
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
index b433eb445a..9ad69a31da 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/ParallelCommandGroup.h"
+#include "wpi/commands2/ParallelCommandGroup.hpp"
 
 #include <utility>
 #include <vector>
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
index 90669fe20b..9b65aff4fb 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/ParallelDeadlineGroup.h"
+#include "wpi/commands2/ParallelDeadlineGroup.hpp"
 
 #include <memory>
 #include <utility>
 #include <vector>
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
index 5896dd88aa..d0b273205e 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/ParallelRaceGroup.h"
+#include "wpi/commands2/ParallelRaceGroup.hpp"
 
 #include <utility>
 #include <vector>
diff --git a/commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp
index d08f53ef88..3347f4622c 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/PrintCommand.h"
+#include "wpi/commands2/PrintCommand.hpp"
 
 #include <string>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp
index e328abc53c..70c6c7ce63 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/ProxyCommand.h"
+#include "wpi/commands2/ProxyCommand.hpp"
 
 #include <string>
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/deprecated.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/deprecated.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp
index 15097af843..36f2da3e34 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/RepeatCommand.h"
+#include "wpi/commands2/RepeatCommand.hpp"
 
 #include <string>
 #include <utility>
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp
index 633715393d..9c1b89c7f3 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/RunCommand.h"
+#include "wpi/commands2/RunCommand.hpp"
 
 #include <utility>
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
index e0ce85d291..fa6591d82b 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/ScheduleCommand.h"
+#include "wpi/commands2/ScheduleCommand.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp b/commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
index fa87365458..751e1e5471 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/SequentialCommandGroup.h"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
 #include <utility>
 #include <vector>
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp
index 90d1961df6..628054900c 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/StartEndCommand.h"
+#include "wpi/commands2/StartEndCommand.hpp"
 
 #include <utility>
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp b/commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp
index 8282682b91..61dad304e5 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/Subsystem.h"
+#include "wpi/commands2/Subsystem.hpp"
 
 #include <string>
 #include <utility>
 
-#include <wpi/Demangle.h>
+#include "wpi/util/Demangle.hpp"
 
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/Commands.h"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/Commands.hpp"
 
 using namespace frc2;
 Subsystem::~Subsystem() {
diff --git a/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp
index d66b6bfc81..5a8aea9e4f 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/SubsystemBase.h"
+#include "wpi/commands2/SubsystemBase.hpp"
 
 #include <string>
 
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandScheduler.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp
index 36b15dd2d4..9124c05aed 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/WaitCommand.h"
+#include "wpi/commands2/WaitCommand.hpp"
 
 #include <fmt/format.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
index 9ea6fbfae9..f4a46fddb5 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/WaitUntilCommand.h"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 #include <utility>
 
-#include <frc/Timer.h>
+#include "wpi/system/Timer.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp b/commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp
index cc8757a6fa..723d738054 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/WrapperCommand.h"
+#include "wpi/commands2/WrapperCommand.hpp"
 
 #include <utility>
 
-#include "frc2/command/Command.h"
+#include "wpi/commands2/Command.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
index b1f16ad4e7..d5a5e317b9 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/button/CommandGamepad.h"
+#include "wpi/commands2/button/CommandGamepad.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
index dfb58c10f5..65040ea11d 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/button/CommandGenericHID.h"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
index 2d36ef7cb6..324485e5ef 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/button/CommandJoystick.h"
+#include "wpi/commands2/button/CommandJoystick.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
index a5234c92a6..d8497c6dcc 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/button/NetworkButton.h"
+#include "wpi/commands2/button/NetworkButton.hpp"
 
 #include <memory>
 #include <utility>
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
index ab593d8ff2..2c82002bcf 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/button/RobotModeTriggers.h"
+#include "wpi/commands2/button/RobotModeTriggers.hpp"
 
-#include <frc/DriverStation.h>
+#include "wpi/driverstation/DriverStation.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
index 6afdbb2b2c..1b4777112f 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/button/Trigger.h"
+#include "wpi/commands2/button/Trigger.hpp"
 
 #include <utility>
 
-#include <frc/filter/Debouncer.h>
+#include "wpi/math/filter/Debouncer.hpp"
 
-#include "frc2/command/CommandPtr.h"
+#include "wpi/commands2/CommandPtr.hpp"
 
 using namespace frc;
 using namespace frc2;
diff --git a/commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp b/commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
index 359c8d824d..6850d78c85 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc2/command/sysid/SysIdRoutine.h"
+#include "wpi/commands2/sysid/SysIdRoutine.hpp"
 
-#include <frc/sysid/SysIdRoutineLog.h>
+#include "wpi/sysid/SysIdRoutineLog.hpp"
 
 using namespace frc2::sysid;
 
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Command.hpp b/commandsv2/src/main/native/include/wpi/commands2/Command.hpp
index 480d501f8b..db1605cb5f 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Command.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/Command.hpp
@@ -9,14 +9,14 @@
 #include <optional>
 #include <string>
 
-#include <units/time.h>
-#include <wpi/Demangle.h>
-#include <wpi/SmallSet.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/Sendable.h>
+#include "wpi/units/time.hpp"
+#include "wpi/util/Demangle.hpp"
+#include "wpi/util/SmallSet.hpp"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
 
-#include "frc2/command/Requirements.h"
-#include "frc2/command/Subsystem.h"
+#include "wpi/commands2/Requirements.hpp"
+#include "wpi/commands2/Subsystem.hpp"
 
 namespace frc2 {
 
diff --git a/commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp b/commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp
index 8f36b7a1c1..41db01d6f2 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp
@@ -8,8 +8,8 @@
 #include <memory>
 #include <utility>
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandPtr.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
 
 namespace frc2 {
 
diff --git a/commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp b/commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp
index e7c284e6e4..3b49bef22e 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp
@@ -11,8 +11,8 @@
 #include <utility>
 #include <vector>
 
-#include "frc2/command/Command.h"
-#include "frc2/command/Requirements.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/Requirements.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp b/commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp
index c45d381155..a2053472df 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp
@@ -12,13 +12,13 @@
 #include <span>
 #include <utility>
 
-#include <frc/Errors.h>
-#include <frc/Watchdog.h>
-#include <frc/event/EventLoop.h>
-#include <units/time.h>
-#include <wpi/FunctionExtras.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Watchdog.hpp"
+#include "wpi/event/EventLoop.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/FunctionExtras.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc2 {
 class Command;
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Commands.hpp b/commandsv2/src/main/native/include/wpi/commands2/Commands.hpp
index 9907a247fc..8f27c2871f 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Commands.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/Commands.hpp
@@ -12,11 +12,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/deprecated.h>
+#include "wpi/util/deprecated.hpp"
 
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/Requirements.h"
-#include "frc2/command/SelectCommand.h"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/Requirements.hpp"
+#include "wpi/commands2/SelectCommand.hpp"
 
 namespace frc2 {
 class Subsystem;
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp
index 676ee0c953..da091fba35 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp
@@ -9,8 +9,8 @@
 #include <memory>
 #include <utility>
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp
index 305858fd18..3e8fe881b7 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <wpi/FunctionExtras.h>
+#include "wpi/util/FunctionExtras.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/Requirements.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/Requirements.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp
index ac11765675..66e5252a4d 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp
@@ -6,9 +6,9 @@
 
 #include <functional>
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/Requirements.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/Requirements.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp
index 3ac32ecb0a..1e9fe5a4b3 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp
@@ -6,9 +6,9 @@
 
 #include <functional>
 
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/Requirements.h"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/Requirements.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp
index d17867b1dc..96a807cc5c 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp
@@ -6,12 +6,12 @@
 
 #include <functional>
 
-#include <frc/Notifier.h>
-#include <units/time.h>
+#include "wpi/system/Notifier.hpp"
+#include "wpi/units/time.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/Requirements.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/Requirements.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp
index 0576822360..c1cd15e3ed 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp
@@ -14,9 +14,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/DecayedDerivedFrom.h>
+#include "wpi/util/DecayedDerivedFrom.hpp"
 
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp
index 4cbf878d11..a92888a427 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp
@@ -14,9 +14,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/DecayedDerivedFrom.h>
+#include "wpi/util/DecayedDerivedFrom.hpp"
 
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp
index 1091d177c7..c4608990a4 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp
@@ -14,9 +14,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/DecayedDerivedFrom.h>
+#include "wpi/util/DecayedDerivedFrom.hpp"
 
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp
index c69a702ac6..4ed65bf788 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp
@@ -6,8 +6,8 @@
 
 #include <string_view>
 
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/InstantCommand.h"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp
index 353effe9dc..4009caa1d3 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <wpi/FunctionExtras.h>
-#include <wpi/deprecated.h>
+#include "wpi/util/FunctionExtras.hpp"
+#include "wpi/util/deprecated.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp
index 9c1a5d1528..0a77a33636 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp
@@ -13,8 +13,8 @@
 #include <memory>
 #include <utility>
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp b/commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp
index 968917f781..e4e0c3cfef 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp
@@ -8,7 +8,7 @@
 #include <span>
 #include <vector>
 
-#include "frc2/command/Subsystem.h"
+#include "wpi/commands2/Subsystem.hpp"
 
 namespace frc2 {
 
diff --git a/commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp
index 49e4be5548..d738b6e533 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp
@@ -6,9 +6,9 @@
 
 #include <functional>
 
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/Requirements.h"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/Requirements.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp
index 3c960db71f..c46eb67b18 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp
@@ -6,10 +6,10 @@
 
 #include <span>
 
-#include <wpi/SmallSet.h>
+#include "wpi/util/SmallSet.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp
index d956750c7e..cd976d907b 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp
@@ -17,10 +17,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/PrintCommand.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/PrintCommand.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp b/commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp
index 956dc29b1e..b4822a93c8 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp
@@ -15,9 +15,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/DecayedDerivedFrom.h>
+#include "wpi/util/DecayedDerivedFrom.hpp"
 
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 
diff --git a/commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp
index 2367be8866..8a95180b7a 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp
@@ -6,9 +6,9 @@
 
 #include <functional>
 
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/Requirements.h"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/Requirements.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp b/commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp
index 2ec07f5d88..11a4d9065a 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp
@@ -9,9 +9,9 @@
 #include <string>
 #include <utility>
 
-#include <wpi/FunctionExtras.h>
+#include "wpi/util/FunctionExtras.hpp"
 
-#include "frc2/command/CommandScheduler.h"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 namespace frc2 {
 class Command;
diff --git a/commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp b/commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp
index 444aca5d78..7914619005 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp
@@ -7,10 +7,10 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc2/command/Subsystem.h"
+#include "wpi/commands2/Subsystem.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp
index 6f6db40667..9a6fc2e4ce 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/WaitCommand.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc/Timer.h>
-#include <units/time.h>
+#include "wpi/system/Timer.hpp"
+#include "wpi/units/time.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp
index 377a1ba9a6..0899320766 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/WaitUntilCommand.hpp
@@ -6,10 +6,10 @@
 
 #include <functional>
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp b/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp
index 97a8693dc0..7c18710579 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/WrapperCommand.hpp
@@ -13,8 +13,8 @@
 #include <memory>
 #include <utility>
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
index 81e088a051..70d064d4b1 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #pragma once
-#include <frc/Gamepad.h>
+#include "wpi/driverstation/Gamepad.hpp"
 
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
-#include "frc2/command/button/Trigger.h"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
index 685363a761..d9246a9624 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc/DriverStation.h>
-#include <frc/GenericHID.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/GenericHID.hpp"
 
-#include "Trigger.h"
-#include "frc2/command/CommandScheduler.h"
+#include "wpi/commands2/button/Trigger.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 namespace frc2 {
 
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp
index ee390d0aa5..ed3fcd9da4 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #pragma once
-#include <frc/Joystick.h>
+#include "wpi/driverstation/Joystick.hpp"
 
-#include "Trigger.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/button/CommandGenericHID.h"
+#include "wpi/commands2/button/Trigger.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/button/CommandGenericHID.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp
index a0d04e79bc..a1e79582d6 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #pragma once
-#include <frc/GenericHID.h>
+#include "wpi/driverstation/GenericHID.hpp"
 
-#include "Trigger.h"
+#include "wpi/commands2/button/Trigger.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp
index 673821e698..2dc208c9b9 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/NetworkButton.hpp
@@ -7,11 +7,11 @@
 #include <memory>
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
-#include "Trigger.h"
+#include "wpi/commands2/button/Trigger.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
index 4b2bdb2b18..830e852e52 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/DriverStation.h>
-#include <frc/GenericHID.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/GenericHID.hpp"
 
-#include "Trigger.h"
+#include "wpi/commands2/button/Trigger.hpp"
 
 namespace frc2 {
 /**
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp
index 2fbcc64385..19163d7aa9 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "frc2/command/button/Trigger.h"
+#include "wpi/commands2/button/Trigger.hpp"
 
 namespace frc2 {
 
diff --git a/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp b/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp
index 9e86b1b700..7622a1b270 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp
@@ -7,14 +7,14 @@
 #include <functional>
 #include <utility>
 
-#include <frc/event/BooleanEvent.h>
-#include <frc/event/EventLoop.h>
-#include <frc/filter/Debouncer.h>
-#include <units/time.h>
-#include <wpi/FunctionExtras.h>
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/event/EventLoop.hpp"
+#include "wpi/math/filter/Debouncer.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/FunctionExtras.hpp"
 
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandScheduler.h"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 namespace frc2 {
 class Command;
diff --git a/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp b/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp
index 3315f73d31..32abc42751 100644
--- a/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/sysid/SysIdRoutine.hpp
@@ -9,11 +9,11 @@
 #include <string_view>
 #include <utility>
 
-#include <frc/Timer.h>
-#include <frc/sysid/SysIdRoutineLog.h>
+#include "wpi/system/Timer.hpp"
+#include "wpi/sysid/SysIdRoutineLog.hpp"
 
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/Subsystem.h"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/Subsystem.hpp"
 
 namespace frc2::sysid {
 
diff --git a/commandsv2/src/test/native/cpp/main.cpp b/commandsv2/src/test/native/cpp/main.cpp
index d181e39c9f..9b73af360b 100644
--- a/commandsv2/src/test/native/cpp/main.cpp
+++ b/commandsv2/src/test/native/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 int main(int argc, char** argv) {
   HAL_Initialize(500, 0);
diff --git a/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp
index 8ef515474e..4d86cb8c4d 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/AddRequirementsTest.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/Command.h"
-#include "frc2/command/RunCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/RunCommand.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp
index a8e057761f..6e036a9f97 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandDecoratorTest.cpp
@@ -5,14 +5,14 @@
 #include <string>
 #include <utility>
 
-#include <frc/simulation/SimHooks.h>
+#include "wpi/simulation/SimHooks.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/Commands.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/RunCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/RunCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class CommandDecoratorTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp
index 85853d24ed..2cc835b337 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandPtrTest.cpp
@@ -4,12 +4,12 @@
 
 #include <utility>
 
-#include <frc/Errors.h>
+#include "wpi/system/Errors.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/Commands.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/Commands.hpp"
 
 using namespace frc2;
 class CommandPtrTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp
index e8d3c16ff4..7ba88b264d 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandRequirementsTest.cpp
@@ -4,11 +4,11 @@
 
 #include <utility>
 
-#include <frc/Errors.h>
+#include "wpi/system/Errors.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/FunctionalCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
 
 using namespace frc2;
 class CommandRequirementsTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp
index 840c05bb21..d654211b62 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandScheduleTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/RunCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/RunCommand.hpp"
 
 using namespace frc2;
 class CommandScheduleTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp
index 1f2c8446b1..c7d69361a9 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandSendableButtonTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
-#include "CommandTestBase.h"
+#include "CommandTestBase.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp
index 1bd180c8a5..026c14a344 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "CommandTestBase.h"
+#include "CommandTestBase.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp
index 16d0cdc8b2..520b5403a2 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CommandTestBase.hpp
@@ -7,13 +7,13 @@
 #include <functional>
 #include <utility>
 
-#include <frc/simulation/DriverStationSim.h>
+#include "wpi/simulation/DriverStationSim.hpp"
 #include <gtest/gtest.h>
 
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/Requirements.h"
-#include "frc2/command/SubsystemBase.h"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/Requirements.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
 #include "gmock/gmock.h"
 
 namespace frc2 {
diff --git a/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp b/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp
index 4a641180fb..087215b154 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/CompositionTestBase.hpp
@@ -9,9 +9,9 @@
 
 #include <gtest/gtest.h>
 
-#include "CommandTestBase.h"
-#include "frc2/command/Commands.h"
-#include "make_vector.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "make_vector.hpp"
 
 namespace frc2 {
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp
index fefb75d0e7..84c707e767 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ConditionalCommandTest.cpp
@@ -5,10 +5,10 @@
 #include <memory>
 #include <utility>
 
-#include "CommandTestBase.h"
-#include "frc2/command/Commands.h"
-#include "frc2/command/ConditionalCommand.h"
-#include "frc2/command/InstantCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/ConditionalCommand.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
 
 using namespace frc2;
 class ConditionalCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp
index 25acb7f979..619da45985 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/DefaultCommandTest.cpp
@@ -4,9 +4,9 @@
 
 #include <utility>
 
-#include "CommandTestBase.h"
-#include "frc2/command/Commands.h"
-#include "frc2/command/RunCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/RunCommand.hpp"
 
 using namespace frc2;
 class DefaultCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp
index 1af8ae4e50..b464af9f13 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/DeferredCommandTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "CommandTestBase.h"
-#include "frc2/command/Commands.h"
-#include "frc2/command/DeferredCommand.h"
-#include "frc2/command/FunctionalCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/DeferredCommand.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp
index 0f0ebdabe7..d471bdc677 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/FunctionalCommandTest.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "CommandTestBase.h"
-#include "frc2/command/FunctionalCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
 
 using namespace frc2;
 class FunctionalCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp
index 9b01721e45..387f22cb90 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/InstantCommandTest.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "CommandTestBase.h"
-#include "frc2/command/Commands.h"
-#include "frc2/command/InstantCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
 
 using namespace frc2;
 class InstantCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp
index 8b4f1cc909..34c159600d 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/NotifierCommandTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/simulation/SimHooks.h>
+#include "wpi/simulation/SimHooks.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/NotifierCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/NotifierCommand.hpp"
 
 using namespace frc2;
 using namespace std::chrono_literals;
diff --git a/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp
index 7088ba9145..a2a048f14b 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/POVButtonTest.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DriverStation.h>
-#include <frc/Joystick.h>
-#include <frc/simulation/JoystickSim.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/simulation/JoystickSim.hpp"
 #include <gtest/gtest.h>
 
-#include "CommandTestBase.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/RunCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
-#include "frc2/command/button/POVButton.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/RunCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
+#include "wpi/commands2/button/POVButton.hpp"
 
 using namespace frc2;
 class POVButtonTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp
index 2f22a30a1e..00f8f61001 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ParallelCommandGroupTest.cpp
@@ -5,11 +5,11 @@
 #include <memory>
 #include <utility>
 
-#include "CommandTestBase.h"
-#include "CompositionTestBase.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelCommandGroup.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "CompositionTestBase.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/ParallelCommandGroup.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class ParallelCommandGroupTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp
index 9da797ccad..c40e839c03 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ParallelDeadlineGroupTest.cpp
@@ -6,11 +6,11 @@
 #include <utility>
 #include <vector>
 
-#include "CommandTestBase.h"
-#include "CompositionTestBase.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelDeadlineGroup.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "CompositionTestBase.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/ParallelDeadlineGroup.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class ParallelDeadlineGroupTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp
index 491ba75acb..e4ad75bcd8 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ParallelRaceGroupTest.cpp
@@ -5,12 +5,12 @@
 #include <memory>
 #include <utility>
 
-#include "CommandTestBase.h"
-#include "CompositionTestBase.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelRaceGroup.h"
-#include "frc2/command/SequentialCommandGroup.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "CompositionTestBase.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/ParallelRaceGroup.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class ParallelRaceGroupTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp
index 77906f1e61..ee8d625db1 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/PrintCommandTest.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 #include <regex>
 
-#include "CommandTestBase.h"
-#include "frc2/command/PrintCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/PrintCommand.hpp"
 
 using namespace frc2;
 class PrintCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp
index 7abc56fa11..bbacca168d 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ProxyCommandTest.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 #include <memory>
 
-#include "CommandTestBase.h"
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ProxyCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/ProxyCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class ProxyCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp
index b5456fad33..2fde7602f7 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/RepeatCommandTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "CommandTestBase.h"
-#include "CompositionTestBase.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/RepeatCommand.h"
+#include "CommandTestBase.hpp"
+#include "CompositionTestBase.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/RepeatCommand.hpp"
 
 using namespace frc2;
 class RepeatCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp
index 1595a1e6d3..34ac2beec6 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/RobotDisabledCommandTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "CommandTestBase.h"
-#include "frc2/command/ConditionalCommand.h"
-#include "frc2/command/ParallelCommandGroup.h"
-#include "frc2/command/ParallelDeadlineGroup.h"
-#include "frc2/command/ParallelRaceGroup.h"
-#include "frc2/command/SelectCommand.h"
-#include "frc2/command/SequentialCommandGroup.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/ConditionalCommand.hpp"
+#include "wpi/commands2/ParallelCommandGroup.hpp"
+#include "wpi/commands2/ParallelDeadlineGroup.hpp"
+#include "wpi/commands2/ParallelRaceGroup.hpp"
+#include "wpi/commands2/SelectCommand.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
 using namespace frc2;
 class RobotDisabledCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp
index 07eaaf54c5..3174226396 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/RunCommandTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/RunCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/RunCommand.hpp"
 
 using namespace frc2;
 class RunCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp
index 4003b4ab49..d6393c11e7 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/ScheduleCommandTest.cpp
@@ -4,10 +4,10 @@
 
 #include <regex>
 
-#include "CommandTestBase.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ScheduleCommand.h"
-#include "frc2/command/SequentialCommandGroup.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/ScheduleCommand.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
 using namespace frc2;
 class ScheduleCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp
index 24ca0ecd5e..ea5f200618 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SchedulerTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 #include <utility>
 
-#include "CommandTestBase.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/RunCommand.h"
-#include "frc2/command/StartEndCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/RunCommand.hpp"
+#include "wpi/commands2/StartEndCommand.hpp"
 
 using namespace frc2;
 class SchedulerTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp
index 650319d8cf..357ae00ece 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SchedulingRecursionTest.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 #include <utility>
 
 #include <gtest/gtest.h>
 
-#include "CommandTestBase.h"
-#include "frc2/command/Command.h"
-#include "frc2/command/CommandHelper.h"
-#include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/RunCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
+#include "wpi/commands2/RunCommand.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp
index 76d9e88c2c..c0a658c950 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SelectCommandTest.cpp
@@ -6,10 +6,10 @@
 #include <utility>
 #include <vector>
 
-#include "CommandTestBase.h"
-#include "CompositionTestBase.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/SelectCommand.h"
+#include "CommandTestBase.hpp"
+#include "CompositionTestBase.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/SelectCommand.hpp"
 
 using namespace frc2;
 class SelectCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp
index 3781928ea6..40925f3b33 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/SequentialCommandGroupTest.cpp
@@ -5,11 +5,11 @@
 #include <memory>
 #include <utility>
 
-#include "CommandTestBase.h"
-#include "CompositionTestBase.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/SequentialCommandGroup.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "CompositionTestBase.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class SequentialCommandGroupTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp
index 744646d371..fac5e304bf 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/StartEndCommandTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/StartEndCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/StartEndCommand.hpp"
 
 using namespace frc2;
 class StartEndCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp
index a575e65613..128789b31f 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/WaitCommandTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
-#include <frc/simulation/SimHooks.h>
+#include "wpi/simulation/SimHooks.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/WaitCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/WaitCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class WaitCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp
index 10b36fe501..9be81d30fc 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/WaitUntilCommandTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
-#include "CommandTestBase.h"
-#include "frc2/command/WaitUntilCommand.h"
+#include "CommandTestBase.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
 
 using namespace frc2;
 class WaitUntilCommandTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp
index 3f969ac1d3..a89ff0e9d4 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/button/NetworkButtonTest.cpp
@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
 
-#include "../CommandTestBase.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/RunCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
-#include "frc2/command/button/NetworkButton.h"
+#include "../CommandTestBase.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/RunCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
+#include "wpi/commands2/button/NetworkButton.hpp"
 
 using namespace frc2;
 
diff --git a/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
index adc9ec7732..0c086dcf31 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DriverStation.h>
-#include <frc/simulation/DriverStationSim.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
 
-#include "../CommandTestBase.h"
-#include "frc2/command/button/RobotModeTriggers.h"
-#include "frc2/command/button/Trigger.h"
+#include "../CommandTestBase.hpp"
+#include "wpi/commands2/button/RobotModeTriggers.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 
 using namespace frc2;
 using namespace frc::sim;
diff --git a/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp
index 9b0899edb7..0c04053366 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/button/TriggerTest.cpp
@@ -4,16 +4,16 @@
 
 #include <utility>
 
-#include <frc/simulation/SimHooks.h>
+#include "wpi/simulation/SimHooks.hpp"
 #include <gtest/gtest.h>
 
-#include "../CommandTestBase.h"
-#include "frc2/command/CommandPtr.h"
-#include "frc2/command/CommandScheduler.h"
-#include "frc2/command/Commands.h"
-#include "frc2/command/RunCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
-#include "frc2/command/button/Trigger.h"
+#include "../CommandTestBase.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/RunCommand.hpp"
+#include "wpi/commands2/WaitUntilCommand.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 
 using namespace frc2;
 class TriggerTest : public CommandTestBase {};
diff --git a/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp b/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp
index ae0b9a2241..02238e015d 100644
--- a/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp
+++ b/commandsv2/src/test/native/cpp/wpi/command/sysid/SysIdRoutineTest.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc2/command/Subsystem.h>
-#include <frc2/command/sysid/SysIdRoutine.h>
+#include "wpi/commands2/Subsystem.hpp"
+#include "wpi/commands2/sysid/SysIdRoutine.hpp"
 
 #include <utility>
 #include <vector>
 
-#include <frc/Timer.h>
-#include <frc/simulation/SimHooks.h>
+#include "wpi/system/Timer.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 #include <gtest/gtest.h>
-#include <units/math.h>
+#include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)
diff --git a/cscore/examples/enum_usb/enum_usb.cpp b/cscore/examples/enum_usb/enum_usb.cpp
index 348c049b6e..b148a41fb3 100644
--- a/cscore/examples/enum_usb/enum_usb.cpp
+++ b/cscore/examples/enum_usb/enum_usb.cpp
@@ -4,9 +4,9 @@
 
 #include <cstdio>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "cscore.h"
+#include "wpi/cs/cscore.h"
 
 int main() {
   CS_Status status = 0;
diff --git a/cscore/examples/httpcvstream/httpcvstream.cpp b/cscore/examples/httpcvstream/httpcvstream.cpp
index a0546d37e0..a2a2ebc2ec 100644
--- a/cscore/examples/httpcvstream/httpcvstream.cpp
+++ b/cscore/examples/httpcvstream/httpcvstream.cpp
@@ -5,10 +5,10 @@
 #include <cstdio>
 
 #include <opencv2/core/core.hpp>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "cscore.h"
-#include "cscore_cv.h"
+#include "wpi/cs/cscore.h"
+#include "wpi/cs/cscore_cv.hpp"
 
 int main() {
   cs::HttpCamera camera{"httpcam", "http://localhost:8081/?action=stream"};
diff --git a/cscore/examples/settings/settings.cpp b/cscore/examples/settings/settings.cpp
index 777a8ccf6e..0f7bebe2ac 100644
--- a/cscore/examples/settings/settings.cpp
+++ b/cscore/examples/settings/settings.cpp
@@ -6,10 +6,10 @@
 #include <cstdio>
 #include <thread>
 
-#include <wpi/StringExtras.h>
-#include <wpi/print.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/print.hpp"
 
-#include "cscore.h"
+#include "wpi/cs/cscore.h"
 
 int main(int argc, char** argv) {
   if (argc < 2) {
diff --git a/cscore/examples/usbcvstream/usbcvstream.cpp b/cscore/examples/usbcvstream/usbcvstream.cpp
index 7a438e2c86..5c629efc9a 100644
--- a/cscore/examples/usbcvstream/usbcvstream.cpp
+++ b/cscore/examples/usbcvstream/usbcvstream.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <opencv2/core/core.hpp>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "cscore_cv.h"
+#include "wpi/cs/cscore_cv.hpp"
 
 int main() {
   cs::UsbCamera camera{"usbcam", 0};
diff --git a/cscore/examples/usbstream/usbstream.cpp b/cscore/examples/usbstream/usbstream.cpp
index 42b371fadb..6db307be9d 100644
--- a/cscore/examples/usbstream/usbstream.cpp
+++ b/cscore/examples/usbstream/usbstream.cpp
@@ -4,9 +4,9 @@
 
 #include <cstdio>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "cscore.h"
+#include "wpi/cs/cscore.h"
 
 int main() {
   wpi::print("hostname: {}\n", cs::GetHostname());
diff --git a/cscore/examples/usbviewer/usbviewer.cpp b/cscore/examples/usbviewer/usbviewer.cpp
index 0cb31dfb3f..6cb6c8954b 100644
--- a/cscore/examples/usbviewer/usbviewer.cpp
+++ b/cscore/examples/usbviewer/usbviewer.cpp
@@ -13,13 +13,13 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/core/mat.hpp>
 #include <opencv2/imgproc.hpp>
-#include <wpi/mutex.h>
-#include <wpi/print.h>
-#include <wpi/spinlock.h>
-#include <wpigui.h>
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/spinlock.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "cscore.h"
-#include "cscore_cv.h"
+#include "wpi/cs/cscore.h"
+#include "wpi/cs/cscore_cv.hpp"
 
 namespace gui = wpi::gui;
 
diff --git a/cscore/src/dev/native/cpp/main.cpp b/cscore/src/dev/native/cpp/main.cpp
index 9f7630525e..fde3a9462b 100644
--- a/cscore/src/dev/native/cpp/main.cpp
+++ b/cscore/src/dev/native/cpp/main.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "cscore.h"
+#include "wpi/cs/cscore.h"
 
 int main() {
   wpi::print("{}\n", cs::GetHostname());
diff --git a/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp b/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
index 0244c28bfe..2a8b0fc8a5 100644
--- a/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
+++ b/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ConfigurableSourceImpl.h"
+#include "ConfigurableSourceImpl.hpp"
 
 #include <memory>
 #include <string>
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "Handle.h"
-#include "Instance.h"
-#include "Notifier.h"
+#include "Handle.hpp"
+#include "Instance.hpp"
+#include "Notifier.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp b/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp
index 570ab21ead..ff541f2810 100644
--- a/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp
+++ b/cscore/src/main/native/cpp/ConfigurableSourceImpl.hpp
@@ -13,7 +13,7 @@
 #include <string_view>
 #include <vector>
 
-#include "SourceImpl.h"
+#include "SourceImpl.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/Frame.cpp b/cscore/src/main/native/cpp/Frame.cpp
index 6599e029b9..9ffd9d51bb 100644
--- a/cscore/src/main/native/cpp/Frame.cpp
+++ b/cscore/src/main/native/cpp/Frame.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Frame.h"
+#include "Frame.hpp"
 
 #include <cstdlib>
 #include <memory>
@@ -11,8 +11,8 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "Instance.h"
-#include "SourceImpl.h"
+#include "Instance.hpp"
+#include "SourceImpl.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/Frame.hpp b/cscore/src/main/native/cpp/Frame.hpp
index f44a6e11f5..703d4f4aea 100644
--- a/cscore/src/main/native/cpp/Frame.hpp
+++ b/cscore/src/main/native/cpp/Frame.hpp
@@ -12,11 +12,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "Image.h"
-#include "cscore_cpp.h"
+#include "Image.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/Handle.hpp b/cscore/src/main/native/cpp/Handle.hpp
index 91df0eb047..eec186c58a 100644
--- a/cscore/src/main/native/cpp/Handle.hpp
+++ b/cscore/src/main/native/cpp/Handle.hpp
@@ -5,9 +5,9 @@
 #ifndef CSCORE_HANDLE_H_
 #define CSCORE_HANDLE_H_
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "cscore_c.h"
+#include "wpi/cs/cscore_c.h"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/HttpCameraImpl.cpp b/cscore/src/main/native/cpp/HttpCameraImpl.cpp
index dcfd49776c..e65e350cf0 100644
--- a/cscore/src/main/native/cpp/HttpCameraImpl.cpp
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HttpCameraImpl.h"
+#include "HttpCameraImpl.hpp"
 
 #include <memory>
 #include <string>
@@ -10,17 +10,17 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/MemAlloc.h>
-#include <wpi/StringExtras.h>
-#include <wpi/timestamp.h>
-#include <wpinet/TCPConnector.h>
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/timestamp.h"
+#include "wpi/net/TCPConnector.h"
 
-#include "Instance.h"
-#include "JpegUtil.h"
-#include "Log.h"
-#include "Notifier.h"
-#include "Telemetry.h"
-#include "c_util.h"
+#include "Instance.hpp"
+#include "JpegUtil.hpp"
+#include "Log.hpp"
+#include "Notifier.hpp"
+#include "Telemetry.hpp"
+#include "c_util.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/HttpCameraImpl.hpp b/cscore/src/main/native/cpp/HttpCameraImpl.hpp
index 3211fd1083..b050cd9b22 100644
--- a/cscore/src/main/native/cpp/HttpCameraImpl.hpp
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.hpp
@@ -15,13 +15,13 @@
 #include <thread>
 #include <vector>
 
-#include <wpi/StringMap.h>
-#include <wpi/condition_variable.h>
-#include <wpi/raw_istream.h>
-#include <wpinet/HttpUtil.h>
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/raw_istream.hpp"
+#include "wpi/net/HttpUtil.hpp"
 
-#include "SourceImpl.h"
-#include "cscore_cpp.h"
+#include "SourceImpl.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/Image.hpp b/cscore/src/main/native/cpp/Image.hpp
index 27d34a7cf2..84476dbce6 100644
--- a/cscore/src/main/native/cpp/Image.hpp
+++ b/cscore/src/main/native/cpp/Image.hpp
@@ -10,8 +10,8 @@
 
 #include <opencv2/core/core.hpp>
 
-#include "cscore_cpp.h"
-#include "default_init_allocator.h"
+#include "wpi/cs/cscore_cpp.hpp"
+#include "default_init_allocator.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/Instance.cpp b/cscore/src/main/native/cpp/Instance.cpp
index d3b3c8b5b5..eabacd0de7 100644
--- a/cscore/src/main/native/cpp/Instance.cpp
+++ b/cscore/src/main/native/cpp/Instance.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Instance.h"
+#include "Instance.hpp"
 
 #include <memory>
 #include <string_view>
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/fs.h>
-#include <wpi/print.h>
+#include "wpi/util/fs.hpp"
+#include "wpi/util/print.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/Instance.hpp b/cscore/src/main/native/cpp/Instance.hpp
index c8ba81d8ad..54cefbe4e8 100644
--- a/cscore/src/main/native/cpp/Instance.hpp
+++ b/cscore/src/main/native/cpp/Instance.hpp
@@ -8,17 +8,17 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/Logger.h>
-#include <wpinet/EventLoopRunner.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
 
-#include "Log.h"
-#include "NetworkListener.h"
-#include "Notifier.h"
-#include "SinkImpl.h"
-#include "SourceImpl.h"
-#include "Telemetry.h"
-#include "UnlimitedHandleResource.h"
-#include "UsbCameraListener.h"
+#include "Log.hpp"
+#include "NetworkListener.hpp"
+#include "Notifier.hpp"
+#include "SinkImpl.hpp"
+#include "SourceImpl.hpp"
+#include "Telemetry.hpp"
+#include "UnlimitedHandleResource.hpp"
+#include "UsbCameraListener.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/JpegUtil.cpp b/cscore/src/main/native/cpp/JpegUtil.cpp
index 18bcf8c8fa..50b8e50384 100644
--- a/cscore/src/main/native/cpp/JpegUtil.cpp
+++ b/cscore/src/main/native/cpp/JpegUtil.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "JpegUtil.h"
+#include "JpegUtil.hpp"
 
 #include <string>
 
-#include <wpi/StringExtras.h>
-#include <wpi/raw_istream.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/raw_istream.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/Log.cpp b/cscore/src/main/native/cpp/Log.cpp
index cf671bb75f..4a249ec3f8 100644
--- a/cscore/src/main/native/cpp/Log.cpp
+++ b/cscore/src/main/native/cpp/Log.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Log.h"
+#include "Log.hpp"
 
 void cs::NamedLogV(wpi::Logger& logger, unsigned int level, const char* file,
                    unsigned int line, std::string_view name,
diff --git a/cscore/src/main/native/cpp/Log.hpp b/cscore/src/main/native/cpp/Log.hpp
index 529a13ed82..47c26bd1b1 100644
--- a/cscore/src/main/native/cpp/Log.hpp
+++ b/cscore/src/main/native/cpp/Log.hpp
@@ -7,7 +7,7 @@
 
 #include <string_view>
 
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/MjpegServerImpl.cpp b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
index e303ca54da..83b0e1688b 100644
--- a/cscore/src/main/native/cpp/MjpegServerImpl.cpp
+++ b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
@@ -2,29 +2,29 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "MjpegServerImpl.h"
+#include "MjpegServerImpl.hpp"
 
 #include <chrono>
 #include <memory>
 #include <string>
 #include <utility>
 
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fmt/raw_ostream.h>
-#include <wpi/print.h>
-#include <wpinet/HttpUtil.h>
-#include <wpinet/TCPAcceptor.h>
-#include <wpinet/raw_socket_istream.h>
-#include <wpinet/raw_socket_ostream.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fmt/raw_ostream.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/net/HttpUtil.hpp"
+#include "wpi/net/TCPAcceptor.h"
+#include "wpi/net/raw_socket_istream.hpp"
+#include "wpi/net/raw_socket_ostream.hpp"
 
-#include "Instance.h"
-#include "JpegUtil.h"
-#include "Log.h"
-#include "Notifier.h"
-#include "SourceImpl.h"
-#include "c_util.h"
-#include "cscore_cpp.h"
+#include "Instance.hpp"
+#include "JpegUtil.hpp"
+#include "Log.hpp"
+#include "Notifier.hpp"
+#include "SourceImpl.hpp"
+#include "c_util.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/MjpegServerImpl.hpp b/cscore/src/main/native/cpp/MjpegServerImpl.hpp
index 01f41da3b7..834f5d9fa3 100644
--- a/cscore/src/main/native/cpp/MjpegServerImpl.hpp
+++ b/cscore/src/main/native/cpp/MjpegServerImpl.hpp
@@ -12,15 +12,15 @@
 #include <thread>
 #include <vector>
 
-#include <wpi/SafeThread.h>
-#include <wpi/SmallVector.h>
-#include <wpi/raw_istream.h>
-#include <wpi/raw_ostream.h>
-#include <wpinet/NetworkAcceptor.h>
-#include <wpinet/NetworkStream.h>
-#include <wpinet/raw_socket_ostream.h>
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/raw_istream.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/net/NetworkAcceptor.hpp"
+#include "wpi/net/NetworkStream.hpp"
+#include "wpi/net/raw_socket_ostream.hpp"
 
-#include "SinkImpl.h"
+#include "SinkImpl.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/NetworkListener.hpp b/cscore/src/main/native/cpp/NetworkListener.hpp
index d48de18990..4b017cd52c 100644
--- a/cscore/src/main/native/cpp/NetworkListener.hpp
+++ b/cscore/src/main/native/cpp/NetworkListener.hpp
@@ -7,7 +7,7 @@
 
 #include <memory>
 
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/Notifier.cpp b/cscore/src/main/native/cpp/Notifier.cpp
index f9127ed41e..c5808285a1 100644
--- a/cscore/src/main/native/cpp/Notifier.cpp
+++ b/cscore/src/main/native/cpp/Notifier.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Notifier.h"
+#include "Notifier.hpp"
 
 #include <utility>
 
-#include "Handle.h"
-#include "Instance.h"
-#include "SinkImpl.h"
-#include "SourceImpl.h"
+#include "Handle.hpp"
+#include "Instance.hpp"
+#include "SinkImpl.hpp"
+#include "SourceImpl.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/Notifier.hpp b/cscore/src/main/native/cpp/Notifier.hpp
index c28e25c5a1..f36bf9edcf 100644
--- a/cscore/src/main/native/cpp/Notifier.hpp
+++ b/cscore/src/main/native/cpp/Notifier.hpp
@@ -8,10 +8,10 @@
 #include <functional>
 #include <utility>
 
-#include <wpi/CallbackManager.h>
+#include "wpi/util/CallbackManager.hpp"
 
-#include "Handle.h"
-#include "cscore_cpp.h"
+#include "Handle.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/PropertyContainer.cpp b/cscore/src/main/native/cpp/PropertyContainer.cpp
index 5fdbd6899b..84fd6acc8e 100644
--- a/cscore/src/main/native/cpp/PropertyContainer.cpp
+++ b/cscore/src/main/native/cpp/PropertyContainer.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "PropertyContainer.h"
+#include "PropertyContainer.hpp"
 
 #include <memory>
 #include <string>
 #include <vector>
 
-#include <wpi/Logger.h>
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/json.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/PropertyContainer.hpp b/cscore/src/main/native/cpp/PropertyContainer.hpp
index 99d030bfc6..ee8586eef3 100644
--- a/cscore/src/main/native/cpp/PropertyContainer.hpp
+++ b/cscore/src/main/native/cpp/PropertyContainer.hpp
@@ -13,12 +13,12 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/StringMap.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "PropertyImpl.h"
-#include "cscore_cpp.h"
+#include "PropertyImpl.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/cscore/src/main/native/cpp/PropertyImpl.cpp b/cscore/src/main/native/cpp/PropertyImpl.cpp
index 3c3663043c..09be1ed6d7 100644
--- a/cscore/src/main/native/cpp/PropertyImpl.cpp
+++ b/cscore/src/main/native/cpp/PropertyImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "PropertyImpl.h"
+#include "PropertyImpl.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/PropertyImpl.hpp b/cscore/src/main/native/cpp/PropertyImpl.hpp
index 77e79082d7..bdc1fbdd8f 100644
--- a/cscore/src/main/native/cpp/PropertyImpl.hpp
+++ b/cscore/src/main/native/cpp/PropertyImpl.hpp
@@ -9,9 +9,9 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "cscore_c.h"
+#include "wpi/cs/cscore_c.h"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/RawSinkImpl.cpp b/cscore/src/main/native/cpp/RawSinkImpl.cpp
index d73155bcef..1d69221b45 100644
--- a/cscore/src/main/native/cpp/RawSinkImpl.cpp
+++ b/cscore/src/main/native/cpp/RawSinkImpl.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RawSinkImpl.h"
+#include "RawSinkImpl.hpp"
 
 #include <algorithm>
 #include <memory>
 
-#include "Instance.h"
-#include "cscore_raw.h"
+#include "Instance.hpp"
+#include "wpi/cs/cscore_raw.h"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/RawSinkImpl.hpp b/cscore/src/main/native/cpp/RawSinkImpl.hpp
index 423f3b4b22..02aef7512f 100644
--- a/cscore/src/main/native/cpp/RawSinkImpl.hpp
+++ b/cscore/src/main/native/cpp/RawSinkImpl.hpp
@@ -12,11 +12,11 @@
 #include <string_view>
 #include <thread>
 
-#include <wpi/condition_variable.h>
+#include "wpi/util/condition_variable.hpp"
 
-#include "Frame.h"
-#include "SinkImpl.h"
-#include "cscore_raw.h"
+#include "Frame.hpp"
+#include "SinkImpl.hpp"
+#include "wpi/cs/cscore_raw.h"
 
 namespace cs {
 class SourceImpl;
diff --git a/cscore/src/main/native/cpp/RawSourceImpl.cpp b/cscore/src/main/native/cpp/RawSourceImpl.cpp
index d06cecdb41..6e57cc302a 100644
--- a/cscore/src/main/native/cpp/RawSourceImpl.cpp
+++ b/cscore/src/main/native/cpp/RawSourceImpl.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RawSourceImpl.h"
+#include "RawSourceImpl.hpp"
 
 #include <memory>
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "Instance.h"
-#include "Notifier.h"
-#include "cscore_raw.h"
+#include "Instance.hpp"
+#include "Notifier.hpp"
+#include "wpi/cs/cscore_raw.h"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/RawSourceImpl.hpp b/cscore/src/main/native/cpp/RawSourceImpl.hpp
index 44a20b90c0..ff7c244719 100644
--- a/cscore/src/main/native/cpp/RawSourceImpl.hpp
+++ b/cscore/src/main/native/cpp/RawSourceImpl.hpp
@@ -12,9 +12,9 @@
 #include <string_view>
 #include <vector>
 
-#include "ConfigurableSourceImpl.h"
-#include "SourceImpl.h"
-#include "cscore_raw.h"
+#include "ConfigurableSourceImpl.hpp"
+#include "SourceImpl.hpp"
+#include "wpi/cs/cscore_raw.h"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/SinkImpl.cpp b/cscore/src/main/native/cpp/SinkImpl.cpp
index 32d86adf16..b22188c54d 100644
--- a/cscore/src/main/native/cpp/SinkImpl.cpp
+++ b/cscore/src/main/native/cpp/SinkImpl.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "SinkImpl.h"
+#include "SinkImpl.hpp"
 
 #include <string>
 
-#include <wpi/SmallString.h>
-#include <wpi/json.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/json.hpp"
 
-#include "Instance.h"
-#include "Notifier.h"
-#include "SourceImpl.h"
-#include "c_util.h"
+#include "Instance.hpp"
+#include "Notifier.hpp"
+#include "SourceImpl.hpp"
+#include "c_util.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/SinkImpl.hpp b/cscore/src/main/native/cpp/SinkImpl.hpp
index fae1967199..12eb447eaa 100644
--- a/cscore/src/main/native/cpp/SinkImpl.hpp
+++ b/cscore/src/main/native/cpp/SinkImpl.hpp
@@ -9,11 +9,11 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/Logger.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "SourceImpl.h"
+#include "SourceImpl.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/SourceImpl.cpp b/cscore/src/main/native/cpp/SourceImpl.cpp
index fc9eb24cb4..4949d96621 100644
--- a/cscore/src/main/native/cpp/SourceImpl.cpp
+++ b/cscore/src/main/native/cpp/SourceImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "SourceImpl.h"
+#include "SourceImpl.hpp"
 
 #include <algorithm>
 #include <cstring>
@@ -11,13 +11,13 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/StringExtras.h>
-#include <wpi/json.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Log.h"
-#include "Notifier.h"
-#include "Telemetry.h"
+#include "Log.hpp"
+#include "Notifier.hpp"
+#include "Telemetry.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/SourceImpl.hpp b/cscore/src/main/native/cpp/SourceImpl.hpp
index dbaa62762a..e05ab31862 100644
--- a/cscore/src/main/native/cpp/SourceImpl.hpp
+++ b/cscore/src/main/native/cpp/SourceImpl.hpp
@@ -12,17 +12,17 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/Logger.h>
-#include <wpi/RawFrame.h>
-#include <wpi/condition_variable.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/RawFrame.h"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "Frame.h"
-#include "Handle.h"
-#include "Image.h"
-#include "PropertyContainer.h"
-#include "cscore_cpp.h"
+#include "Frame.hpp"
+#include "Handle.hpp"
+#include "Image.hpp"
+#include "PropertyContainer.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/Telemetry.cpp b/cscore/src/main/native/cpp/Telemetry.cpp
index e3e642e423..8b124ef88a 100644
--- a/cscore/src/main/native/cpp/Telemetry.cpp
+++ b/cscore/src/main/native/cpp/Telemetry.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Telemetry.h"
+#include "Telemetry.hpp"
 
 #include <chrono>
 #include <utility>
 
-#include <wpi/DenseMap.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Handle.h"
-#include "Instance.h"
-#include "Notifier.h"
-#include "SourceImpl.h"
+#include "Handle.hpp"
+#include "Instance.hpp"
+#include "Notifier.hpp"
+#include "SourceImpl.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/Telemetry.hpp b/cscore/src/main/native/cpp/Telemetry.hpp
index 0a32d21c6b..dd5ebc842b 100644
--- a/cscore/src/main/native/cpp/Telemetry.hpp
+++ b/cscore/src/main/native/cpp/Telemetry.hpp
@@ -5,9 +5,9 @@
 #ifndef CSCORE_TELEMETRY_H_
 #define CSCORE_TELEMETRY_H_
 
-#include <wpi/SafeThread.h>
+#include "wpi/util/SafeThread.hpp"
 
-#include "cscore_cpp.h"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp b/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp
index a489878e2c..57691d0035 100644
--- a/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp
+++ b/cscore/src/main/native/cpp/UnlimitedHandleResource.hpp
@@ -10,8 +10,8 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/mutex.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp b/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
index 81afcc1056..777b74b038 100644
--- a/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
+++ b/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cscore_c.h"  // NOLINT(build/include_order)
+#include "wpi/cs/cscore_c.h"  // NOLINT(build/include_order)
 
-#include <wpi/MemAlloc.h>
+#include "wpi/util/MemAlloc.hpp"
 
-#include "c_util.h"
-#include "cscore_cpp.h"
+#include "c_util.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/UsbCameraListener.hpp b/cscore/src/main/native/cpp/UsbCameraListener.hpp
index c8e8e151c5..f6b7b9adc6 100644
--- a/cscore/src/main/native/cpp/UsbCameraListener.hpp
+++ b/cscore/src/main/native/cpp/UsbCameraListener.hpp
@@ -7,7 +7,7 @@
 
 #include <memory>
 
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/c_util.hpp b/cscore/src/main/native/cpp/c_util.hpp
index a81f428716..7581e0f275 100644
--- a/cscore/src/main/native/cpp/c_util.hpp
+++ b/cscore/src/main/native/cpp/c_util.hpp
@@ -8,7 +8,7 @@
 #include <cstring>
 #include <string_view>
 
-#include <wpi/string.h>
+#include "wpi/util/string.h"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/cpp/cscore_c.cpp b/cscore/src/main/native/cpp/cscore_c.cpp
index 9f4a2c38c2..5948f57370 100644
--- a/cscore/src/main/native/cpp/cscore_c.cpp
+++ b/cscore/src/main/native/cpp/cscore_c.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cscore_c.h"
+#include "wpi/cs/cscore_c.h"
 
 #include <algorithm>
 #include <cstddef>
@@ -10,11 +10,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MemAlloc.h>
-#include <wpi/SmallString.h>
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/SmallString.hpp"
 
-#include "c_util.h"
-#include "cscore_cpp.h"
+#include "c_util.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 static CS_Event ConvertToC(const cs::RawEvent& rawEvent) {
   CS_Event event;
diff --git a/cscore/src/main/native/cpp/cscore_cpp.cpp b/cscore/src/main/native/cpp/cscore_cpp.cpp
index f0414f4010..f72c1b27b7 100644
--- a/cscore/src/main/native/cpp/cscore_cpp.cpp
+++ b/cscore/src/main/native/cpp/cscore_cpp.cpp
@@ -2,24 +2,24 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cscore_cpp.h"
+#include "wpi/cs/cscore_cpp.hpp"
 
 #include <memory>
 #include <string>
 #include <vector>
 
-#include <wpi/SmallString.h>
-#include <wpi/json.h>
-#include <wpinet/hostname.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/net/hostname.hpp"
 
-#include "Handle.h"
-#include "Instance.h"
-#include "NetworkListener.h"
-#include "Notifier.h"
-#include "PropertyContainer.h"
-#include "SinkImpl.h"
-#include "SourceImpl.h"
-#include "Telemetry.h"
+#include "Handle.hpp"
+#include "Instance.hpp"
+#include "NetworkListener.hpp"
+#include "Notifier.hpp"
+#include "PropertyContainer.hpp"
+#include "SinkImpl.hpp"
+#include "SourceImpl.hpp"
+#include "Telemetry.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/cscore_oo.cpp b/cscore/src/main/native/cpp/cscore_oo.cpp
index 457fb1870c..1de708c29b 100644
--- a/cscore/src/main/native/cpp/cscore_oo.cpp
+++ b/cscore/src/main/native/cpp/cscore_oo.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cscore_oo.h"
+#include "wpi/cs/cscore_oo.hpp"
 
 #include <string>
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp b/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
index b7a3d7ac89..39caab181e 100644
--- a/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
+++ b/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
@@ -9,12 +9,12 @@
 #include <fmt/format.h>
 
 #define WPI_RAWFRAME_JNI
-#include <wpi/RawFrame.h>
-#include <wpi/SmallString.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/RawFrame.h"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/jni_util.hpp"
 
-#include "cscore_raw.h"
-#include "cscore_runloop.h"
+#include "wpi/cs/cscore_raw.h"
+#include "wpi/cs/cscore_runloop.hpp"
 #include "org_wpilib_vision_camera_CameraServerJNI.h"
 
 namespace cv {
diff --git a/cscore/src/main/native/include/wpi/cs/cscore.h b/cscore/src/main/native/include/wpi/cs/cscore.h
index 085d6c7022..223b041617 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore.h
+++ b/cscore/src/main/native/include/wpi/cs/cscore.h
@@ -6,12 +6,12 @@
 #define CSCORE_CSCORE_H_
 
 /* C API */
-#include "cscore_c.h"
+#include "wpi/cs/cscore_c.h"
 
 #ifdef __cplusplus
 /* C++ API */
-#include "cscore_cpp.h"
-#include "cscore_oo.h"
+#include "wpi/cs/cscore_cpp.hpp"
+#include "wpi/cs/cscore_oo.hpp"
 #endif /* __cplusplus */
 
 #endif  // CSCORE_CSCORE_H_
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_c.h b/cscore/src/main/native/include/wpi/cs/cscore_c.h
index 60e66bf209..9ea6f21294 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_c.h
+++ b/cscore/src/main/native/include/wpi/cs/cscore_c.h
@@ -7,8 +7,8 @@
 
 #include <stdint.h>
 
-#include <wpi/RawFrame.h>
-#include <wpi/string.h>
+#include "wpi/util/RawFrame.h"
+#include "wpi/util/string.h"
 
 #ifdef __cplusplus
 #include <cstddef>
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp b/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp
index b57faee0ff..8c2a0f9a8b 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp
+++ b/cscore/src/main/native/include/wpi/cs/cscore_cpp.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/RawFrame.h>
-#include <wpi/SmallVector.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/RawFrame.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "cscore_c.h"
+#include "wpi/cs/cscore_c.h"
 
 #ifdef _WIN32
 // Disable uninitialized variable warnings
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp b/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp
index e44e7ecb4f..90f61ee0a2 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp
+++ b/cscore/src/main/native/include/wpi/cs/cscore_cv.hpp
@@ -8,10 +8,10 @@
 #include <functional>
 
 #include <opencv2/core/mat.hpp>
-#include <wpi/RawFrame.h>
+#include "wpi/util/RawFrame.h"
 
-#include "cscore_oo.h"
-#include "cscore_raw.h"
+#include "wpi/cs/cscore_oo.hpp"
+#include "wpi/cs/cscore_raw.h"
 
 namespace cs {
 /**
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp b/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp
index 5b65304225..4375f01c13 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp
+++ b/cscore/src/main/native/include/wpi/cs/cscore_oo.hpp
@@ -13,9 +13,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/deprecated.h>
+#include "wpi/util/deprecated.hpp"
 
-#include "cscore_cpp.h"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/include/wpi/cs/cscore_raw.h b/cscore/src/main/native/include/wpi/cs/cscore_raw.h
index e7a47fc9ee..693f70ba4c 100644
--- a/cscore/src/main/native/include/wpi/cs/cscore_raw.h
+++ b/cscore/src/main/native/include/wpi/cs/cscore_raw.h
@@ -7,11 +7,11 @@
 
 #include <functional>
 
-#include "cscore_c.h"
+#include "wpi/cs/cscore_c.h"
 
 // NOLINTBEGIN
 #ifdef __cplusplus
-#include "cscore_oo.h"
+#include "wpi/cs/cscore_oo.hpp"
 #endif
 
 #ifdef __cplusplus
diff --git a/cscore/src/main/native/linux/NetworkListener.cpp b/cscore/src/main/native/linux/NetworkListener.cpp
index e84ae8f4ac..b6816314a3 100644
--- a/cscore/src/main/native/linux/NetworkListener.cpp
+++ b/cscore/src/main/native/linux/NetworkListener.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "NetworkListener.h"
+#include "NetworkListener.hpp"
 
 #include <linux/netlink.h>
 #include <linux/rtnetlink.h>
@@ -16,10 +16,10 @@
 #include <algorithm>
 #include <cerrno>
 
-#include <wpi/SafeThread.h>
+#include "wpi/util/SafeThread.hpp"
 
-#include "Log.h"
-#include "Notifier.h"
+#include "Log.hpp"
+#include "Notifier.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/linux/NetworkUtil.cpp b/cscore/src/main/native/linux/NetworkUtil.cpp
index 7a7b1ef2ce..d15398f441 100644
--- a/cscore/src/main/native/linux/NetworkUtil.cpp
+++ b/cscore/src/main/native/linux/NetworkUtil.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cscore_cpp.h"  // NOLINT(build/include_order)
+#include "wpi/cs/cscore_cpp.hpp"  // NOLINT(build/include_order)
 
 #include <arpa/inet.h>
 #include <ifaddrs.h>
diff --git a/cscore/src/main/native/linux/RunLoopHelpers.cpp b/cscore/src/main/native/linux/RunLoopHelpers.cpp
index 25c5cc2a4a..4d850dacab 100644
--- a/cscore/src/main/native/linux/RunLoopHelpers.cpp
+++ b/cscore/src/main/native/linux/RunLoopHelpers.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "cscore_runloop.h"
+#include "wpi/cs/cscore_runloop.hpp"
 
 static wpi::Event& GetInstance() {
   static wpi::Event event;
diff --git a/cscore/src/main/native/linux/UsbCameraImpl.cpp b/cscore/src/main/native/linux/UsbCameraImpl.cpp
index 9c6548435b..6b1ce0cd8b 100644
--- a/cscore/src/main/native/linux/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/linux/UsbCameraImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "UsbCameraImpl.h"
+#include "UsbCameraImpl.hpp"
 
 #include <dirent.h>
 #include <fcntl.h>
@@ -26,20 +26,20 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/MemAlloc.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
-#include <wpi/raw_ostream.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Instance.h"
-#include "JpegUtil.h"
-#include "Log.h"
-#include "Notifier.h"
-#include "Telemetry.h"
-#include "UsbUtil.h"
-#include "cscore_cpp.h"
+#include "Instance.hpp"
+#include "JpegUtil.hpp"
+#include "Log.hpp"
+#include "Notifier.hpp"
+#include "Telemetry.hpp"
+#include "UsbUtil.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/linux/UsbCameraImpl.hpp b/cscore/src/main/native/linux/UsbCameraImpl.hpp
index acf1bfcd45..5dffeb3612 100644
--- a/cscore/src/main/native/linux/UsbCameraImpl.hpp
+++ b/cscore/src/main/native/linux/UsbCameraImpl.hpp
@@ -15,15 +15,15 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
-#include <wpi/raw_istream.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/raw_istream.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "SourceImpl.h"
-#include "UsbCameraBuffer.h"
-#include "UsbCameraProperty.h"
+#include "SourceImpl.hpp"
+#include "UsbCameraBuffer.hpp"
+#include "UsbCameraProperty.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/linux/UsbCameraListener.cpp b/cscore/src/main/native/linux/UsbCameraListener.cpp
index 70aac34bb9..b1110158a0 100644
--- a/cscore/src/main/native/linux/UsbCameraListener.cpp
+++ b/cscore/src/main/native/linux/UsbCameraListener.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "UsbCameraListener.h"
+#include "UsbCameraListener.hpp"
 
 #include <memory>
 
-#include <wpi/StringExtras.h>
-#include <wpinet/EventLoopRunner.h>
-#include <wpinet/uv/FsEvent.h>
-#include <wpinet/uv/Timer.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/uv/FsEvent.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
-#include "Notifier.h"
+#include "Notifier.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/linux/UsbCameraProperty.cpp b/cscore/src/main/native/linux/UsbCameraProperty.cpp
index d8847d1765..7c1432b837 100644
--- a/cscore/src/main/native/linux/UsbCameraProperty.cpp
+++ b/cscore/src/main/native/linux/UsbCameraProperty.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "UsbCameraProperty.h"
+#include "UsbCameraProperty.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "UsbUtil.h"
+#include "UsbUtil.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/linux/UsbCameraProperty.hpp b/cscore/src/main/native/linux/UsbCameraProperty.hpp
index b0291a17eb..4f9238576c 100644
--- a/cscore/src/main/native/linux/UsbCameraProperty.hpp
+++ b/cscore/src/main/native/linux/UsbCameraProperty.hpp
@@ -10,9 +10,9 @@
 #include <memory>
 #include <string_view>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "PropertyImpl.h"
+#include "PropertyImpl.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/linux/UsbUtil.cpp b/cscore/src/main/native/linux/UsbUtil.cpp
index 620871db0b..b7b421ead0 100644
--- a/cscore/src/main/native/linux/UsbUtil.cpp
+++ b/cscore/src/main/native/linux/UsbUtil.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "UsbUtil.h"
+#include "UsbUtil.hpp"
 
 #include <fcntl.h>
 #include <libgen.h>
@@ -11,13 +11,13 @@
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
-#include <wpi/raw_istream.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/raw_istream.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "Instance.h"
+#include "Instance.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/objcpp/RunLoopHelpers.mm b/cscore/src/main/native/objcpp/RunLoopHelpers.mm
index fdb3e91fb7..86b6048311 100644
--- a/cscore/src/main/native/objcpp/RunLoopHelpers.mm
+++ b/cscore/src/main/native/objcpp/RunLoopHelpers.mm
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cscore_runloop.h"
+#include "wpi/cs/cscore_runloop.hpp"
 
 #include <CoreFoundation/CFRunLoop.h>
 #import <Foundation/Foundation.h>
diff --git a/cscore/src/main/native/objcpp/UsbCameraDelegate.mm b/cscore/src/main/native/objcpp/UsbCameraDelegate.mm
index e3a2bfdf60..22a603dd79 100644
--- a/cscore/src/main/native/objcpp/UsbCameraDelegate.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraDelegate.mm
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#import "UsbCameraDelegate.h"
-#include "UsbCameraImpl.h"
+#import "UsbCameraDelegate.hpp"
+#include "UsbCameraImpl.hpp"
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
 @implementation UsbCameraDelegate
 
diff --git a/cscore/src/main/native/objcpp/UsbCameraImpl.hpp b/cscore/src/main/native/objcpp/UsbCameraImpl.hpp
index 68c9078acc..3d35fdb1ab 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImpl.hpp
+++ b/cscore/src/main/native/objcpp/UsbCameraImpl.hpp
@@ -5,16 +5,16 @@
 #pragma once
 
 #import <AVFoundation/AVFoundation.h>
-#import "UsbCameraDelegate.h"
-#import "UsbCameraImplObjc.h"
+#import "UsbCameraDelegate.hpp"
+#import "UsbCameraImplObjc.hpp"
 
 #include <memory>
 #include <string>
 #include <optional>
 
-#include <wpi/StringMap.h>
+#include "wpi/util/StringMap.hpp"
 
-#include "SourceImpl.h"
+#include "SourceImpl.hpp"
 
 namespace cs {
 struct CameraFPSRange {
diff --git a/cscore/src/main/native/objcpp/UsbCameraImpl.mm b/cscore/src/main/native/objcpp/UsbCameraImpl.mm
index b0dfc330a0..3b4483d591 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImpl.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraImpl.mm
@@ -9,16 +9,16 @@
 
 #include <vector>
 #include <string>
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
-#include "Handle.h"
-#include "Log.h"
-#include "Notifier.h"
-#include "Instance.h"
-#include "c_util.h"
-#include "cscore_cpp.h"
-#include "UsbCameraImpl.h"
+#include "Handle.hpp"
+#include "Log.hpp"
+#include "Notifier.hpp"
+#include "Instance.hpp"
+#include "c_util.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
+#include "UsbCameraImpl.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp b/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp
index b4f7626ae9..fc54f89ee3 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp
+++ b/cscore/src/main/native/objcpp/UsbCameraImplObjc.hpp
@@ -9,10 +9,10 @@
 #include <memory>
 #include <string_view>
 
-#import "UsbCameraDelegate.h"
-#import "UvcControlImpl.h"
+#import "UsbCameraDelegate.hpp"
+#import "UvcControlImpl.hpp"
 
-#include "cscore_cpp.h"
+#include "wpi/cs/cscore_cpp.hpp"
 
 // Quirk: exposure auto is 3 for on, 1 for off
 #define kPropertyAutoExposureOn 3
diff --git a/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm b/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm
index 58f5dde90c..2a4d596737 100644
--- a/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraImplObjc.mm
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
-#import "UsbCameraImplObjc.h"
+#import "UsbCameraImplObjc.hpp"
 
-#include "Notifier.h"
-#include "Log.h"
-#include "UsbCameraImpl.h"
+#include "Notifier.hpp"
+#include "Log.hpp"
+#include "UsbCameraImpl.hpp"
 
 template <typename S, typename... Args>
 inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
diff --git a/cscore/src/main/native/objcpp/UsbCameraListener.mm b/cscore/src/main/native/objcpp/UsbCameraListener.mm
index 049c781ac9..b7c66341a9 100644
--- a/cscore/src/main/native/objcpp/UsbCameraListener.mm
+++ b/cscore/src/main/native/objcpp/UsbCameraListener.mm
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #import <AVFoundation/AVFoundation.h>
-#include "UsbCameraListener.h"
+#include "UsbCameraListener.hpp"
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
-#include "Notifier.h"
+#include "Notifier.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/objcpp/UvcControlImpl.hpp b/cscore/src/main/native/objcpp/UvcControlImpl.hpp
index aea335775c..a3c2fb19cc 100644
--- a/cscore/src/main/native/objcpp/UvcControlImpl.hpp
+++ b/cscore/src/main/native/objcpp/UvcControlImpl.hpp
@@ -11,9 +11,9 @@
 #include <memory>
 #include <string_view>
 
-#import "UsbCameraDelegate.h"
+#import "UsbCameraDelegate.hpp"
 
-#include "cscore_cpp.h"
+#include "wpi/cs/cscore_cpp.hpp"
 
 // Status code definition
 #define CS_UVC_STATUS_ERROR -3001
diff --git a/cscore/src/main/native/objcpp/UvcControlImpl.mm b/cscore/src/main/native/objcpp/UvcControlImpl.mm
index 05b7229a78..087164f64a 100644
--- a/cscore/src/main/native/objcpp/UvcControlImpl.mm
+++ b/cscore/src/main/native/objcpp/UvcControlImpl.mm
@@ -26,10 +26,10 @@
 
 #import <AVFoundation/AVFoundation.h>
 
-#import "UvcControlImpl.h"
+#import "UvcControlImpl.hpp"
 
-#include "Log.h"
-#include "UsbCameraImpl.h"
+#include "Log.hpp"
+#include "UsbCameraImpl.hpp"
 
 template <typename S, typename... Args>
 inline void NamedLog(UvcControlImpl* objc, unsigned int level,
diff --git a/cscore/src/main/native/osx/NetworkListener.cpp b/cscore/src/main/native/osx/NetworkListener.cpp
index 3d77fba9cb..ee7581ef21 100644
--- a/cscore/src/main/native/osx/NetworkListener.cpp
+++ b/cscore/src/main/native/osx/NetworkListener.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "NetworkListener.h"
+#include "NetworkListener.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/osx/NetworkUtil.cpp b/cscore/src/main/native/osx/NetworkUtil.cpp
index f45e0b5964..4b12034827 100644
--- a/cscore/src/main/native/osx/NetworkUtil.cpp
+++ b/cscore/src/main/native/osx/NetworkUtil.cpp
@@ -5,7 +5,7 @@
 #include <string>
 #include <vector>
 
-#include "cscore_cpp.h"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/windows/COMCreators.cpp b/cscore/src/main/native/windows/COMCreators.cpp
index f3a1e56e5c..3d5a99a953 100644
--- a/cscore/src/main/native/windows/COMCreators.cpp
+++ b/cscore/src/main/native/windows/COMCreators.cpp
@@ -9,7 +9,7 @@
 
 #include <Windows.h>
 
-#include "UsbCameraImpl.h"
+#include "UsbCameraImpl.hpp"
 
 // https://github.com/opencv/opencv/blob/master/modules/videoio/src/cap_msmf.cpp
 
@@ -20,8 +20,8 @@
 
 #include <memory>
 
-#include "COMCreators.h"
-#include "ComPtr.h"
+#include "COMCreators.hpp"
+#include "ComPtr.hpp"
 
 #pragma comment(lib, "Mfplat.lib")
 #pragma comment(lib, "Mf.lib")
diff --git a/cscore/src/main/native/windows/COMCreators.hpp b/cscore/src/main/native/windows/COMCreators.hpp
index 84cb982249..dcbcbb21cb 100644
--- a/cscore/src/main/native/windows/COMCreators.hpp
+++ b/cscore/src/main/native/windows/COMCreators.hpp
@@ -9,8 +9,8 @@
 
 #include <memory>
 
-#include "ComPtr.h"
-#include "cscore_cpp.h"
+#include "ComPtr.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/windows/NetworkListener.cpp b/cscore/src/main/native/windows/NetworkListener.cpp
index b4fbb1e310..d2de28216a 100644
--- a/cscore/src/main/native/windows/NetworkListener.cpp
+++ b/cscore/src/main/native/windows/NetworkListener.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "NetworkListener.h"
+#include "NetworkListener.hpp"
 
 #include <winsock2.h>  // NOLINT(build/include_order)
 
@@ -16,9 +16,9 @@
 
 #include <netioapi.h>  // NOLINT(build/include_order)
 
-#include "Instance.h"
-#include "Log.h"
-#include "Notifier.h"
+#include "Instance.hpp"
+#include "Log.hpp"
+#include "Notifier.hpp"
 
 #pragma comment(lib, "Iphlpapi.lib")
 
diff --git a/cscore/src/main/native/windows/NetworkUtil.cpp b/cscore/src/main/native/windows/NetworkUtil.cpp
index f3ab681470..3365cf1397 100644
--- a/cscore/src/main/native/windows/NetworkUtil.cpp
+++ b/cscore/src/main/native/windows/NetworkUtil.cpp
@@ -8,7 +8,7 @@
 #include <string>
 #include <vector>
 
-#include "cscore_cpp.h"
+#include "wpi/cs/cscore_cpp.hpp"
 
 #pragma comment(lib, "Ws2_32.lib")
 
diff --git a/cscore/src/main/native/windows/RunLoopHelpers.cpp b/cscore/src/main/native/windows/RunLoopHelpers.cpp
index 25c5cc2a4a..4d850dacab 100644
--- a/cscore/src/main/native/windows/RunLoopHelpers.cpp
+++ b/cscore/src/main/native/windows/RunLoopHelpers.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "cscore_runloop.h"
+#include "wpi/cs/cscore_runloop.hpp"
 
 static wpi::Event& GetInstance() {
   static wpi::Event event;
diff --git a/cscore/src/main/native/windows/UsbCameraImpl.cpp b/cscore/src/main/native/windows/UsbCameraImpl.cpp
index 516e33baaa..18c545422e 100644
--- a/cscore/src/main/native/windows/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/windows/UsbCameraImpl.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #define _WINSOCKAPI_
-#include "UsbCameraImpl.h"
+#include "UsbCameraImpl.hpp"
 
 #include <ks.h>
 #include <ksmedia.h>
@@ -22,24 +22,24 @@
 #include <Dbt.h>
 #include <Dshow.h>
 #include <Windows.h>
-#include <wpi/ConvertUTF.h>
-#include <wpi/MemAlloc.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/ConvertUTF.hpp"
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "COMCreators.h"
-#include "ComPtr.h"
-#include "Handle.h"
-#include "Instance.h"
-#include "JpegUtil.h"
-#include "Log.h"
-#include "Notifier.h"
-#include "PropertyImpl.h"
-#include "Telemetry.h"
-#include "WindowsMessagePump.h"
-#include "c_util.h"
-#include "cscore_cpp.h"
+#include "COMCreators.hpp"
+#include "ComPtr.hpp"
+#include "Handle.hpp"
+#include "Instance.hpp"
+#include "JpegUtil.hpp"
+#include "Log.hpp"
+#include "Notifier.hpp"
+#include "PropertyImpl.hpp"
+#include "Telemetry.hpp"
+#include "WindowsMessagePump.hpp"
+#include "c_util.hpp"
+#include "wpi/cs/cscore_cpp.hpp"
 
 #pragma comment(lib, "Mfplat.lib")
 #pragma comment(lib, "Mf.lib")
diff --git a/cscore/src/main/native/windows/UsbCameraImpl.hpp b/cscore/src/main/native/windows/UsbCameraImpl.hpp
index c71aa068ad..fa502304c6 100644
--- a/cscore/src/main/native/windows/UsbCameraImpl.hpp
+++ b/cscore/src/main/native/windows/UsbCameraImpl.hpp
@@ -22,17 +22,17 @@
 #include <vector>
 
 #include <Dbt.h>
-#include <wpi/SmallVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
-#include <wpi/raw_istream.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/raw_istream.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "ComCreators.h"
-#include "ComPtr.h"
-#include "SourceImpl.h"
-#include "UsbCameraProperty.h"
-#include "WindowsMessagePump.h"
+#include "COMCreators.hpp"
+#include "ComPtr.hpp"
+#include "SourceImpl.hpp"
+#include "UsbCameraProperty.hpp"
+#include "WindowsMessagePump.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/windows/UsbCameraListener.cpp b/cscore/src/main/native/windows/UsbCameraListener.cpp
index ec2d07617a..61570cceba 100644
--- a/cscore/src/main/native/windows/UsbCameraListener.cpp
+++ b/cscore/src/main/native/windows/UsbCameraListener.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "UsbCameraListener.h"
+#include "UsbCameraListener.hpp"
 
-#include "Notifier.h"
-#include "WindowsMessagePump.h"
+#include "Notifier.hpp"
+#include "WindowsMessagePump.hpp"
 
 #include <dbt.h>  // NOLINT(build/include_order)
 
diff --git a/cscore/src/main/native/windows/UsbCameraProperty.cpp b/cscore/src/main/native/windows/UsbCameraProperty.cpp
index 534d8d2daf..6f89c749a5 100644
--- a/cscore/src/main/native/windows/UsbCameraProperty.cpp
+++ b/cscore/src/main/native/windows/UsbCameraProperty.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "UsbCameraProperty.h"
+#include "UsbCameraProperty.hpp"
 
 #include <fmt/format.h>
 
-#include "ComPtr.h"
+#include "ComPtr.hpp"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/windows/UsbCameraProperty.hpp b/cscore/src/main/native/windows/UsbCameraProperty.hpp
index 03cd375393..ef39bf85f8 100644
--- a/cscore/src/main/native/windows/UsbCameraProperty.hpp
+++ b/cscore/src/main/native/windows/UsbCameraProperty.hpp
@@ -12,9 +12,9 @@
 #include <string_view>
 
 #include <Dshow.h>
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "PropertyImpl.h"
+#include "PropertyImpl.hpp"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/windows/WindowsMessagePump.cpp b/cscore/src/main/native/windows/WindowsMessagePump.cpp
index 35634faa07..cc9dede479 100644
--- a/cscore/src/main/native/windows/WindowsMessagePump.cpp
+++ b/cscore/src/main/native/windows/WindowsMessagePump.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WindowsMessagePump.h"
+#include "WindowsMessagePump.hpp"
 
 #include <ks.h>
 #include <ksmedia.h>
diff --git a/cscore/src/test/native/cpp/CameraSourceTest.cpp b/cscore/src/test/native/cpp/CameraSourceTest.cpp
index 2e9d1d8810..c73d8c29a5 100644
--- a/cscore/src/test/native/cpp/CameraSourceTest.cpp
+++ b/cscore/src/test/native/cpp/CameraSourceTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "cscore.h"
+#include "wpi/cs/cscore.h"
 
 namespace cs {
 
diff --git a/datalog/examples/printlog/printlog.cpp b/datalog/examples/printlog/printlog.cpp
index 8a04995984..a819b1a89e 100644
--- a/datalog/examples/printlog/printlog.cpp
+++ b/datalog/examples/printlog/printlog.cpp
@@ -9,11 +9,11 @@
 #include <fmt/chrono.h>
 #include <fmt/format.h>
 #include <fmt/ranges.h>
-#include <wpi/DenseMap.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/print.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/print.hpp"
 
-#include "wpi/datalog/DataLogReader.h"
+#include "wpi/datalog/DataLogReader.hpp"
 
 int main(int argc, const char** argv) {
   if (argc != 2) {
diff --git a/datalog/examples/writelog/writelog.cpp b/datalog/examples/writelog/writelog.cpp
index f65fbb2d56..7915f6aeaa 100644
--- a/datalog/examples/writelog/writelog.cpp
+++ b/datalog/examples/writelog/writelog.cpp
@@ -8,9 +8,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "wpi/datalog/DataLogBackgroundWriter.h"
+#include "wpi/datalog/DataLogBackgroundWriter.hpp"
 
 int main(int argc, char** argv) {
   using std::chrono::duration_cast;
diff --git a/datalog/src/main/native/cpp/DataLog.cpp b/datalog/src/main/native/cpp/DataLog.cpp
index 98cf817117..b48fffc5ad 100644
--- a/datalog/src/main/native/cpp/DataLog.cpp
+++ b/datalog/src/main/native/cpp/DataLog.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/datalog/DataLog.h"
+#include "wpi/datalog/DataLog.hpp"
 
 #include <algorithm>
 #include <bit>
@@ -13,11 +13,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/Endian.h>
-#include <wpi/Logger.h>
-#include <wpi/SmallString.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/Endian.hpp"
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
 using namespace wpi::log;
 
diff --git a/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp b/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp
index f5f5c991ad..9181954754 100644
--- a/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp
+++ b/datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/datalog/DataLogBackgroundWriter.h"
+#include "wpi/datalog/DataLogBackgroundWriter.hpp"
 
 #ifndef _WIN32
 #include <unistd.h>
@@ -24,8 +24,8 @@
 
 #include <fmt/format.h>
 
-#include "wpi/Logger.h"
-#include "wpi/fs.h"
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/fs.hpp"
 
 using namespace wpi::log;
 
diff --git a/datalog/src/main/native/cpp/DataLogReader.cpp b/datalog/src/main/native/cpp/DataLogReader.cpp
index 4c9b40221c..b9edb593fa 100644
--- a/datalog/src/main/native/cpp/DataLogReader.cpp
+++ b/datalog/src/main/native/cpp/DataLogReader.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/datalog/DataLogReader.h"
+#include "wpi/datalog/DataLogReader.hpp"
 
 #include <bit>
 #include <utility>
 
-#include <wpi/Endian.h>
+#include "wpi/util/Endian.hpp"
 
-#include "wpi/datalog/DataLog.h"
+#include "wpi/datalog/DataLog.hpp"
 
 using namespace wpi::log;
 
diff --git a/datalog/src/main/native/cpp/DataLogReaderThread.cpp b/datalog/src/main/native/cpp/DataLogReaderThread.cpp
index c7b948204f..f6aa0c3e99 100644
--- a/datalog/src/main/native/cpp/DataLogReaderThread.cpp
+++ b/datalog/src/main/native/cpp/DataLogReaderThread.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/datalog/DataLogReaderThread.h"
+#include "wpi/datalog/DataLogReaderThread.hpp"
 
 #include <string>
 #include <utility>
 
-#include <wpi/StringExtras.h>
-#include <wpi/print.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/print.hpp"
 
 using namespace wpi::log;
 
diff --git a/datalog/src/main/native/cpp/DataLogWriter.cpp b/datalog/src/main/native/cpp/DataLogWriter.cpp
index 8838a3e676..d5359fa063 100644
--- a/datalog/src/main/native/cpp/DataLogWriter.cpp
+++ b/datalog/src/main/native/cpp/DataLogWriter.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/datalog/DataLogWriter.h"
+#include "wpi/datalog/DataLogWriter.hpp"
 
 #include <memory>
 #include <utility>
 #include <vector>
 
-#include <wpi/raw_ostream.h>
+#include "wpi/util/raw_ostream.hpp"
 
 using namespace wpi::log;
 
diff --git a/datalog/src/main/native/cpp/FileLogger.cpp b/datalog/src/main/native/cpp/FileLogger.cpp
index 6739d8bc1b..aa2c112ad6 100644
--- a/datalog/src/main/native/cpp/FileLogger.cpp
+++ b/datalog/src/main/native/cpp/FileLogger.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/datalog/FileLogger.h"
+#include "wpi/datalog/FileLogger.hpp"
 
 #ifdef __linux__
 #include <fcntl.h>
@@ -18,7 +18,7 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 namespace wpi::log {
 FileLogger::FileLogger(std::string_view file,
diff --git a/datalog/src/main/native/cpp/jni/DataLogJNI.cpp b/datalog/src/main/native/cpp/jni/DataLogJNI.cpp
index 26506d48a9..095e68bc94 100644
--- a/datalog/src/main/native/cpp/jni/DataLogJNI.cpp
+++ b/datalog/src/main/native/cpp/jni/DataLogJNI.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "DataLogJNI.h"
+#include "DataLogJNI.hpp"
 
 #include <jni.h>
 
@@ -11,13 +11,13 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_datalog_DataLogJNI.h"
-#include "wpi/datalog/DataLog.h"
-#include "wpi/datalog/DataLogBackgroundWriter.h"
-#include "wpi/datalog/DataLogWriter.h"
-#include "wpi/datalog/FileLogger.h"
+#include "wpi/datalog/DataLog.hpp"
+#include "wpi/datalog/DataLogBackgroundWriter.hpp"
+#include "wpi/datalog/DataLogWriter.hpp"
+#include "wpi/datalog/FileLogger.hpp"
 
 using namespace wpi::java;
 using namespace wpi::log;
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLog.hpp b/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
index 166572b2f1..efb3a6e6e8 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
@@ -19,14 +19,14 @@
 #include <vector>
 #include <version>
 
-#include <wpi/DenseMap.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringMap.h>
-#include <wpi/mutex.h>
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/string.h>
-#include <wpi/struct/Struct.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/string.h"
+#include "wpi/util/struct/Struct.hpp"
+#include "wpi/util/timestamp.h"
 
 #include "wpi/datalog/DataLog_c.h"
 
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp
index 4ec6302329..3e9077cbd4 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogBackgroundWriter.hpp
@@ -12,10 +12,10 @@
 #include <string_view>
 #include <thread>
 
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "wpi/datalog/DataLog.h"
+#include "wpi/datalog/DataLog.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp
index 2a22725c7c..d9b29578db 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogReader.hpp
@@ -12,7 +12,7 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MemoryBuffer.h>
+#include "wpi/util/MemoryBuffer.hpp"
 
 namespace wpi::log {
 
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp
index b9408fea3c..bd1d0c4572 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogReaderThread.hpp
@@ -15,12 +15,12 @@
 
 #include <upb/mem/arena.h>
 #include <upb/reflection/def.h>
-#include <wpi/DenseMap.h>
-#include <wpi/Signal.h>
-#include <wpi/mutex.h>
-#include <wpi/struct/DynamicStruct.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/Signal.h"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/struct/DynamicStruct.hpp"
 
-#include "wpi/datalog/DataLogReader.h"
+#include "wpi/datalog/DataLogReader.hpp"
 
 namespace wpi::log {
 
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp b/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp
index 7da1d89d9f..60813ef165 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLogWriter.hpp
@@ -8,7 +8,7 @@
 #include <string_view>
 #include <system_error>
 
-#include "wpi/datalog/DataLog.h"
+#include "wpi/datalog/DataLog.hpp"
 
 namespace wpi {
 class raw_ostream;
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLog_c.h b/datalog/src/main/native/include/wpi/datalog/DataLog_c.h
index 21e66c6c43..d3f4f4e18b 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLog_c.h
+++ b/datalog/src/main/native/include/wpi/datalog/DataLog_c.h
@@ -8,7 +8,7 @@
 
 #include <stdint.h>
 
-#include <wpi/string.h>
+#include "wpi/util/string.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/datalog/src/main/native/include/wpi/datalog/FileLogger.hpp b/datalog/src/main/native/include/wpi/datalog/FileLogger.hpp
index 30a2a41ca6..c5a51fb8eb 100644
--- a/datalog/src/main/native/include/wpi/datalog/FileLogger.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/FileLogger.hpp
@@ -8,7 +8,7 @@
 #include <string_view>
 #include <thread>
 
-#include "wpi/datalog/DataLog.h"
+#include "wpi/datalog/DataLog.hpp"
 
 namespace wpi::log {
 /**
diff --git a/datalog/src/main/python/pyproject.toml b/datalog/src/main/python/pyproject.toml
index ba6afc01d3..4bda639fd3 100644
--- a/datalog/src/main/python/pyproject.toml
+++ b/datalog/src/main/python/pyproject.toml
@@ -43,8 +43,8 @@ update_init = [
 scan_headers_ignore = [
     # wpi/datalog
     "wpi/datalog/DataLog_c.h",
-    "wpi/datalog/DataLogReaderThread.h",
-    "wpi/datalog/FileLogger.h",
+    "wpi/datalog/DataLogReaderThread.hpp",
+    "wpi/datalog/FileLogger.hpp",
 ]
 
 [tool.semiwrap.extension_modules."wpilog._wpilog"]
@@ -54,10 +54,10 @@ depends = ["wpiutil"]
 
 [tool.semiwrap.extension_modules."wpilog._wpilog".headers]
 # wpi/datalog
-DataLog = "wpi/datalog/DataLog.h"
-DataLogBackgroundWriter = "wpi/datalog/DataLogBackgroundWriter.h"
-DataLogReader = "wpi/datalog/DataLogReader.h"
-# DataLogReaderThread = "wpi/datalog/DataLogReaderThread.h"
-DataLogWriter = "wpi/datalog/DataLogWriter.h"
+DataLog = "wpi/datalog/DataLog.hpp"
+DataLogBackgroundWriter = "wpi/datalog/DataLogBackgroundWriter.hpp"
+DataLogReader = "wpi/datalog/DataLogReader.hpp"
+# DataLogReaderThread = "wpi/datalog/DataLogReaderThread.hpp"
+DataLogWriter = "wpi/datalog/DataLogWriter.hpp"
 # DataLog_c = "wpi/datalog/DataLog_c.h"
-# FileLogger = "wpi/datalog/FileLogger.h"
\ No newline at end of file
+# FileLogger = "wpi/datalog/FileLogger.hpp"
\ No newline at end of file
diff --git a/datalog/src/test/native/cpp/DataLogTest.cpp b/datalog/src/test/native/cpp/DataLogTest.cpp
index d52a5a8e94..909bccba97 100644
--- a/datalog/src/test/native/cpp/DataLogTest.cpp
+++ b/datalog/src/test/native/cpp/DataLogTest.cpp
@@ -8,10 +8,10 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/Logger.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "wpi/datalog/DataLogWriter.h"
+#include "wpi/datalog/DataLogWriter.hpp"
 
 namespace {
 struct ThingA {
diff --git a/datalog/src/test/native/cpp/FileLoggerTest.cpp b/datalog/src/test/native/cpp/FileLoggerTest.cpp
index 633a086c98..a043718e95 100644
--- a/datalog/src/test/native/cpp/FileLoggerTest.cpp
+++ b/datalog/src/test/native/cpp/FileLoggerTest.cpp
@@ -8,7 +8,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/datalog/FileLogger.h"
+#include "wpi/datalog/FileLogger.hpp"
 
 TEST(FileLoggerTest, BufferSingleLine) {
   std::vector<std::string> buf;
diff --git a/developerRobot/src/main/native/cpp/Robot.cpp b/developerRobot/src/main/native/cpp/Robot.cpp
index 6e013599e1..04aa000469 100644
--- a/developerRobot/src/main/native/cpp/Robot.cpp
+++ b/developerRobot/src/main/native/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
+#include "wpi/opmode/TimedRobot.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/fields/src/main/native/cpp/fields.cpp b/fields/src/main/native/cpp/fields.cpp
index 06e5f8ed40..71207daf0c 100644
--- a/fields/src/main/native/cpp/fields.cpp
+++ b/fields/src/main/native/cpp/fields.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "fields/fields.h"
+#include "wpi/fields/fields.hpp"
 
-#include "fields/2018-powerup.h"
-#include "fields/2019-deepspace.h"
-#include "fields/2020-infiniterecharge.h"
-#include "fields/2021-barrel.h"
-#include "fields/2021-bounce.h"
-#include "fields/2021-galacticsearcha.h"
-#include "fields/2021-galacticsearchb.h"
-#include "fields/2021-infiniterecharge.h"
-#include "fields/2021-slalom.h"
-#include "fields/2022-rapidreact.h"
-#include "fields/2023-chargedup.h"
-#include "fields/2024-crescendo.h"
-#include "fields/2025-reefscape.h"
+#include "wpi/fields/2018-powerup.hpp"
+#include "wpi/fields/2019-deepspace.hpp"
+#include "wpi/fields/2020-infiniterecharge.hpp"
+#include "wpi/fields/2021-barrel.hpp"
+#include "wpi/fields/2021-bounce.hpp"
+#include "wpi/fields/2021-galacticsearcha.hpp"
+#include "wpi/fields/2021-galacticsearchb.hpp"
+#include "wpi/fields/2021-infiniterecharge.hpp"
+#include "wpi/fields/2021-slalom.hpp"
+#include "wpi/fields/2022-rapidreact.hpp"
+#include "wpi/fields/2023-chargedup.hpp"
+#include "wpi/fields/2024-crescendo.hpp"
+#include "wpi/fields/2025-reefscape.hpp"
 
 using namespace fields;
 
diff --git a/glass/src/app/native/cpp/camerasupport.cpp b/glass/src/app/native/cpp/camerasupport.cpp
index eda3e6e829..397d51e7af 100644
--- a/glass/src/app/native/cpp/camerasupport.cpp
+++ b/glass/src/app/native/cpp/camerasupport.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "camerasupport.h"
+#include "camerasupport.hpp"
 
 #ifdef _WIN32
 #include "Windows.h"
diff --git a/glass/src/app/native/cpp/main.cpp b/glass/src/app/native/cpp/main.cpp
index 188ab4a4f7..981060bc7d 100644
--- a/glass/src/app/native/cpp/main.cpp
+++ b/glass/src/app/native/cpp/main.cpp
@@ -8,20 +8,20 @@
 #include <GLFW/glfw3.h>
 #include <fmt/format.h>
 #include <imgui.h>
-#include <ntcore_cpp.h>
-#include <wpi/StringExtras.h>
-#include <wpigui.h>
-#include <wpigui_openurl.h>
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_openurl.hpp"
 
-#include "glass/Context.h"
-#include "glass/MainMenuBar.h"
-#include "glass/Storage.h"
-#include "glass/View.h"
-#include "glass/networktables/NetworkTables.h"
-#include "glass/networktables/NetworkTablesProvider.h"
-#include "glass/networktables/NetworkTablesSettings.h"
-#include "glass/other/Log.h"
-#include "glass/other/Plot.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/MainMenuBar.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/View.hpp"
+#include "wpi/glass/networktables/NetworkTables.hpp"
+#include "wpi/glass/networktables/NetworkTablesProvider.hpp"
+#include "wpi/glass/networktables/NetworkTablesSettings.hpp"
+#include "wpi/glass/other/Log.hpp"
+#include "wpi/glass/other/Plot.hpp"
 
 namespace gui = wpi::gui;
 
diff --git a/glass/src/lib/native/cpp/Context.cpp b/glass/src/lib/native/cpp/Context.cpp
index f2aada6d83..64bc48f4e5 100644
--- a/glass/src/lib/native/cpp/Context.cpp
+++ b/glass/src/lib/native/cpp/Context.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/Context.h"
+#include "wpi/glass/Context.hpp"
 
 #include <filesystem>
 #include <memory>
@@ -13,16 +13,16 @@
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
-#include <wpi/timestamp.h>
-#include <wpigui.h>
-#include <wpigui_internal.h>
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/timestamp.h"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_internal.hpp"
 
-#include "glass/ContextInternal.h"
+#include "wpi/glass/ContextInternal.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/DataSource.cpp b/glass/src/lib/native/cpp/DataSource.cpp
index a96b4ac987..42dab210a0 100644
--- a/glass/src/lib/native/cpp/DataSource.cpp
+++ b/glass/src/lib/native/cpp/DataSource.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/DataSource.h"
+#include "wpi/glass/DataSource.hpp"
 
 #include <cstdio>
 #include <string>
@@ -10,7 +10,7 @@
 #include <fmt/format.h>
 #include <imgui.h>
 
-#include "glass/ContextInternal.h"
+#include "wpi/glass/ContextInternal.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/MainMenuBar.cpp b/glass/src/lib/native/cpp/MainMenuBar.cpp
index 97da26a9af..724e3ed50a 100644
--- a/glass/src/lib/native/cpp/MainMenuBar.cpp
+++ b/glass/src/lib/native/cpp/MainMenuBar.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/MainMenuBar.h"
+#include "wpi/glass/MainMenuBar.hpp"
 
 #include <memory>
 #include <utility>
 
 #include <imgui.h>
-#include <wpi/StringExtras.h>
-#include <wpigui.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "glass/Context.h"
-#include "glass/ContextInternal.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/ContextInternal.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/Model.cpp b/glass/src/lib/native/cpp/Model.cpp
index bee9086c86..28b57dd5e1 100644
--- a/glass/src/lib/native/cpp/Model.cpp
+++ b/glass/src/lib/native/cpp/Model.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/Storage.cpp b/glass/src/lib/native/cpp/Storage.cpp
index d0009937c4..07d9864f53 100644
--- a/glass/src/lib/native/cpp/Storage.cpp
+++ b/glass/src/lib/native/cpp/Storage.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/Storage.h"
+#include "wpi/glass/Storage.hpp"
 
 #include <concepts>
 #include <memory>
@@ -11,8 +11,8 @@
 #include <vector>
 
 #include <imgui.h>
-#include <wpi/StringExtras.h>
-#include <wpi/json.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/json.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/View.cpp b/glass/src/lib/native/cpp/View.cpp
index 1007603a5c..5fa45686b5 100644
--- a/glass/src/lib/native/cpp/View.cpp
+++ b/glass/src/lib/native/cpp/View.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/View.h"
+#include "wpi/glass/View.hpp"
 
 #include <memory>
 #include <utility>
diff --git a/glass/src/lib/native/cpp/Window.cpp b/glass/src/lib/native/cpp/Window.cpp
index 8a69ed8b6e..7e79bc297c 100644
--- a/glass/src/lib/native/cpp/Window.cpp
+++ b/glass/src/lib/native/cpp/Window.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/Window.h"
+#include "wpi/glass/Window.hpp"
 
 #include <string>
 
@@ -10,9 +10,9 @@
 #include <imgui.h>
 #include <imgui_internal.h>
 
-#include "glass/Context.h"
-#include "glass/Storage.h"
-#include "glass/support/ExtraGuiWidgets.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/support/ExtraGuiWidgets.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/WindowManager.cpp b/glass/src/lib/native/cpp/WindowManager.cpp
index 3d90be5624..4eb2fb1210 100644
--- a/glass/src/lib/native/cpp/WindowManager.cpp
+++ b/glass/src/lib/native/cpp/WindowManager.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/WindowManager.h"
+#include "wpi/glass/WindowManager.hpp"
 
 #include <algorithm>
 #include <cstdio>
@@ -10,11 +10,11 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/print.h>
-#include <wpigui.h>
+#include "wpi/util/print.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "glass/Context.h"
-#include "glass/Storage.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
index 97f0d45c21..5dc0b71946 100644
--- a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
+++ b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/AnalogInput.h"
+#include "wpi/glass/hardware/AnalogInput.hpp"
 
 #include <string>
 
 #include <imgui.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
-#include "glass/Storage.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/Storage.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/DIO.cpp b/glass/src/lib/native/cpp/hardware/DIO.cpp
index 26fd21923b..1cb8818e8e 100644
--- a/glass/src/lib/native/cpp/hardware/DIO.cpp
+++ b/glass/src/lib/native/cpp/hardware/DIO.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/DIO.h"
+#include "wpi/glass/hardware/DIO.hpp"
 
 #include <imgui.h>
 
-#include "glass/DataSource.h"
-#include "glass/hardware/Encoder.h"
-#include "glass/support/NameSetting.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/hardware/Encoder.hpp"
+#include "wpi/glass/support/NameSetting.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/Encoder.cpp b/glass/src/lib/native/cpp/hardware/Encoder.cpp
index b74547c735..e061ff19dc 100644
--- a/glass/src/lib/native/cpp/hardware/Encoder.cpp
+++ b/glass/src/lib/native/cpp/hardware/Encoder.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/Encoder.h"
+#include "wpi/glass/hardware/Encoder.hpp"
 
 #include <string>
 
 #include <fmt/format.h>
 #include <imgui.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
-#include "glass/Storage.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/Storage.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/Gyro.cpp b/glass/src/lib/native/cpp/hardware/Gyro.cpp
index cfc6e79855..a6ebeb5f0f 100644
--- a/glass/src/lib/native/cpp/hardware/Gyro.cpp
+++ b/glass/src/lib/native/cpp/hardware/Gyro.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/Gyro.h"
+#include "wpi/glass/hardware/Gyro.hpp"
 
 #include <cmath>
 #include <numbers>
 
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp b/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
index f7e099cd9a..7ab00b76f5 100644
--- a/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
+++ b/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/LEDDisplay.h"
+#include "wpi/glass/hardware/LEDDisplay.hpp"
 
 #include <vector>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "glass/Context.h"
-#include "glass/Storage.h"
-#include "glass/support/ExtraGuiWidgets.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/support/ExtraGuiWidgets.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/MotorController.cpp b/glass/src/lib/native/cpp/hardware/MotorController.cpp
index 49a4803e0b..9219d3f66b 100644
--- a/glass/src/lib/native/cpp/hardware/MotorController.cpp
+++ b/glass/src/lib/native/cpp/hardware/MotorController.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/MotorController.h"
+#include "wpi/glass/hardware/MotorController.hpp"
 
 #include <imgui.h>
 #include <imgui_internal.h>
 
-#include "glass/DataSource.h"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/PWM.cpp b/glass/src/lib/native/cpp/hardware/PWM.cpp
index 6c132f9bf0..6c05644fa1 100644
--- a/glass/src/lib/native/cpp/hardware/PWM.cpp
+++ b/glass/src/lib/native/cpp/hardware/PWM.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/PWM.h"
+#include "wpi/glass/hardware/PWM.hpp"
 
 #include <string>
 
 #include <imgui.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
-#include "glass/Storage.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/Storage.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/Pneumatic.cpp b/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
index bc39860dbb..f2107f1c41 100644
--- a/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
+++ b/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
@@ -2,22 +2,22 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/Pneumatic.h"
+#include "wpi/glass/hardware/Pneumatic.hpp"
 
 #include <cstdio>
 #include <cstring>
 #include <string>
 
 #include <imgui.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
-#include "glass/Storage.h"
-#include "glass/other/DeviceTree.h"
-#include "glass/support/ExtraGuiWidgets.h"
-#include "glass/support/NameSetting.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/other/DeviceTree.hpp"
+#include "wpi/glass/support/ExtraGuiWidgets.hpp"
+#include "wpi/glass/support/NameSetting.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp b/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
index 90aea0ecf1..911ebe48f3 100644
--- a/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
+++ b/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/PowerDistribution.h"
+#include "wpi/glass/hardware/PowerDistribution.hpp"
 
 #include <algorithm>
 
 #include <imgui.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
-#include "glass/support/NameSetting.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/support/NameSetting.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/hardware/RoboRio.cpp b/glass/src/lib/native/cpp/hardware/RoboRio.cpp
index f382082421..c08e1bb2fa 100644
--- a/glass/src/lib/native/cpp/hardware/RoboRio.cpp
+++ b/glass/src/lib/native/cpp/hardware/RoboRio.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/RoboRio.h"
+#include "wpi/glass/hardware/RoboRio.hpp"
 
 #include <imgui.h>
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/Alerts.cpp b/glass/src/lib/native/cpp/other/Alerts.cpp
index 87cd5885e2..ee9d591431 100644
--- a/glass/src/lib/native/cpp/other/Alerts.cpp
+++ b/glass/src/lib/native/cpp/other/Alerts.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/Alerts.h"
+#include "wpi/glass/other/Alerts.hpp"
 
 #include <IconsFontAwesome6.h>
 #include <imgui.h>
diff --git a/glass/src/lib/native/cpp/other/CommandScheduler.cpp b/glass/src/lib/native/cpp/other/CommandScheduler.cpp
index 83e4118631..f41cf1bba2 100644
--- a/glass/src/lib/native/cpp/other/CommandScheduler.cpp
+++ b/glass/src/lib/native/cpp/other/CommandScheduler.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/CommandScheduler.h"
+#include "wpi/glass/other/CommandScheduler.hpp"
 
 #include <imgui.h>
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/CommandSelector.cpp b/glass/src/lib/native/cpp/other/CommandSelector.cpp
index a7eb073dd2..c0f357f43d 100644
--- a/glass/src/lib/native/cpp/other/CommandSelector.cpp
+++ b/glass/src/lib/native/cpp/other/CommandSelector.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/CommandSelector.h"
+#include "wpi/glass/other/CommandSelector.hpp"
 
 #include <imgui.h>
 
-#include "glass/DataSource.h"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/DeviceTree.cpp b/glass/src/lib/native/cpp/other/DeviceTree.cpp
index 2360d83386..131ff2ddf4 100644
--- a/glass/src/lib/native/cpp/other/DeviceTree.cpp
+++ b/glass/src/lib/native/cpp/other/DeviceTree.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/DeviceTree.h"
+#include "wpi/glass/other/DeviceTree.hpp"
 
 #include <cinttypes>
 #include <string>
 
 #include <imgui.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/ContextInternal.h"
-#include "glass/DataSource.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/ContextInternal.hpp"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/Drive.cpp b/glass/src/lib/native/cpp/other/Drive.cpp
index 9ac1f78e14..0c722d9b35 100644
--- a/glass/src/lib/native/cpp/other/Drive.cpp
+++ b/glass/src/lib/native/cpp/other/Drive.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/Drive.h"
+#include "wpi/glass/other/Drive.hpp"
 
 #include <array>
 #include <cmath>
@@ -11,7 +11,7 @@
 #include <imgui.h>
 #include <imgui_internal.h>
 
-#include "glass/DataSource.h"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/FMS.cpp b/glass/src/lib/native/cpp/other/FMS.cpp
index fadadd3264..b4e6486d9c 100644
--- a/glass/src/lib/native/cpp/other/FMS.cpp
+++ b/glass/src/lib/native/cpp/other/FMS.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/FMS.h"
+#include "wpi/glass/other/FMS.hpp"
 
 #include <string>
 
 #include <imgui.h>
 #include <imgui_stdlib.h>
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
-#include "glass/DataSource.h"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/Field2D.cpp b/glass/src/lib/native/cpp/other/Field2D.cpp
index 4a3264001b..dd0d71f61a 100644
--- a/glass/src/lib/native/cpp/other/Field2D.cpp
+++ b/glass/src/lib/native/cpp/other/Field2D.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/Field2D.h"
+#include "wpi/glass/other/Field2D.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -13,29 +13,29 @@
 #include <utility>
 #include <vector>
 
-#include <fields/fields.h>
-#include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Rotation2d.h>
-#include <frc/geometry/Translation2d.h>
+#include "wpi/fields/fields.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
-#include <portable-file-dialogs.h>
-#include <units/angle.h>
-#include <units/length.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
-#include <wpi/fs.h>
-#include <wpi/json.h>
-#include <wpi/print.h>
-#include <wpigui.h>
+#include "wpi/gui/portable-file-dialogs.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "glass/Context.h"
-#include "glass/Storage.h"
-#include "glass/support/ColorSetting.h"
-#include "glass/support/EnumSetting.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/support/ColorSetting.hpp"
+#include "wpi/glass/support/EnumSetting.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/Log.cpp b/glass/src/lib/native/cpp/other/Log.cpp
index 4209338526..253328bdf5 100644
--- a/glass/src/lib/native/cpp/other/Log.cpp
+++ b/glass/src/lib/native/cpp/other/Log.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/Log.h"
+#include "wpi/glass/other/Log.hpp"
 
 #include <string>
 
diff --git a/glass/src/lib/native/cpp/other/Mechanism2D.cpp b/glass/src/lib/native/cpp/other/Mechanism2D.cpp
index ce4384f79a..5616ce7889 100644
--- a/glass/src/lib/native/cpp/other/Mechanism2D.cpp
+++ b/glass/src/lib/native/cpp/other/Mechanism2D.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/Mechanism2D.h"
+#include "wpi/glass/other/Mechanism2D.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -13,21 +13,21 @@
 #include <utility>
 #include <vector>
 
-#include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Rotation2d.h>
-#include <frc/geometry/Transform2d.h>
-#include <frc/geometry/Translation2d.h>
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Transform2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
-#include <portable-file-dialogs.h>
-#include <units/angle.h>
-#include <units/length.h>
-#include <wpi/print.h>
-#include <wpigui.h>
+#include "wpi/gui/portable-file-dialogs.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "glass/Context.h"
-#include "glass/Storage.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/PIDController.cpp b/glass/src/lib/native/cpp/other/PIDController.cpp
index bfcac82f5a..b9b6471dcc 100644
--- a/glass/src/lib/native/cpp/other/PIDController.cpp
+++ b/glass/src/lib/native/cpp/other/PIDController.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/PIDController.h"
+#include "wpi/glass/other/PIDController.hpp"
 
 #include <imgui.h>
 
-#include "glass/DataSource.h"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/Plot.cpp b/glass/src/lib/native/cpp/other/Plot.cpp
index 0c65d97d54..2929016f49 100644
--- a/glass/src/lib/native/cpp/other/Plot.cpp
+++ b/glass/src/lib/native/cpp/other/Plot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/Plot.h"
+#include "wpi/glass/other/Plot.hpp"
 
 #include <stdint.h>
 
@@ -16,7 +16,7 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 #if defined(__GNUC__)
 #pragma GCC diagnostic ignored "-Wformat-nonliteral"
@@ -26,17 +26,17 @@
 #include <imgui_stdlib.h>
 #include <implot.h>
 #include <implot_internal.h>
-#include <wpi/Signal.h>
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
-#include "glass/Storage.h"
-#include "glass/support/ColorSetting.h"
-#include "glass/support/EnumSetting.h"
-#include "glass/support/ExtraGuiWidgets.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/support/ColorSetting.hpp"
+#include "wpi/glass/support/EnumSetting.hpp"
+#include "wpi/glass/support/ExtraGuiWidgets.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp b/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp
index 49e414b85d..391e893650 100644
--- a/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp
+++ b/glass/src/lib/native/cpp/other/ProfiledPIDController.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/ProfiledPIDController.h"
+#include "wpi/glass/other/ProfiledPIDController.hpp"
 
 #include <imgui.h>
 
-#include "glass/DataSource.h"
+#include "wpi/glass/DataSource.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/other/StringChooser.cpp b/glass/src/lib/native/cpp/other/StringChooser.cpp
index 46fa674356..00664ec5ee 100644
--- a/glass/src/lib/native/cpp/other/StringChooser.cpp
+++ b/glass/src/lib/native/cpp/other/StringChooser.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/StringChooser.h"
+#include "wpi/glass/other/StringChooser.hpp"
 
 #include <imgui.h>
 
diff --git a/glass/src/lib/native/cpp/other/Subsystem.cpp b/glass/src/lib/native/cpp/other/Subsystem.cpp
index b8bbb5b06d..da03b60e99 100644
--- a/glass/src/lib/native/cpp/other/Subsystem.cpp
+++ b/glass/src/lib/native/cpp/other/Subsystem.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/other/Subsystem.h"
+#include "wpi/glass/other/Subsystem.hpp"
 
 #include <string>
 
diff --git a/glass/src/lib/native/cpp/support/ColorSetting.cpp b/glass/src/lib/native/cpp/support/ColorSetting.cpp
index 9f20a0b305..640c68f603 100644
--- a/glass/src/lib/native/cpp/support/ColorSetting.cpp
+++ b/glass/src/lib/native/cpp/support/ColorSetting.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/support/ColorSetting.h"
+#include "wpi/glass/support/ColorSetting.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/support/EnumSetting.cpp b/glass/src/lib/native/cpp/support/EnumSetting.cpp
index 167cf1b7d2..8e48603cdd 100644
--- a/glass/src/lib/native/cpp/support/EnumSetting.cpp
+++ b/glass/src/lib/native/cpp/support/EnumSetting.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/support/EnumSetting.h"
+#include "wpi/glass/support/EnumSetting.hpp"
 
 #include <string>
 
diff --git a/glass/src/lib/native/cpp/support/ExpressionParser.cpp b/glass/src/lib/native/cpp/support/ExpressionParser.cpp
index c7bb1a72eb..26dbf6eb60 100644
--- a/glass/src/lib/native/cpp/support/ExpressionParser.cpp
+++ b/glass/src/lib/native/cpp/support/ExpressionParser.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/support/ExpressionParser.h"
+#include "wpi/glass/support/ExpressionParser.hpp"
 
 #include <cmath>
 #include <stack>
 #include <string>
 #include <type_traits>
 
-#include <wpi/StringExtras.h>
-#include <wpi/expected>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/expected"
 
 namespace glass::expression {
 
diff --git a/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp b/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
index b77678ee92..76af409ad6 100644
--- a/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
+++ b/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/support/ExtraGuiWidgets.h"
+#include "wpi/glass/support/ExtraGuiWidgets.hpp"
 
 #include <cstdio>
 #include <cstdlib>
@@ -10,10 +10,10 @@
 
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <wpi/DenseMap.h>
+#include "wpi/util/DenseMap.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/support/ExpressionParser.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/support/ExpressionParser.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/cpp/support/NameSetting.cpp b/glass/src/lib/native/cpp/support/NameSetting.cpp
index cfc7ab3045..4b0489a00f 100644
--- a/glass/src/lib/native/cpp/support/NameSetting.cpp
+++ b/glass/src/lib/native/cpp/support/NameSetting.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/support/NameSetting.h"
+#include "wpi/glass/support/NameSetting.hpp"
 
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp b/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp
index 965d8ddf24..9a8e5449ca 100644
--- a/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp
+++ b/glass/src/lib/native/include/wpi/glass/ContextInternal.hpp
@@ -10,11 +10,11 @@
 #include <string>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/StringMap.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringMap.hpp"
 
-#include "glass/Context.h"
-#include "glass/Storage.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/DataSource.hpp b/glass/src/lib/native/include/wpi/glass/DataSource.hpp
index c3d51f888c..2870ac1b4d 100644
--- a/glass/src/lib/native/include/wpi/glass/DataSource.hpp
+++ b/glass/src/lib/native/include/wpi/glass/DataSource.hpp
@@ -13,9 +13,9 @@
 #include <utility>
 
 #include <imgui.h>
-#include <wpi/Signal.h>
-#include <wpi/SmallVector.h>
-#include <wpi/spinlock.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/spinlock.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp b/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp
index 048ab9b9ef..cfcd4db6aa 100644
--- a/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp
+++ b/glass/src/lib/native/include/wpi/glass/MainMenuBar.hpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>
 
-#include <portable-file-dialogs.h>
+#include "wpi/gui/portable-file-dialogs.h"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/Provider.hpp b/glass/src/lib/native/include/wpi/glass/Provider.hpp
index 95750de486..5d628c9590 100644
--- a/glass/src/lib/native/include/wpi/glass/Provider.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Provider.hpp
@@ -12,10 +12,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpigui.h>
+#include "wpi/gui/wpigui.hpp"
 
-#include "glass/Model.h"
-#include "glass/WindowManager.h"
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/WindowManager.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/Storage.hpp b/glass/src/lib/native/include/wpi/glass/Storage.hpp
index 765bbfe8a4..c4e3aced33 100644
--- a/glass/src/lib/native/include/wpi/glass/Storage.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Storage.hpp
@@ -14,9 +14,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/StringMap.h>
-#include <wpi/iterator_range.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/iterator_range.hpp"
+#include "wpi/util/json_fwd.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/View.hpp b/glass/src/lib/native/include/wpi/glass/View.hpp
index f52ebc659f..8453a01dfb 100644
--- a/glass/src/lib/native/include/wpi/glass/View.hpp
+++ b/glass/src/lib/native/include/wpi/glass/View.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include <wpi/FunctionExtras.h>
+#include "wpi/util/FunctionExtras.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/Window.hpp b/glass/src/lib/native/include/wpi/glass/Window.hpp
index 0a37f9ae88..77bab71454 100644
--- a/glass/src/lib/native/include/wpi/glass/Window.hpp
+++ b/glass/src/lib/native/include/wpi/glass/Window.hpp
@@ -11,7 +11,7 @@
 
 #include <imgui.h>
 
-#include "glass/View.h"
+#include "wpi/glass/View.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/WindowManager.hpp b/glass/src/lib/native/include/wpi/glass/WindowManager.hpp
index 02e680dd37..98ed449fd8 100644
--- a/glass/src/lib/native/include/wpi/glass/WindowManager.hpp
+++ b/glass/src/lib/native/include/wpi/glass/WindowManager.hpp
@@ -8,9 +8,9 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/FunctionExtras.h>
+#include "wpi/util/FunctionExtras.hpp"
 
-#include "glass/Window.h"
+#include "wpi/glass/Window.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp b/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp
index eed4eff4e9..6b4bdbdf5e 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/AnalogInput.hpp
@@ -6,9 +6,9 @@
 
 #include <string_view>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp b/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp
index b2f742373e..53a20a9801 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/DIO.hpp
@@ -6,9 +6,9 @@
 
 #include <string_view>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp b/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp
index 7ade4c0b16..228f75801e 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/Encoder.hpp
@@ -6,9 +6,9 @@
 
 #include <string_view>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp b/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp
index 53b8ce6f82..9d8e601940 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/Gyro.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 class DoubleSource;
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp b/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp
index aa5cd17ad7..1661851f11 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/LEDDisplay.hpp
@@ -6,9 +6,9 @@
 
 #include <span>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp b/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp
index fdd1f5ec05..232305de3e 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/MotorController.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 class DoubleSource;
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp b/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp
index cd9ecf9b6e..c87f7224fc 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/PWM.hpp
@@ -6,9 +6,9 @@
 
 #include <string_view>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp b/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp
index 9fcbff3a2b..6efb4790e2 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/Pneumatic.hpp
@@ -8,9 +8,9 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp b/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp
index 0c6c7b0a62..f65a23d751 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/PowerDistribution.hpp
@@ -6,9 +6,9 @@
 
 #include <string_view>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp b/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp
index 17ff92e5a0..7bc899eca1 100644
--- a/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp
+++ b/glass/src/lib/native/include/wpi/glass/hardware/RoboRio.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp b/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp
index 849f3e3b14..df4013c2c7 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Alerts.hpp
@@ -7,7 +7,7 @@
 #include <string>
 #include <vector>
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp b/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp
index 66b92b2e45..475336f9ff 100644
--- a/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/CommandScheduler.hpp
@@ -7,7 +7,7 @@
 #include <string>
 #include <vector>
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 class DataSource;
diff --git a/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp b/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp
index 3042977743..b7caf19a8a 100644
--- a/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/CommandSelector.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 class BooleanSource;
diff --git a/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp b/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp
index ddd27f2565..9883b286b5 100644
--- a/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/DeviceTree.hpp
@@ -9,9 +9,9 @@
 #include <vector>
 
 #include <imgui.h>
-#include <wpi/FunctionExtras.h>
+#include "wpi/util/FunctionExtras.hpp"
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/Drive.hpp b/glass/src/lib/native/include/wpi/glass/other/Drive.hpp
index 1fd7dae30c..a1f6ef4cbf 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Drive.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Drive.hpp
@@ -10,7 +10,7 @@
 #include <utility>
 #include <vector>
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 struct ImVec2;
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/FMS.hpp b/glass/src/lib/native/include/wpi/glass/other/FMS.hpp
index 85fda7176c..05e4d399b9 100644
--- a/glass/src/lib/native/include/wpi/glass/other/FMS.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/FMS.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp b/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp
index 9c9f72ae6f..7f699d8365 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Field2D.hpp
@@ -7,14 +7,14 @@
 #include <span>
 #include <string_view>
 
-#include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Rotation2d.h>
-#include <frc/geometry/Translation2d.h>
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
 #include <imgui.h>
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
-#include "glass/View.h"
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/View.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/Log.hpp b/glass/src/lib/native/include/wpi/glass/other/Log.hpp
index f054e6639c..f595a175e8 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Log.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Log.hpp
@@ -8,7 +8,7 @@
 #include <string_view>
 #include <vector>
 
-#include "glass/View.h"
+#include "wpi/glass/View.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp b/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp
index ab5ccdce54..63da874c4a 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Mechanism2D.hpp
@@ -4,13 +4,13 @@
 
 #pragma once
 
-#include <frc/geometry/Rotation2d.h>
-#include <frc/geometry/Translation2d.h>
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
 #include <imgui.h>
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
-#include "glass/Model.h"
-#include "glass/View.h"
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/View.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp b/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp
index 429bba9ffe..5b9b5874bd 100644
--- a/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/PIDController.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 class DoubleSource;
diff --git a/glass/src/lib/native/include/wpi/glass/other/Plot.hpp b/glass/src/lib/native/include/wpi/glass/other/Plot.hpp
index 3e27b9db74..a427238b78 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Plot.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Plot.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/WindowManager.h"
+#include "wpi/glass/WindowManager.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp b/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp
index 7a2e32c2c2..cea2ea54f0 100644
--- a/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/ProfiledPIDController.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 class DoubleSource;
diff --git a/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp b/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp
index 066c44408a..a6d3230fce 100644
--- a/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/StringChooser.hpp
@@ -8,7 +8,7 @@
 #include <string_view>
 #include <vector>
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp b/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp
index db79db583b..9ef5f34e4a 100644
--- a/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp
+++ b/glass/src/lib/native/include/wpi/glass/other/Subsystem.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "glass/Model.h"
+#include "wpi/glass/Model.hpp"
 
 namespace glass {
 class DataSource;
diff --git a/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp b/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp
index eaf308fdb4..ab5b307764 100644
--- a/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp
+++ b/glass/src/lib/native/include/wpi/glass/support/EnumSetting.hpp
@@ -6,7 +6,7 @@
 
 #include <string>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
 namespace glass {
 
diff --git a/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp b/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp
index ec03a93fb0..0815b56b88 100644
--- a/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp
+++ b/glass/src/lib/native/include/wpi/glass/support/ExpressionParser.hpp
@@ -8,7 +8,7 @@
 
 #include <string>
 
-#include <wpi/expected>
+#include "wpi/util/expected"
 
 namespace glass::expression {
 
diff --git a/glass/src/libnt/native/cpp/NTAlerts.cpp b/glass/src/libnt/native/cpp/NTAlerts.cpp
index 1257ea2a8f..f4bfcf0888 100644
--- a/glass/src/libnt/native/cpp/NTAlerts.cpp
+++ b/glass/src/libnt/native/cpp/NTAlerts.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTAlerts.h"
+#include "wpi/glass/networktables/NTAlerts.hpp"
 
 #include <utility>
 
diff --git a/glass/src/libnt/native/cpp/NTCommandScheduler.cpp b/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
index eef0c1a40c..71faa9c895 100644
--- a/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
+++ b/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTCommandScheduler.h"
+#include "wpi/glass/networktables/NTCommandScheduler.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTCommandSelector.cpp b/glass/src/libnt/native/cpp/NTCommandSelector.cpp
index e22a1a7122..db3d497429 100644
--- a/glass/src/libnt/native/cpp/NTCommandSelector.cpp
+++ b/glass/src/libnt/native/cpp/NTCommandSelector.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTCommandSelector.h"
+#include "wpi/glass/networktables/NTCommandSelector.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp b/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
index 58de26f392..f06d8de296 100644
--- a/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
+++ b/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTDifferentialDrive.h"
+#include "wpi/glass/networktables/NTDifferentialDrive.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
 #include <imgui.h>
-#include <wpi/MathExtras.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTDigitalInput.cpp b/glass/src/libnt/native/cpp/NTDigitalInput.cpp
index 6284afd54f..c0d8de9e26 100644
--- a/glass/src/libnt/native/cpp/NTDigitalInput.cpp
+++ b/glass/src/libnt/native/cpp/NTDigitalInput.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTDigitalInput.h"
+#include "wpi/glass/networktables/NTDigitalInput.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTDigitalOutput.cpp b/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
index c42516bbe0..05cdbdddb6 100644
--- a/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
+++ b/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTDigitalOutput.h"
+#include "wpi/glass/networktables/NTDigitalOutput.hpp"
 
 #include <utility>
 
diff --git a/glass/src/libnt/native/cpp/NTFMS.cpp b/glass/src/libnt/native/cpp/NTFMS.cpp
index d585da91d3..488afebefd 100644
--- a/glass/src/libnt/native/cpp/NTFMS.cpp
+++ b/glass/src/libnt/native/cpp/NTFMS.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTFMS.h"
+#include "wpi/glass/networktables/NTFMS.hpp"
 
 #include <stdint.h>
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/SmallVector.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/timestamp.h"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTField2D.cpp b/glass/src/libnt/native/cpp/NTField2D.cpp
index a9ed6f650e..a37b6baea4 100644
--- a/glass/src/libnt/native/cpp/NTField2D.cpp
+++ b/glass/src/libnt/native/cpp/NTField2D.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTField2D.h"
+#include "wpi/glass/networktables/NTField2D.hpp"
 
 #include <algorithm>
 #include <memory>
@@ -11,13 +11,13 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <networktables/DoubleArrayTopic.h>
-#include <networktables/MultiSubscriber.h>
-#include <ntcore_cpp.h>
-#include <wpi/Endian.h>
-#include <wpi/MathExtras.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/MultiSubscriber.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/util/Endian.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTGyro.cpp b/glass/src/libnt/native/cpp/NTGyro.cpp
index 1a078f57a2..94af426a86 100644
--- a/glass/src/libnt/native/cpp/NTGyro.cpp
+++ b/glass/src/libnt/native/cpp/NTGyro.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTGyro.h"
+#include "wpi/glass/networktables/NTGyro.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTMecanumDrive.cpp b/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
index f090cfcf6f..9b06026914 100644
--- a/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
+++ b/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTMecanumDrive.h"
+#include "wpi/glass/networktables/NTMecanumDrive.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
 #include <imgui.h>
-#include <wpi/MathExtras.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTMechanism2D.cpp b/glass/src/libnt/native/cpp/NTMechanism2D.cpp
index a963c28895..980fce17ce 100644
--- a/glass/src/libnt/native/cpp/NTMechanism2D.cpp
+++ b/glass/src/libnt/native/cpp/NTMechanism2D.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTMechanism2D.h"
+#include "wpi/glass/networktables/NTMechanism2D.hpp"
 
 #include <algorithm>
 #include <memory>
@@ -12,10 +12,10 @@
 
 #include <fmt/format.h>
 #include <imgui.h>
-#include <ntcore_cpp.h>
-#include <wpi/StringExtras.h>
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/other/Mechanism2D.h"
+#include "wpi/glass/other/Mechanism2D.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTMotorController.cpp b/glass/src/libnt/native/cpp/NTMotorController.cpp
index d28b8dd983..fa9a3bbabf 100644
--- a/glass/src/libnt/native/cpp/NTMotorController.cpp
+++ b/glass/src/libnt/native/cpp/NTMotorController.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTMotorController.h"
+#include "wpi/glass/networktables/NTMotorController.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTPIDController.cpp b/glass/src/libnt/native/cpp/NTPIDController.cpp
index 49037abab4..7fb78728d9 100644
--- a/glass/src/libnt/native/cpp/NTPIDController.cpp
+++ b/glass/src/libnt/native/cpp/NTPIDController.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTPIDController.h"
+#include "wpi/glass/networktables/NTPIDController.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp b/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
index 2beb829a4f..14697c6bb8 100644
--- a/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
+++ b/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTProfiledPIDController.h"
+#include "wpi/glass/networktables/NTProfiledPIDController.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTStringChooser.cpp b/glass/src/libnt/native/cpp/NTStringChooser.cpp
index 92c2a4bd03..e2d1be21a0 100644
--- a/glass/src/libnt/native/cpp/NTStringChooser.cpp
+++ b/glass/src/libnt/native/cpp/NTStringChooser.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTStringChooser.h"
+#include "wpi/glass/networktables/NTStringChooser.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NTSubsystem.cpp b/glass/src/libnt/native/cpp/NTSubsystem.cpp
index 28a8e7bf48..5b07d068e8 100644
--- a/glass/src/libnt/native/cpp/NTSubsystem.cpp
+++ b/glass/src/libnt/native/cpp/NTSubsystem.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NTSubsystem.h"
+#include "wpi/glass/networktables/NTSubsystem.hpp"
 
 #include <utility>
 
diff --git a/glass/src/libnt/native/cpp/NetworkTables.cpp b/glass/src/libnt/native/cpp/NetworkTables.cpp
index fb2be98f63..e305f6f824 100644
--- a/glass/src/libnt/native/cpp/NetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTables.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NetworkTables.h"
+#include "wpi/glass/networktables/NetworkTables.hpp"
 
 #include <algorithm>
 #include <cinttypes>
@@ -20,29 +20,29 @@
 #include <fmt/format.h>
 #include <imgui.h>
 #include <imgui_stdlib.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/NetworkTableValue.h>
-#include <ntcore_c.h>
-#include <ntcore_cpp.h>
-#include <ntcore_cpp_types.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/nt/ntcore_cpp_types.hpp"
 #include <upb/message/message.h>
 #include <upb/mini_table/message.h>
 #include <upb/reflection/def.h>
 #include <upb/reflection/message.h>
 #include <upb/reflection/stage0/google/protobuf/descriptor.upb.h>
 #include <upb/wire/decode.h>
-#include <wpi/MessagePack.h>
-#include <wpi/SmallString.h>
-#include <wpi/SpanExtras.h>
-#include <wpi/StringExtras.h>
-#include <wpi/mpack.h>
-#include <wpi/print.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/MessagePack.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SpanExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/mpack.h"
+#include "wpi/util/print.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
-#include "glass/Storage.h"
-#include "glass/support/ExtraGuiWidgets.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/support/ExtraGuiWidgets.hpp"
 
 using namespace glass;
 using namespace mpack;
diff --git a/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp b/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
index 2386ee0e53..025ed652f2 100644
--- a/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NetworkTablesProvider.h"
+#include "wpi/glass/networktables/NetworkTablesProvider.hpp"
 
 #include <algorithm>
 #include <memory>
 #include <utility>
 
 #include <fmt/format.h>
-#include <ntcore_cpp.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpigui.h>
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "glass/Storage.h"
+#include "wpi/glass/Storage.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp b/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
index 78f4fc8cd7..f0c0483341 100644
--- a/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/networktables/NetworkTablesSettings.h"
+#include "wpi/glass/networktables/NetworkTablesSettings.hpp"
 
 #include <optional>
 #include <string_view>
@@ -11,11 +11,11 @@
 
 #include <imgui.h>
 #include <imgui_stdlib.h>
-#include <ntcore_cpp.h>
-#include <wpi/StringExtras.h>
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "glass/Context.h"
-#include "glass/Storage.h"
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/cpp/StandardNetworkTables.cpp b/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
index 6def5a931c..695bab053b 100644
--- a/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
@@ -4,23 +4,23 @@
 
 #include <memory>
 
-#include "glass/networktables/NTAlerts.h"
-#include "glass/networktables/NTCommandScheduler.h"
-#include "glass/networktables/NTCommandSelector.h"
-#include "glass/networktables/NTDifferentialDrive.h"
-#include "glass/networktables/NTDigitalInput.h"
-#include "glass/networktables/NTDigitalOutput.h"
-#include "glass/networktables/NTFMS.h"
-#include "glass/networktables/NTField2D.h"
-#include "glass/networktables/NTGyro.h"
-#include "glass/networktables/NTMecanumDrive.h"
-#include "glass/networktables/NTMechanism2D.h"
-#include "glass/networktables/NTMotorController.h"
-#include "glass/networktables/NTPIDController.h"
-#include "glass/networktables/NTProfiledPIDController.h"
-#include "glass/networktables/NTStringChooser.h"
-#include "glass/networktables/NTSubsystem.h"
-#include "glass/networktables/NetworkTablesProvider.h"
+#include "wpi/glass/networktables/NTAlerts.hpp"
+#include "wpi/glass/networktables/NTCommandScheduler.hpp"
+#include "wpi/glass/networktables/NTCommandSelector.hpp"
+#include "wpi/glass/networktables/NTDifferentialDrive.hpp"
+#include "wpi/glass/networktables/NTDigitalInput.hpp"
+#include "wpi/glass/networktables/NTDigitalOutput.hpp"
+#include "wpi/glass/networktables/NTFMS.hpp"
+#include "wpi/glass/networktables/NTField2D.hpp"
+#include "wpi/glass/networktables/NTGyro.hpp"
+#include "wpi/glass/networktables/NTMecanumDrive.hpp"
+#include "wpi/glass/networktables/NTMechanism2D.hpp"
+#include "wpi/glass/networktables/NTMotorController.hpp"
+#include "wpi/glass/networktables/NTPIDController.hpp"
+#include "wpi/glass/networktables/NTProfiledPIDController.hpp"
+#include "wpi/glass/networktables/NTStringChooser.hpp"
+#include "wpi/glass/networktables/NTSubsystem.hpp"
+#include "wpi/glass/networktables/NetworkTablesProvider.hpp"
 
 using namespace glass;
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp
index 4148d4b345..b5378b16b2 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTAlerts.hpp
@@ -8,10 +8,10 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringArrayTopic.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
 
-#include "glass/other/Alerts.h"
+#include "wpi/glass/other/Alerts.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp
index 980e1f5b0a..f5b7c02ba9 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandScheduler.hpp
@@ -10,13 +10,13 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/IntegerArrayTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringArrayTopic.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/IntegerArrayTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/CommandScheduler.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/CommandScheduler.hpp"
 
 namespace glass {
 class NTCommandSchedulerModel : public CommandSchedulerModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp
index 6223074b76..ed069c23b5 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTCommandSelector.hpp
@@ -7,12 +7,12 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/CommandSelector.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/CommandSelector.hpp"
 
 namespace glass {
 class NTCommandSelectorModel : public CommandSelectorModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp
index 8da76852ee..bb12b3864f 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTDifferentialDrive.hpp
@@ -8,13 +8,13 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/Drive.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/Drive.hpp"
 
 namespace glass {
 class NTDifferentialDriveModel : public DriveModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp
index 49a8b53de8..5e77a2c7d0 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalInput.hpp
@@ -7,12 +7,12 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/hardware/DIO.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/hardware/DIO.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp
index 6fd1ed1782..215fd3eeeb 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTDigitalOutput.hpp
@@ -7,12 +7,12 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/hardware/DIO.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/hardware/DIO.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp
index 5b6b6e01ba..b0e7b25ae7 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTFMS.hpp
@@ -6,13 +6,13 @@
 
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/IntegerTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/FMS.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/FMS.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp
index 40265edd57..5ebb087557 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTField2D.hpp
@@ -10,13 +10,13 @@
 #include <utility>
 #include <vector>
 
-#include <networktables/MultiSubscriber.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/NetworkTableListener.h>
-#include <networktables/StringTopic.h>
-#include <ntcore_cpp.h>
+#include "wpi/nt/MultiSubscriber.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/NetworkTableListener.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
-#include "glass/other/Field2D.h"
+#include "wpi/glass/other/Field2D.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp
index 92b5303eaa..74af23502f 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTGyro.hpp
@@ -7,12 +7,12 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/hardware/Gyro.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/hardware/Gyro.hpp"
 
 namespace glass {
 class NTGyroModel : public GyroModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp
index 1ec318698e..8b390b9245 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTMecanumDrive.hpp
@@ -8,13 +8,13 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/Drive.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/Drive.hpp"
 
 namespace glass {
 class NTMecanumDriveModel : public DriveModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp
index a2709c7938..c5c6c9555d 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTMechanism2D.hpp
@@ -10,12 +10,12 @@
 #include <utility>
 #include <vector>
 
-#include <frc/geometry/Translation2d.h>
-#include <networktables/MultiSubscriber.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/NetworkTableListener.h>
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/nt/MultiSubscriber.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/NetworkTableListener.hpp"
 
-#include "glass/other/Mechanism2D.h"
+#include "wpi/glass/other/Mechanism2D.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp
index 5a2af5d8a4..75d3223da8 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTMotorController.hpp
@@ -7,13 +7,13 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/hardware/MotorController.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/hardware/MotorController.hpp"
 
 namespace glass {
 class NTMotorControllerModel : public MotorControllerModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp
index 672483dbbd..97e1bd8ed6 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTPIDController.hpp
@@ -7,13 +7,13 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/PIDController.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/PIDController.hpp"
 
 namespace glass {
 class NTPIDControllerModel : public PIDControllerModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp
index b7e2f991fd..6d9bd8f95d 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTProfiledPIDController.hpp
@@ -7,13 +7,13 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/ProfiledPIDController.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/ProfiledPIDController.hpp"
 
 namespace glass {
 class NTProfiledPIDControllerModel : public ProfiledPIDControllerModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp
index 49c4802ede..5299172607 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTStringChooser.hpp
@@ -7,11 +7,11 @@
 #include <string>
 #include <vector>
 
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringArrayTopic.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/other/StringChooser.h"
+#include "wpi/glass/other/StringChooser.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp
index 6c1ee3a2fd..8003de956d 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NTSubsystem.hpp
@@ -7,11 +7,11 @@
 #include <string>
 #include <string_view>
 
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "glass/DataSource.h"
-#include "glass/other/Subsystem.h"
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/other/Subsystem.hpp"
 
 namespace glass {
 class NTSubsystemModel : public SubsystemModel {
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp
index b68426fac8..c21a27b9b5 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTables.hpp
@@ -13,17 +13,17 @@
 #include <utility>
 #include <vector>
 
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/NetworkTableListener.h>
-#include <ntcore_cpp.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/NetworkTableListener.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 #include <upb/mem/arena.h>
 #include <upb/reflection/def.h>
-#include <wpi/DenseMap.h>
-#include <wpi/json.h>
-#include <wpi/struct/DynamicStruct.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/struct/DynamicStruct.hpp"
 
-#include "glass/Model.h"
-#include "glass/View.h"
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/View.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp
index cba34cc669..5b23c10693 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesProvider.hpp
@@ -9,15 +9,15 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/NetworkTableListener.h>
-#include <networktables/StringTopic.h>
-#include <networktables/Topic.h>
-#include <wpi/DenseMap.h>
-#include <wpi/StringMap.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/NetworkTableListener.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/StringMap.hpp"
 
-#include "glass/Model.h"
-#include "glass/Provider.h"
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/Provider.hpp"
 
 namespace glass {
 
diff --git a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp
index 897eb9e249..96080e8827 100644
--- a/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp
+++ b/glass/src/libnt/native/include/wpi/glass/networktables/NetworkTablesSettings.hpp
@@ -6,10 +6,10 @@
 
 #include <string>
 
-#include <ntcore_cpp.h>
-#include <wpi/SafeThread.h>
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/util/SafeThread.hpp"
 
-#include "glass/support/EnumSetting.h"
+#include "wpi/glass/support/EnumSetting.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/hal/src/dev/native/cpp/main.cpp b/hal/src/dev/native/cpp/main.cpp
index 31fdd5a286..f392c614d2 100644
--- a/hal/src/dev/native/cpp/main.cpp
+++ b/hal/src/dev/native/cpp/main.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "hal/HAL.h"
+#include "wpi/hal/HAL.h"
 
 int main() {
   wpi::print("Hello World\n");
diff --git a/hal/src/main/native/cpp/ErrorHandling.cpp b/hal/src/main/native/cpp/ErrorHandling.cpp
index ad1b40b5bd..808e3165bc 100644
--- a/hal/src/main/native/cpp/ErrorHandling.cpp
+++ b/hal/src/main/native/cpp/ErrorHandling.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <fmt/format.h>
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
-#include "hal/Errors.h"
-#include "hal/HALBase.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/HALBase.h"
 
 namespace {
 struct LastErrorStorage {
diff --git a/hal/src/main/native/cpp/Main.cpp b/hal/src/main/native/cpp/Main.cpp
index a43a108324..30b3e2b5da 100644
--- a/hal/src/main/native/cpp/Main.cpp
+++ b/hal/src/main/native/cpp/Main.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Main.h"
+#include "wpi/hal/Main.h"
 
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 static void DefaultMain(void*);
 static void DefaultExit(void*);
diff --git a/hal/src/main/native/cpp/UsageReporting.cpp b/hal/src/main/native/cpp/UsageReporting.cpp
index d4693888d9..8b962c3ef3 100644
--- a/hal/src/main/native/cpp/UsageReporting.cpp
+++ b/hal/src/main/native/cpp/UsageReporting.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/UsageReporting.h"
+#include "wpi/hal/UsageReporting.h"
 
 #include <fmt/format.h>
 
diff --git a/hal/src/main/native/cpp/cpp/fpga_clock.cpp b/hal/src/main/native/cpp/cpp/fpga_clock.cpp
index 35dff1c21b..a54e9fe96e 100644
--- a/hal/src/main/native/cpp/cpp/fpga_clock.cpp
+++ b/hal/src/main/native/cpp/cpp/fpga_clock.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/cpp/fpga_clock.h"
+#include "wpi/hal/cpp/fpga_clock.h"
 
 #include <cstdio>
 #include <limits>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "hal/HALBase.h"
+#include "wpi/hal/HALBase.h"
 
 namespace hal {
 const fpga_clock::time_point fpga_clock::min_time =
diff --git a/hal/src/main/native/cpp/handles/HandlesInternal.cpp b/hal/src/main/native/cpp/handles/HandlesInternal.cpp
index ebf2a36250..204bb24580 100644
--- a/hal/src/main/native/cpp/handles/HandlesInternal.cpp
+++ b/hal/src/main/native/cpp/handles/HandlesInternal.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 #include <algorithm>
 
-#include <wpi/SmallVector.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/mutex.hpp"
 
 namespace hal {
 static wpi::SmallVector<HandleBase*, 32>* globalHandles = nullptr;
diff --git a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
index 811e520bc1..24b30cae3d 100644
--- a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
@@ -4,11 +4,11 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_AddressableLEDJNI.h"
-#include "hal/AddressableLED.h"
+#include "wpi/hal/AddressableLED.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/AnalogJNI.cpp b/hal/src/main/native/cpp/jni/AnalogJNI.cpp
index 4567ec5607..4949f933da 100644
--- a/hal/src/main/native/cpp/jni/AnalogJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AnalogJNI.cpp
@@ -6,13 +6,13 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_AnalogJNI.h"
-#include "hal/AnalogInput.h"
-#include "hal/Ports.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/AnalogInput.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
index 19deac6421..376baec99a 100644
--- a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
@@ -6,13 +6,13 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_CANAPIJNI.h"
-#include "hal/CAN.h"
-#include "hal/CANAPI.h"
-#include "hal/Errors.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/Errors.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/CANJNI.cpp b/hal/src/main/native/cpp/jni/CANJNI.cpp
index bb1b53303d..e002373e69 100644
--- a/hal/src/main/native/cpp/jni/CANJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -6,12 +6,12 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_can_CANJNI.h"
-#include "hal/CAN.h"
-#include "hal/Errors.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/Errors.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp b/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
index 7e0634e099..1547cea092 100644
--- a/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CTREPCMJNI.cpp
@@ -4,13 +4,13 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_CTREPCMJNI.h"
-#include "hal/CTREPCM.h"
-#include "hal/Ports.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/CTREPCM.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/ConstantsJNI.cpp b/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
index 40d6dada8d..38e49dbbdd 100644
--- a/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
@@ -8,7 +8,7 @@
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_ConstantsJNI.h"
-#include "hal/Constants.h"
+#include "wpi/hal/Constants.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/CounterJNI.cpp b/hal/src/main/native/cpp/jni/CounterJNI.cpp
index 1f7b9f4e93..efddf40071 100644
--- a/hal/src/main/native/cpp/jni/CounterJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CounterJNI.cpp
@@ -6,12 +6,12 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_CounterJNI.h"
-#include "hal/Counter.h"
-#include "hal/Errors.h"
+#include "wpi/hal/Counter.h"
+#include "wpi/hal/Errors.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/DIOJNI.cpp b/hal/src/main/native/cpp/jni/DIOJNI.cpp
index 5a2d78824e..85a60e2c36 100644
--- a/hal/src/main/native/cpp/jni/DIOJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DIOJNI.cpp
@@ -6,14 +6,14 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_DIOJNI.h"
-#include "hal/DIO.h"
-#include "hal/PWM.h"
-#include "hal/Ports.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
index 758a7cfe08..233db6d680 100644
--- a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
@@ -7,12 +7,12 @@
 #include <cassert>
 
 #include <fmt/format.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_DriverStationJNI.h"
-#include "hal/DriverStation.h"
-#include "hal/HALBase.h"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/HALBase.h"
 
 static_assert(org_wpilib_hardware_hal_DriverStationJNI_kUnknownAllianceStation ==
               HAL_AllianceStationID_kUnknown);
diff --git a/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp b/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
index 0556b55ac6..3b4c5bd1ac 100644
--- a/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DutyCycleJNI.cpp
@@ -4,11 +4,11 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_DutyCycleJNI.h"
-#include "hal/DutyCycle.h"
+#include "wpi/hal/DutyCycle.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/EncoderJNI.cpp b/hal/src/main/native/cpp/jni/EncoderJNI.cpp
index 0bab7b8907..7c591e4168 100644
--- a/hal/src/main/native/cpp/jni/EncoderJNI.cpp
+++ b/hal/src/main/native/cpp/jni/EncoderJNI.cpp
@@ -8,8 +8,8 @@
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_EncoderJNI.h"
-#include "hal/Encoder.h"
-#include "hal/Errors.h"
+#include "wpi/hal/Encoder.h"
+#include "wpi/hal/Errors.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/HAL.cpp b/hal/src/main/native/cpp/jni/HAL.cpp
index 27f5162f67..a9a1f4c1d8 100644
--- a/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/hal/src/main/native/cpp/jni/HAL.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/HAL.h"
+#include "wpi/hal/HAL.h"
 
 #include <jni.h>
 
@@ -14,12 +14,12 @@
 #include <cstring>
 
 #include <fmt/format.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_HAL.h"
-#include "hal/DriverStation.h"
-#include "hal/Main.h"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Main.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/HALUtil.cpp b/hal/src/main/native/cpp/jni/HALUtil.cpp
index 57c6fe5f39..a645ead720 100644
--- a/hal/src/main/native/cpp/jni/HALUtil.cpp
+++ b/hal/src/main/native/cpp/jni/HALUtil.cpp
@@ -13,13 +13,13 @@
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_hardware_hal_HALUtil.h"
-#include "hal/CAN.h"
-#include "hal/DriverStation.h"
-#include "hal/Errors.h"
-#include "hal/HAL.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/HAL.h"
 
 using namespace wpi::java;
 
diff --git a/hal/src/main/native/cpp/jni/I2CJNI.cpp b/hal/src/main/native/cpp/jni/I2CJNI.cpp
index c0c98386df..56a98af4a9 100644
--- a/hal/src/main/native/cpp/jni/I2CJNI.cpp
+++ b/hal/src/main/native/cpp/jni/I2CJNI.cpp
@@ -6,11 +6,11 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_I2CJNI.h"
-#include "hal/I2C.h"
+#include "wpi/hal/I2C.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/IMUJNI.cpp b/hal/src/main/native/cpp/jni/IMUJNI.cpp
index 5527a08b2d..369cf639e9 100644
--- a/hal/src/main/native/cpp/jni/IMUJNI.cpp
+++ b/hal/src/main/native/cpp/jni/IMUJNI.cpp
@@ -10,7 +10,7 @@
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_IMUJNI.h"
-#include "hal/IMU.h"
+#include "wpi/hal/IMU.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/NotifierJNI.cpp b/hal/src/main/native/cpp/jni/NotifierJNI.cpp
index 9306e0a205..3832769544 100644
--- a/hal/src/main/native/cpp/jni/NotifierJNI.cpp
+++ b/hal/src/main/native/cpp/jni/NotifierJNI.cpp
@@ -7,11 +7,11 @@
 #include <cassert>
 #include <cstdio>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_NotifierJNI.h"
-#include "hal/Notifier.h"
+#include "wpi/hal/Notifier.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/PWMJNI.cpp b/hal/src/main/native/cpp/jni/PWMJNI.cpp
index dbfa11af04..a04e88ade4 100644
--- a/hal/src/main/native/cpp/jni/PWMJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PWMJNI.cpp
@@ -6,14 +6,14 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_PWMJNI.h"
-#include "hal/DIO.h"
-#include "hal/PWM.h"
-#include "hal/Ports.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/PortsJNI.cpp b/hal/src/main/native/cpp/jni/PortsJNI.cpp
index 4648279259..60eff1bf62 100644
--- a/hal/src/main/native/cpp/jni/PortsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PortsJNI.cpp
@@ -8,7 +8,7 @@
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_PortsJNI.h"
-#include "hal/Ports.h"
+#include "wpi/hal/Ports.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp b/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
index 860f39063e..a59944e6f9 100644
--- a/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
@@ -4,12 +4,12 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_PowerDistributionJNI.h"
-#include "hal/Ports.h"
-#include "hal/PowerDistribution.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/PowerDistribution.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/PowerJNI.cpp b/hal/src/main/native/cpp/jni/PowerJNI.cpp
index 509f5ef5d7..b4116c7a1e 100644
--- a/hal/src/main/native/cpp/jni/PowerJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PowerJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_PowerJNI.h"
-#include "hal/Power.h"
+#include "wpi/hal/Power.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/REVPHJNI.cpp b/hal/src/main/native/cpp/jni/REVPHJNI.cpp
index 3876a7d954..fd1f82c22b 100644
--- a/hal/src/main/native/cpp/jni/REVPHJNI.cpp
+++ b/hal/src/main/native/cpp/jni/REVPHJNI.cpp
@@ -4,13 +4,13 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_REVPHJNI.h"
-#include "hal/Ports.h"
-#include "hal/REVPH.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/REVPH.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 static_assert(
     org_wpilib_hardware_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_DISABLED ==
diff --git a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
index 4aecfddc0f..b505e489fa 100644
--- a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
@@ -6,11 +6,11 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_SerialPortJNI.h"
-#include "hal/SerialPort.h"
+#include "wpi/hal/SerialPort.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
index 9ca2cc0c9e..a07e4c2024 100644
--- a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
@@ -7,11 +7,11 @@
 #include <string>
 #include <vector>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_SimDeviceJNI.h"
-#include "hal/SimDevice.h"
+#include "wpi/hal/SimDevice.h"
 
 using namespace wpi::java;
 
diff --git a/hal/src/main/native/cpp/jni/SystemServerJNI.cpp b/hal/src/main/native/cpp/jni/SystemServerJNI.cpp
index 2ba8d5a8be..839483f8e5 100644
--- a/hal/src/main/native/cpp/jni/SystemServerJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SystemServerJNI.cpp
@@ -5,7 +5,7 @@
 #include <jni.h>
 
 #include "org_wpilib_hardware_hal_SystemServerJNI.h"
-#include "hal/SystemServer.h"
+#include "wpi/hal/SystemServer.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/ThreadsJNI.cpp b/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
index 0f8fefce2e..013e277a16 100644
--- a/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
+++ b/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
@@ -8,7 +8,7 @@
 
 #include "HALUtil.h"
 #include "org_wpilib_hardware_hal_ThreadsJNI.h"
-#include "hal/Threads.h"
+#include "wpi/hal/Threads.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp b/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp
index 96d0dd7b5e..e18d271d31 100644
--- a/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp
+++ b/hal/src/main/native/cpp/jni/UsageReportingJNI.cpp
@@ -6,11 +6,11 @@
 
 #include <cassert>
 
-#include <wpi/jni_util.h>
-#include <wpi/string.h>
+#include "wpi/util/jni_util.hpp"
+#include "wpi/util/string.h"
 
 #include "org_wpilib_hardware_hal_UsageReportingJNI.h"
-#include "hal/UsageReporting.h"
+#include "wpi/hal/UsageReporting.h"
 
 using namespace wpi::java;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
index 59ab175513..9027eba3bf 100644
--- a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
@@ -9,7 +9,7 @@
 #include "CallbackStore.h"
 #include "ConstBufferCallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_AddressableLEDDataJNI.h"
-#include "hal/simulation/AddressableLEDData.h"
+#include "wpi/hal/simulation/AddressableLEDData.h"
 
 static_assert(sizeof(jbyte) * 3 == sizeof(HAL_AddressableLEDData));
 
diff --git a/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
index 6868be20e4..73861d8ae0 100644
--- a/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_AnalogInDataJNI.h"
-#include "hal/simulation/AnalogInData.h"
+#include "wpi/hal/simulation/AnalogInData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
index 54fb3ecaba..fa643ea61a 100644
--- a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
@@ -9,11 +9,11 @@
 #include <cstdio>
 #include <memory>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "SimulatorJNI.h"
-#include "hal/Types.h"
-#include "hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
 
 using namespace hal;
 using namespace hal::sim;
diff --git a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
index 73cf9578db..e006879302 100644
--- a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.h
@@ -6,13 +6,13 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "SimulatorJNI.h"
-#include "hal/Types.h"
-#include "hal/Value.h"
-#include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 namespace hal::sim {
 class BufferCallbackStore {
diff --git a/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
index bc95e4bcfd..e58040034e 100644
--- a/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/CTREPCMDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_CTREPCMDataJNI.h"
-#include "hal/simulation/CTREPCMData.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
index f36478aaf2..6b33ed8a32 100644
--- a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
@@ -9,12 +9,12 @@
 #include <cstdio>
 #include <memory>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "SimulatorJNI.h"
-#include "hal/Types.h"
-#include "hal/Value.h"
-#include "hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
 
 using namespace hal;
 using namespace hal::sim;
diff --git a/hal/src/main/native/cpp/jni/simulation/CallbackStore.h b/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
index 59e10184c0..9e0f386407 100644
--- a/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/CallbackStore.h
@@ -6,13 +6,13 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "SimulatorJNI.h"
-#include "hal/Types.h"
-#include "hal/Value.h"
-#include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 namespace hal::sim {
 class CallbackStore {
diff --git a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
index e8c8b3161d..aa3cc4c314 100644
--- a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
@@ -9,11 +9,11 @@
 #include <cstdio>
 #include <memory>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "SimulatorJNI.h"
-#include "hal/Types.h"
-#include "hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
 
 using namespace hal;
 using namespace hal::sim;
diff --git a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
index 0998d3c190..fee5f736d6 100644
--- a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
+++ b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.h
@@ -6,13 +6,13 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "SimulatorJNI.h"
-#include "hal/Types.h"
-#include "hal/Value.h"
-#include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 namespace hal::sim {
 class ConstBufferCallbackStore {
diff --git a/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
index 5b89afef59..005800e7cd 100644
--- a/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DIODataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_DIODataJNI.h"
-#include "hal/simulation/DIOData.h"
+#include "wpi/hal/simulation/DIOData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
index f1dc2d4ecd..5ece6ac98f 100644
--- a/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DigitalPWMDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_DigitalPWMDataJNI.h"
-#include "hal/simulation/DigitalPWMData.h"
+#include "wpi/hal/simulation/DigitalPWMData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
index 7729d70277..91488e816d 100644
--- a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
@@ -4,13 +4,13 @@
 
 #include <jni.h>
 
-#include <wpi/StringExtras.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/jni_util.hpp"
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_DriverStationDataJNI.h"
-#include "hal/simulation/DriverStationData.h"
-#include "hal/simulation/MockHooks.h"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/MockHooks.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
index 9eb74d99b4..62bb0c8f85 100644
--- a/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_DutyCycleDataJNI.h"
-#include "hal/simulation/DutyCycleData.h"
+#include "wpi/hal/simulation/DutyCycleData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
index b573e61f2f..c2fbed5337 100644
--- a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_EncoderDataJNI.h"
-#include "hal/simulation/EncoderData.h"
+#include "wpi/hal/simulation/EncoderData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
index f34bfdf19d..be46d43fa3 100644
--- a/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/I2CDataJNI.cpp
@@ -8,7 +8,7 @@
 #include "CallbackStore.h"
 #include "ConstBufferCallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_I2CDataJNI.h"
-#include "hal/simulation/I2CData.h"
+#include "wpi/hal/simulation/I2CData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp
index dd34bf51f1..da9c7e4339 100644
--- a/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/NotifierDataJNI.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "org_wpilib_hardware_hal_simulation_NotifierDataJNI.h"
-#include "hal/simulation/NotifierData.h"
+#include "wpi/hal/simulation/NotifierData.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
index e947039f30..177df59e5f 100644
--- a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_PWMDataJNI.h"
-#include "hal/simulation/PWMData.h"
+#include "wpi/hal/simulation/PWMData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
index 85e162cfbb..502d11813a 100644
--- a/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/PowerDistributionDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_PowerDistributionDataJNI.h"
-#include "hal/simulation/PowerDistributionData.h"
+#include "wpi/hal/simulation/PowerDistributionData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
index 2e0ba063c0..9de41c5039 100644
--- a/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
@@ -6,7 +6,7 @@
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_REVPHDataJNI.h"
-#include "hal/simulation/REVPHData.h"
+#include "wpi/hal/simulation/REVPHData.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
index 0373f4d589..2f85288c27 100644
--- a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
@@ -4,11 +4,11 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "CallbackStore.h"
 #include "org_wpilib_hardware_hal_simulation_RoboRioDataJNI.h"
-#include "hal/simulation/RoboRioData.h"
+#include "wpi/hal/simulation/RoboRioData.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
index 036249283c..b5f97a5a0a 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
@@ -12,12 +12,12 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "SimulatorJNI.h"
 #include "org_wpilib_hardware_hal_simulation_SimDeviceDataJNI.h"
-#include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/SimDeviceData.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
 using namespace hal;
 using namespace wpi::java;
diff --git a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
index bb213a32ab..3013487270 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
@@ -4,16 +4,16 @@
 
 #include "SimulatorJNI.h"
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "BufferCallbackStore.h"
 #include "CallbackStore.h"
 #include "ConstBufferCallbackStore.h"
 #include "SimDeviceDataJNI.h"
 #include "org_wpilib_hardware_hal_simulation_SimulatorJNI.h"
-#include "hal/HAL.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/MockHooks.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/simulation/MockHooks.h"
 
 using namespace wpi::java;
 
diff --git a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
index 6432079cac..0dfaf26893 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
+++ b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 #include "jni.h"
 
 using SIM_JniHandle = HAL_Handle;  // NOLINT
diff --git a/hal/src/main/native/cpp/proto/ControlDataProto.cpp b/hal/src/main/native/cpp/proto/ControlDataProto.cpp
index 65132a8ba8..669a26c28b 100644
--- a/hal/src/main/native/cpp/proto/ControlDataProto.cpp
+++ b/hal/src/main/native/cpp/proto/ControlDataProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "hal/proto/ControlData.h"
+#include "wpi/hal/proto/ControlData.h"
 
 static_assert(sizeof(mrc::ControlFlags) == sizeof(uint32_t));
 
diff --git a/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp b/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp
index e64719f481..79a21e5c43 100644
--- a/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp
+++ b/hal/src/main/native/cpp/proto/ErrorInfoProto.cpp
@@ -5,9 +5,9 @@
 #include <string>
 #include <utility>
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "hal/proto/ErrorInfo.h"
+#include "wpi/hal/proto/ErrorInfo.h"
 
 std::optional<mrc::ErrorInfo> wpi::Protobuf<mrc::ErrorInfo>::Unpack(
     InputStream& Stream) {
diff --git a/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp b/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
index da03f9d688..e612f977b8 100644
--- a/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
+++ b/hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp
@@ -5,9 +5,9 @@
 #include <string>
 #include <utility>
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "hal/proto/JoystickDescriptor.h"
+#include "wpi/hal/proto/JoystickDescriptor.h"
 
 std::optional<mrc::JoystickDescriptor>
 wpi::Protobuf<mrc::JoystickDescriptor>::Unpack(InputStream& Stream) {
diff --git a/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp b/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp
index 03f6f8adce..382a771286 100644
--- a/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp
+++ b/hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "hal/proto/JoystickRumbleData.h"
+#include "wpi/hal/proto/JoystickRumbleData.h"
 
 std::optional<mrc::JoystickRumbleData>
 wpi::Protobuf<mrc::JoystickRumbleData>::Unpack(InputStream& Stream) {
diff --git a/hal/src/main/native/cpp/proto/MatchInfoProto.cpp b/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
index 537655477d..d0cf4d0a33 100644
--- a/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
+++ b/hal/src/main/native/cpp/proto/MatchInfoProto.cpp
@@ -5,9 +5,9 @@
 #include <string>
 #include <utility>
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "hal/proto/MatchInfo.h"
+#include "wpi/hal/proto/MatchInfo.h"
 
 std::optional<mrc::MatchInfo> wpi::Protobuf<mrc::MatchInfo>::Unpack(
     InputStream& Stream) {
diff --git a/hal/src/main/native/cpp/proto/OpModeProto.cpp b/hal/src/main/native/cpp/proto/OpModeProto.cpp
index 1cb9bf6e0b..fd51258567 100644
--- a/hal/src/main/native/cpp/proto/OpModeProto.cpp
+++ b/hal/src/main/native/cpp/proto/OpModeProto.cpp
@@ -6,9 +6,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "hal/proto/OpMode.h"
+#include "wpi/hal/proto/OpMode.h"
 
 std::optional<mrc::OpMode> wpi::Protobuf<mrc::OpMode>::Unpack(
     InputStream& Stream) {
diff --git a/hal/src/main/native/include/wpi/hal/AddressableLED.h b/hal/src/main/native/include/wpi/hal/AddressableLED.h
index 9458b6e52c..3a6c71e172 100644
--- a/hal/src/main/native/include/wpi/hal/AddressableLED.h
+++ b/hal/src/main/native/include/wpi/hal/AddressableLED.h
@@ -6,8 +6,8 @@
 
 #include <stdint.h>
 
-#include "hal/AddressableLEDTypes.h"
-#include "hal/Types.h"
+#include "wpi/hal/AddressableLEDTypes.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_addressable Addressable LED Functions
diff --git a/hal/src/main/native/include/wpi/hal/AddressableLEDTypes.h b/hal/src/main/native/include/wpi/hal/AddressableLEDTypes.h
index 7498b769e7..338483c518 100644
--- a/hal/src/main/native/include/wpi/hal/AddressableLEDTypes.h
+++ b/hal/src/main/native/include/wpi/hal/AddressableLEDTypes.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <hal/Types.h>
+#include "wpi/hal/Types.h"
 #include <stdint.h>
 
 /** max length of LED strip supported by device. */
diff --git a/hal/src/main/native/include/wpi/hal/AnalogInput.h b/hal/src/main/native/include/wpi/hal/AnalogInput.h
index a3f3dbd512..4f7ae0193a 100644
--- a/hal/src/main/native/include/wpi/hal/AnalogInput.h
+++ b/hal/src/main/native/include/wpi/hal/AnalogInput.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_analoginput Analog Input Functions
diff --git a/hal/src/main/native/include/wpi/hal/CAN.h b/hal/src/main/native/include/wpi/hal/CAN.h
index 627c05ad60..21ace70147 100644
--- a/hal/src/main/native/include/wpi/hal/CAN.h
+++ b/hal/src/main/native/include/wpi/hal/CAN.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <hal/CANAPITypes.h>
-#include <hal/Types.h>
+#include "wpi/hal/CANAPITypes.h"
+#include "wpi/hal/Types.h"
 #include <stdint.h>
 
 /**
diff --git a/hal/src/main/native/include/wpi/hal/CANAPI.h b/hal/src/main/native/include/wpi/hal/CANAPI.h
index 879f5a64bb..0610f232da 100644
--- a/hal/src/main/native/include/wpi/hal/CANAPI.h
+++ b/hal/src/main/native/include/wpi/hal/CANAPI.h
@@ -6,9 +6,9 @@
 
 #include <stdint.h>
 
-#include "hal/CAN.h"
-#include "hal/CANAPITypes.h"
-#include "hal/Types.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/CANAPITypes.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_canapi CAN API Functions
diff --git a/hal/src/main/native/include/wpi/hal/CANAPITypes.h b/hal/src/main/native/include/wpi/hal/CANAPITypes.h
index 2048a7028e..15e95c9bb2 100644
--- a/hal/src/main/native/include/wpi/hal/CANAPITypes.h
+++ b/hal/src/main/native/include/wpi/hal/CANAPITypes.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_canapi CAN API Functions
diff --git a/hal/src/main/native/include/wpi/hal/CTREPCM.h b/hal/src/main/native/include/wpi/hal/CTREPCM.h
index ff0e43f85b..526f011bb1 100644
--- a/hal/src/main/native/include/wpi/hal/CTREPCM.h
+++ b/hal/src/main/native/include/wpi/hal/CTREPCM.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_ctre_pcm CTRE Pneumatic Control Module (PCM) Functions
diff --git a/hal/src/main/native/include/wpi/hal/Counter.h b/hal/src/main/native/include/wpi/hal/Counter.h
index 6f1dc6a3e4..f0b2c7e42a 100644
--- a/hal/src/main/native/include/wpi/hal/Counter.h
+++ b/hal/src/main/native/include/wpi/hal/Counter.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_counter Counter Functions
diff --git a/hal/src/main/native/include/wpi/hal/DIO.h b/hal/src/main/native/include/wpi/hal/DIO.h
index 218637ca37..739a34763f 100644
--- a/hal/src/main/native/include/wpi/hal/DIO.h
+++ b/hal/src/main/native/include/wpi/hal/DIO.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_dio DIO Functions
diff --git a/hal/src/main/native/include/wpi/hal/DriverStation.h b/hal/src/main/native/include/wpi/hal/DriverStation.h
index 533871f87c..103833567e 100644
--- a/hal/src/main/native/include/wpi/hal/DriverStation.h
+++ b/hal/src/main/native/include/wpi/hal/DriverStation.h
@@ -8,11 +8,11 @@
 
 #include <stddef.h>  //NOLINT
 
-#include <wpi/Synchronization.h>
-#include <wpi/string.h>
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/string.h"
 
-#include "hal/DriverStationTypes.h"
-#include "hal/Types.h"
+#include "wpi/hal/DriverStationTypes.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_driverstation Driver Station Functions
diff --git a/hal/src/main/native/include/wpi/hal/DriverStationTypes.h b/hal/src/main/native/include/wpi/hal/DriverStationTypes.h
index 095f8cb155..c7496e0fd6 100644
--- a/hal/src/main/native/include/wpi/hal/DriverStationTypes.h
+++ b/hal/src/main/native/include/wpi/hal/DriverStationTypes.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_driverstation Driver Station Functions
diff --git a/hal/src/main/native/include/wpi/hal/DutyCycle.h b/hal/src/main/native/include/wpi/hal/DutyCycle.h
index 59fb4149f5..57c8be6e71 100644
--- a/hal/src/main/native/include/wpi/hal/DutyCycle.h
+++ b/hal/src/main/native/include/wpi/hal/DutyCycle.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_dutycycle DutyCycle Functions
diff --git a/hal/src/main/native/include/wpi/hal/Encoder.h b/hal/src/main/native/include/wpi/hal/Encoder.h
index c12e239d47..fa375a5c2d 100644
--- a/hal/src/main/native/include/wpi/hal/Encoder.h
+++ b/hal/src/main/native/include/wpi/hal/Encoder.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_encoder Encoder Functions
diff --git a/hal/src/main/native/include/wpi/hal/Extensions.h b/hal/src/main/native/include/wpi/hal/Extensions.h
index b39cc36497..127716c671 100644
--- a/hal/src/main/native/include/wpi/hal/Extensions.h
+++ b/hal/src/main/native/include/wpi/hal/Extensions.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_extensions Simulator Extensions
diff --git a/hal/src/main/native/include/wpi/hal/HAL.h b/hal/src/main/native/include/wpi/hal/HAL.h
index eeb9db6998..39b1a22b87 100644
--- a/hal/src/main/native/include/wpi/hal/HAL.h
+++ b/hal/src/main/native/include/wpi/hal/HAL.h
@@ -6,26 +6,26 @@
 
 #include <stdint.h>
 
-#include "hal/AnalogInput.h"
-#include "hal/CAN.h"
-#include "hal/CANAPI.h"
-#include "hal/CTREPCM.h"
-#include "hal/Constants.h"
-#include "hal/Counter.h"
-#include "hal/DIO.h"
-#include "hal/DriverStation.h"
-#include "hal/Encoder.h"
-#include "hal/Errors.h"
-#include "hal/HALBase.h"
-#include "hal/I2C.h"
-#include "hal/Main.h"
-#include "hal/Notifier.h"
-#include "hal/PWM.h"
-#include "hal/Ports.h"
-#include "hal/Power.h"
-#include "hal/SerialPort.h"
-#include "hal/SimDevice.h"
-#include "hal/Threads.h"
-#include "hal/Types.h"
-#include "hal/UsageReporting.h"
-#include "hal/Value.h"
+#include "wpi/hal/AnalogInput.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/CTREPCM.h"
+#include "wpi/hal/Constants.h"
+#include "wpi/hal/Counter.h"
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Encoder.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/I2C.h"
+#include "wpi/hal/Main.h"
+#include "wpi/hal/Notifier.h"
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/Power.h"
+#include "wpi/hal/SerialPort.h"
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/Threads.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/hal/Value.h"
diff --git a/hal/src/main/native/include/wpi/hal/HALBase.h b/hal/src/main/native/include/wpi/hal/HALBase.h
index c0a680d2eb..ec6d139c25 100644
--- a/hal/src/main/native/include/wpi/hal/HALBase.h
+++ b/hal/src/main/native/include/wpi/hal/HALBase.h
@@ -14,9 +14,9 @@
 
 #endif
 
-#include <wpi/string.h>
+#include "wpi/util/string.h"
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_capi WPILib HAL API
diff --git a/hal/src/main/native/include/wpi/hal/I2C.h b/hal/src/main/native/include/wpi/hal/I2C.h
index 4e5c007155..67bb616a13 100644
--- a/hal/src/main/native/include/wpi/hal/I2C.h
+++ b/hal/src/main/native/include/wpi/hal/I2C.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/I2CTypes.h"
+#include "wpi/hal/I2CTypes.h"
 
 /**
  * @defgroup hal_i2c I2C Functions
diff --git a/hal/src/main/native/include/wpi/hal/I2CTypes.h b/hal/src/main/native/include/wpi/hal/I2CTypes.h
index a0e64407aa..62d865e949 100644
--- a/hal/src/main/native/include/wpi/hal/I2CTypes.h
+++ b/hal/src/main/native/include/wpi/hal/I2CTypes.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_i2c I2C Functions
diff --git a/hal/src/main/native/include/wpi/hal/IMU.h b/hal/src/main/native/include/wpi/hal/IMU.h
index 5775645c68..f3b80a82d2 100644
--- a/hal/src/main/native/include/wpi/hal/IMU.h
+++ b/hal/src/main/native/include/wpi/hal/IMU.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/IMUTypes.h"
+#include "wpi/hal/IMUTypes.h"
 
 /**
  * @defgroup hal_imu IMU Functions
diff --git a/hal/src/main/native/include/wpi/hal/Main.h b/hal/src/main/native/include/wpi/hal/Main.h
index 9133135e7f..accb80b335 100644
--- a/hal/src/main/native/include/wpi/hal/Main.h
+++ b/hal/src/main/native/include/wpi/hal/Main.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_main Main loop functions
diff --git a/hal/src/main/native/include/wpi/hal/Notifier.h b/hal/src/main/native/include/wpi/hal/Notifier.h
index 2528f71289..f734c22856 100644
--- a/hal/src/main/native/include/wpi/hal/Notifier.h
+++ b/hal/src/main/native/include/wpi/hal/Notifier.h
@@ -6,9 +6,9 @@
 
 #include <stdint.h>
 
-#include <wpi/nodiscard.h>
+#include "wpi/util/nodiscard.h"
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_notifier Notifier Functions
diff --git a/hal/src/main/native/include/wpi/hal/PWM.h b/hal/src/main/native/include/wpi/hal/PWM.h
index 576e6fdf64..7e706aca38 100644
--- a/hal/src/main/native/include/wpi/hal/PWM.h
+++ b/hal/src/main/native/include/wpi/hal/PWM.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_pwm PWM Output Functions
diff --git a/hal/src/main/native/include/wpi/hal/Power.h b/hal/src/main/native/include/wpi/hal/Power.h
index 2988df58e5..c249ec31f4 100644
--- a/hal/src/main/native/include/wpi/hal/Power.h
+++ b/hal/src/main/native/include/wpi/hal/Power.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_power Power Functions
diff --git a/hal/src/main/native/include/wpi/hal/PowerDistribution.h b/hal/src/main/native/include/wpi/hal/PowerDistribution.h
index f470c1f47c..3989ab2112 100644
--- a/hal/src/main/native/include/wpi/hal/PowerDistribution.h
+++ b/hal/src/main/native/include/wpi/hal/PowerDistribution.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_pd Power Distribution Functions
diff --git a/hal/src/main/native/include/wpi/hal/REVPH.h b/hal/src/main/native/include/wpi/hal/REVPH.h
index ae2c7f962c..fd37a9d19b 100644
--- a/hal/src/main/native/include/wpi/hal/REVPH.h
+++ b/hal/src/main/native/include/wpi/hal/REVPH.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_rev_ph REV Pneumatic Hub (PH) Functions
diff --git a/hal/src/main/native/include/wpi/hal/SerialPort.h b/hal/src/main/native/include/wpi/hal/SerialPort.h
index 16d561eb95..3facf1ca70 100644
--- a/hal/src/main/native/include/wpi/hal/SerialPort.h
+++ b/hal/src/main/native/include/wpi/hal/SerialPort.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_serialport Serial Port Functions
diff --git a/hal/src/main/native/include/wpi/hal/SimDevice.h b/hal/src/main/native/include/wpi/hal/SimDevice.h
index 158f53b421..93a24bd60c 100644
--- a/hal/src/main/native/include/wpi/hal/SimDevice.h
+++ b/hal/src/main/native/include/wpi/hal/SimDevice.h
@@ -12,8 +12,8 @@
 #include <string>
 #endif
 
-#include "hal/Types.h"
-#include "hal/Value.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/Value.h"
 
 /**
  * @defgroup hal_simdevice Simulator Device Framework
diff --git a/hal/src/main/native/include/wpi/hal/SystemServer.h b/hal/src/main/native/include/wpi/hal/SystemServer.h
index efcfad16de..57001368d9 100644
--- a/hal/src/main/native/include/wpi/hal/SystemServer.h
+++ b/hal/src/main/native/include/wpi/hal/SystemServer.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <ntcore_c.h>
+#include "wpi/nt/ntcore_c.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/Threads.h b/hal/src/main/native/include/wpi/hal/Threads.h
index a6db5e0ee1..3ae46ac410 100644
--- a/hal/src/main/native/include/wpi/hal/Threads.h
+++ b/hal/src/main/native/include/wpi/hal/Threads.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_threads Threads Functions
diff --git a/hal/src/main/native/include/wpi/hal/UsageReporting.h b/hal/src/main/native/include/wpi/hal/UsageReporting.h
index b0971e1000..ae007454ae 100644
--- a/hal/src/main/native/include/wpi/hal/UsageReporting.h
+++ b/hal/src/main/native/include/wpi/hal/UsageReporting.h
@@ -10,7 +10,7 @@
 #include <string_view>
 #endif
 
-#include <wpi/string.h>
+#include "wpi/util/string.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/Value.h b/hal/src/main/native/include/wpi/hal/Value.h
index 7617611b35..cdd9d43809 100644
--- a/hal/src/main/native/include/wpi/hal/Value.h
+++ b/hal/src/main/native/include/wpi/hal/Value.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /** HAL data types. */
 enum HAL_Type {
diff --git a/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h
index 5154a43aad..f581fc5a16 100644
--- a/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.h
@@ -9,11 +9,11 @@
 #include <array>
 #include <memory>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "hal/Errors.h"
-#include "hal/Types.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h
index b3b8875b04..d650e3b100 100644
--- a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h
+++ b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.h
@@ -6,9 +6,9 @@
 
 #include <stdint.h>
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 /* General Handle Data Layout
  * Bits 0-15:  Handle Index
diff --git a/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h
index d96de2bba4..8951820ee8 100644
--- a/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.h
@@ -10,11 +10,11 @@
 #include <memory>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "hal/Errors.h"
-#include "hal/Types.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h
index 2e921eebcf..e3ced63559 100644
--- a/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.h
@@ -9,11 +9,11 @@
 #include <array>
 #include <memory>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "hal/Errors.h"
-#include "hal/Types.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h
index 2650708652..8c0d15f84b 100644
--- a/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/LimitedClassedHandleResource.h
@@ -9,10 +9,10 @@
 #include <array>
 #include <memory>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "hal/Types.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h
index 6f762933ae..d929e45379 100644
--- a/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/LimitedHandleResource.h
@@ -9,10 +9,10 @@
 #include <array>
 #include <memory>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 #include "HandlesInternal.h"
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h b/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h
index 2048f6272c..a8770a8be1 100644
--- a/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h
+++ b/hal/src/main/native/include/wpi/hal/handles/UnlimitedHandleResource.h
@@ -10,10 +10,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "hal/Types.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/proto/ControlData.h b/hal/src/main/native/include/wpi/hal/proto/ControlData.h
index e5039a233d..f4dfc64151 100644
--- a/hal/src/main/native/include/wpi/hal/proto/ControlData.h
+++ b/hal/src/main/native/include/wpi/hal/proto/ControlData.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include "MrcComm.npb.h"
 #include "mrc/NetComm.h"
diff --git a/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h b/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h
index e921160c20..c3c2dffb41 100644
--- a/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h
+++ b/hal/src/main/native/include/wpi/hal/proto/ErrorInfo.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include "MrcComm.npb.h"
 #include "mrc/NetComm.h"
diff --git a/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h b/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h
index 42a5eeceae..6c615eafc1 100644
--- a/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h
+++ b/hal/src/main/native/include/wpi/hal/proto/JoystickDescriptor.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include "MrcComm.npb.h"
 #include "mrc/NetComm.h"
diff --git a/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h b/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h
index 3671612328..a3f3b6abd6 100644
--- a/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h
+++ b/hal/src/main/native/include/wpi/hal/proto/JoystickRumbleData.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include "MrcComm.npb.h"
 #include "mrc/NetComm.h"
diff --git a/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h b/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h
index ccb806750e..fa3c155258 100644
--- a/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h
+++ b/hal/src/main/native/include/wpi/hal/proto/MatchInfo.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include "MrcComm.npb.h"
 #include "mrc/NetComm.h"
diff --git a/hal/src/main/native/include/wpi/hal/proto/OpMode.h b/hal/src/main/native/include/wpi/hal/proto/OpMode.h
index d41e71aa7d..ab73dc8923 100644
--- a/hal/src/main/native/include/wpi/hal/proto/OpMode.h
+++ b/hal/src/main/native/include/wpi/hal/proto/OpMode.h
@@ -8,7 +8,7 @@
 
 #include <vector>
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include "MrcComm.npb.h"
 #include "mrc/NetComm.h"
diff --git a/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h b/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h
index 6a835bf884..5aefcfcaf1 100644
--- a/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h
+++ b/hal/src/main/native/include/wpi/hal/proto/VersionInfo.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include "MrcComm.npb.h"
 #include "mrc/NetComm.h"
diff --git a/hal/src/main/native/include/wpi/hal/simulation/AddressableLEDData.h b/hal/src/main/native/include/wpi/hal/simulation/AddressableLEDData.h
index 287ece975b..7c08a70edd 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/AddressableLEDData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/AddressableLEDData.h
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "hal/AddressableLEDTypes.h"
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/AddressableLEDTypes.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/AnalogInData.h b/hal/src/main/native/include/wpi/hal/simulation/AnalogInData.h
index 6d305ae22d..0fa543a840 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/AnalogInData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/AnalogInData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/CTREPCMData.h b/hal/src/main/native/include/wpi/hal/simulation/CTREPCMData.h
index 302f7dd426..8f55e5c917 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/CTREPCMData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/CTREPCMData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/CanData.h b/hal/src/main/native/include/wpi/hal/simulation/CanData.h
index 4b66589129..20acb344d5 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/CanData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/CanData.h
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/Value.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 typedef void (*HAL_CAN_SendMessageCallback)(
     const char* name, void* param, int32_t busId, uint32_t messageId,
diff --git a/hal/src/main/native/include/wpi/hal/simulation/DIOData.h b/hal/src/main/native/include/wpi/hal/simulation/DIOData.h
index d2d7181491..dcaccb9df3 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/DIOData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/DIOData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/DigitalPWMData.h b/hal/src/main/native/include/wpi/hal/simulation/DigitalPWMData.h
index 10108115bc..18f2dea842 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/DigitalPWMData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/DigitalPWMData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/DriverStationData.h b/hal/src/main/native/include/wpi/hal/simulation/DriverStationData.h
index 20c26d498b..90eb0bb95c 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/DriverStationData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/DriverStationData.h
@@ -6,11 +6,11 @@
 
 #include <cstddef>
 
-#include <wpi/string.h>
+#include "wpi/util/string.h"
 
-#include "hal/DriverStationTypes.h"
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/DriverStationTypes.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 typedef void (*HAL_JoystickAxesCallback)(const char* name, void* param,
                                          int32_t joystickNum,
diff --git a/hal/src/main/native/include/wpi/hal/simulation/DutyCycleData.h b/hal/src/main/native/include/wpi/hal/simulation/DutyCycleData.h
index b43dd4274b..270dc025c5 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/DutyCycleData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/DutyCycleData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/EncoderData.h b/hal/src/main/native/include/wpi/hal/simulation/EncoderData.h
index df1c12b182..6322b17963 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/EncoderData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/EncoderData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/I2CData.h b/hal/src/main/native/include/wpi/hal/simulation/I2CData.h
index d5e13f9330..5ecdad0994 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/I2CData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/I2CData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h b/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h
index fe50656be3..18372dfa53 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/HALBase.h"
-#include "hal/Types.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Types.h"
 
 extern "C" {
 void HALSIM_SetRuntimeType(HAL_RuntimeType type);
diff --git a/hal/src/main/native/include/wpi/hal/simulation/NotifierData.h b/hal/src/main/native/include/wpi/hal/simulation/NotifierData.h
index 13dcf1d2ac..f05542bdb9 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/NotifierData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/NotifierData.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h b/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h
index 46a93c99d1..ca2579234f 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/NotifyListener.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Value.h"
+#include "wpi/hal/Value.h"
 
 typedef void (*HAL_NotifyCallback)(const char* name, void* param,
                                    const struct HAL_Value* value);
diff --git a/hal/src/main/native/include/wpi/hal/simulation/PWMData.h b/hal/src/main/native/include/wpi/hal/simulation/PWMData.h
index fd74576fdc..923070a0a6 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/PWMData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/PWMData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/PowerDistributionData.h b/hal/src/main/native/include/wpi/hal/simulation/PowerDistributionData.h
index 0552c49038..6ca605eaf4 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/PowerDistributionData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/PowerDistributionData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/REVPHData.h b/hal/src/main/native/include/wpi/hal/simulation/REVPHData.h
index a836516434..5dd008a0a0 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/REVPHData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/REVPHData.h
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "hal/REVPH.h"
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/REVPH.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/hal/src/main/native/include/wpi/hal/simulation/RoboRioData.h b/hal/src/main/native/include/wpi/hal/simulation/RoboRioData.h
index 1bab98908a..e5abe2a2f2 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/RoboRioData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/RoboRioData.h
@@ -6,10 +6,10 @@
 
 #include <cstddef>
 
-#include <wpi/string.h>
+#include "wpi/util/string.h"
 
-#include "hal/Types.h"
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 typedef void (*HAL_RoboRioStringCallback)(const char* name, void* param,
                                           const char* str, size_t size);
diff --git a/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h b/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h
index fc8191bf08..071b00f2ab 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/SimCallbackRegistry.h
@@ -7,11 +7,11 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/Compiler.h>
-#include <wpi/UidVector.h>
-#include <wpi/spinlock.h>
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/UidVector.hpp"
+#include "wpi/util/spinlock.hpp"
 
-#include "hal/simulation/NotifyListener.h"
+#include "wpi/hal/simulation/NotifyListener.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h b/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h
index 69270075fd..ec87b57025 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/SimDataValue.h
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <wpi/Compiler.h>
-#include <wpi/UidVector.h>
-#include <wpi/spinlock.h>
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/UidVector.hpp"
+#include "wpi/util/spinlock.hpp"
 
-#include "hal/simulation/NotifyListener.h"
-#include "hal/simulation/SimCallbackRegistry.h"
+#include "wpi/hal/simulation/NotifyListener.h"
+#include "wpi/hal/simulation/SimCallbackRegistry.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/include/wpi/hal/simulation/SimDeviceData.h b/hal/src/main/native/include/wpi/hal/simulation/SimDeviceData.h
index 221263e4ca..5a3003ba81 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/SimDeviceData.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/SimDeviceData.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/Types.h"
-#include "hal/Value.h"
+#include "wpi/hal/Types.h"
+#include "wpi/hal/Value.h"
 
 typedef void (*HALSIM_SimDeviceCallback)(const char* name, void* param,
                                          HAL_SimDeviceHandle handle);
diff --git a/hal/src/main/native/sim/AddressableLED.cpp b/hal/src/main/native/sim/AddressableLED.cpp
index 9c6654a56a..e34e4eea05 100644
--- a/hal/src/main/native/sim/AddressableLED.cpp
+++ b/hal/src/main/native/sim/AddressableLED.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/AddressableLED.h"
+#include "wpi/hal/AddressableLED.h"
 
 #include <fmt/format.h>
 
@@ -10,9 +10,9 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 #include "mockdata/AddressableLEDDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/AnalogInput.cpp b/hal/src/main/native/sim/AnalogInput.cpp
index 95e5102a40..2e7c45080d 100644
--- a/hal/src/main/native/sim/AnalogInput.cpp
+++ b/hal/src/main/native/sim/AnalogInput.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/AnalogInput.h"
+#include "wpi/hal/AnalogInput.h"
 
 #include "AnalogInternal.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 #include "mockdata/AnalogInDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/AnalogInternal.cpp b/hal/src/main/native/sim/AnalogInternal.cpp
index 9b2c22571e..e8d25b147d 100644
--- a/hal/src/main/native/sim/AnalogInternal.cpp
+++ b/hal/src/main/native/sim/AnalogInternal.cpp
@@ -5,7 +5,7 @@
 #include "AnalogInternal.h"
 
 #include "PortsInternal.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 
 namespace hal {
 IndexedHandleResource<HAL_AnalogInputHandle, hal::AnalogPort, kNumAnalogInputs,
diff --git a/hal/src/main/native/sim/AnalogInternal.h b/hal/src/main/native/sim/AnalogInternal.h
index e065d6da43..ed524bd6e7 100644
--- a/hal/src/main/native/sim/AnalogInternal.h
+++ b/hal/src/main/native/sim/AnalogInternal.h
@@ -9,8 +9,8 @@
 #include <string>
 
 #include "PortsInternal.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 
 namespace hal {
 constexpr int32_t kTimebase = 40000000;  ///< 40 MHz clock
diff --git a/hal/src/main/native/sim/CAN.cpp b/hal/src/main/native/sim/CAN.cpp
index 329929b045..880a4feed3 100644
--- a/hal/src/main/native/sim/CAN.cpp
+++ b/hal/src/main/native/sim/CAN.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/CAN.h"
+#include "wpi/hal/CAN.h"
 
 #include "mockdata/CanDataInternal.h"
 
diff --git a/hal/src/main/native/sim/CANAPI.cpp b/hal/src/main/native/sim/CANAPI.cpp
index 76a4e3dcb2..202f4c3202 100644
--- a/hal/src/main/native/sim/CANAPI.cpp
+++ b/hal/src/main/native/sim/CANAPI.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/CANAPI.h"
+#include "wpi/hal/CANAPI.h"
 
 #include <ctime>
 #include <memory>
 
-#include <wpi/DenseMap.h>
-#include <wpi/mutex.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/timestamp.h"
 
 #include "HALInitializer.h"
 #include "PortsInternal.h"
-#include "hal/CAN.h"
-#include "hal/Errors.h"
-#include "hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/sim/CANAPIInternal.h b/hal/src/main/native/sim/CANAPIInternal.h
index 10e64ef99a..fdd6e6ad0c 100644
--- a/hal/src/main/native/sim/CANAPIInternal.h
+++ b/hal/src/main/native/sim/CANAPIInternal.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "hal/Types.h"
+#include "wpi/hal/Types.h"
 
 namespace hal::can {
 int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status);
diff --git a/hal/src/main/native/sim/CTREPCM.cpp b/hal/src/main/native/sim/CTREPCM.cpp
index 0b6dc384db..58f01b458c 100644
--- a/hal/src/main/native/sim/CTREPCM.cpp
+++ b/hal/src/main/native/sim/CTREPCM.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/CTREPCM.h"
+#include "wpi/hal/CTREPCM.h"
 
 #include <string>
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 #include "mockdata/CTREPCMDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/Constants.cpp b/hal/src/main/native/sim/Constants.cpp
index 6c1361ed61..d52692612a 100644
--- a/hal/src/main/native/sim/Constants.cpp
+++ b/hal/src/main/native/sim/Constants.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Constants.h"
+#include "wpi/hal/Constants.h"
 
 #include "ConstantsInternal.h"
 
diff --git a/hal/src/main/native/sim/Counter.cpp b/hal/src/main/native/sim/Counter.cpp
index ad03ad111b..96760dd1f6 100644
--- a/hal/src/main/native/sim/Counter.cpp
+++ b/hal/src/main/native/sim/Counter.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Counter.h"
+#include "wpi/hal/Counter.h"
 
 #include "CounterInternal.h"
 #include "HALInitializer.h"
 #include "PortsInternal.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/LimitedHandleResource.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/LimitedHandleResource.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/sim/CounterInternal.h b/hal/src/main/native/sim/CounterInternal.h
index 81433fa4b8..f34bb28c6d 100644
--- a/hal/src/main/native/sim/CounterInternal.h
+++ b/hal/src/main/native/sim/CounterInternal.h
@@ -5,8 +5,8 @@
 #pragma once
 
 #include "PortsInternal.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/LimitedHandleResource.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/LimitedHandleResource.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp
index ecf2cea8c4..bc7e3859b0 100644
--- a/hal/src/main/native/sim/DIO.cpp
+++ b/hal/src/main/native/sim/DIO.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/DIO.h"
+#include "wpi/hal/DIO.h"
 
 #include "DigitalInternal.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/LimitedHandleResource.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/LimitedHandleResource.h"
 #include "mockdata/DIODataInternal.h"
 #include "mockdata/DigitalPWMDataInternal.h"
 
diff --git a/hal/src/main/native/sim/DigitalInternal.cpp b/hal/src/main/native/sim/DigitalInternal.cpp
index 1afe126e04..3f9569a679 100644
--- a/hal/src/main/native/sim/DigitalInternal.cpp
+++ b/hal/src/main/native/sim/DigitalInternal.cpp
@@ -5,9 +5,9 @@
 #include "DigitalInternal.h"
 
 #include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/DigitalHandleResource.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/DigitalHandleResource.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/sim/DigitalInternal.h b/hal/src/main/native/sim/DigitalInternal.h
index 50bb2a12e9..015f5a5d81 100644
--- a/hal/src/main/native/sim/DigitalInternal.h
+++ b/hal/src/main/native/sim/DigitalInternal.h
@@ -9,7 +9,7 @@
 #include <string>
 
 #include "PortsInternal.h"
-#include "hal/handles/DigitalHandleResource.h"
+#include "wpi/hal/handles/DigitalHandleResource.h"
 
 namespace hal {
 /**
diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp
index 2fc942087e..c55d504967 100644
--- a/hal/src/main/native/sim/DriverStation.cpp
+++ b/hal/src/main/native/sim/DriverStation.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/DriverStation.h"
+#include "wpi/hal/DriverStation.h"
 
 #ifdef __APPLE__
 #include <pthread.h>
@@ -15,14 +15,14 @@
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/EventVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/EventVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 #include "HALInitializer.h"
-#include "hal/Errors.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/simulation/MockHooks.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/simulation/MockHooks.h"
 #include "mockdata/DriverStationDataInternal.h"
 
 static wpi::mutex msgMutex;
diff --git a/hal/src/main/native/sim/DutyCycle.cpp b/hal/src/main/native/sim/DutyCycle.cpp
index bfac85902d..176e68bf1d 100644
--- a/hal/src/main/native/sim/DutyCycle.cpp
+++ b/hal/src/main/native/sim/DutyCycle.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/DutyCycle.h"
+#include "wpi/hal/DutyCycle.h"
 
 #include <string>
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 #include "mockdata/DutyCycleDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index fb469dcfe5..ad796996d9 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Encoder.h"
+#include "wpi/hal/Encoder.h"
 
 #include <limits>
 
@@ -10,9 +10,9 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/LimitedHandleResource.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/LimitedHandleResource.h"
 #include "mockdata/EncoderDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/Extensions.cpp b/hal/src/main/native/sim/Extensions.cpp
index a1b2d7bf26..ffb2ef3c86 100644
--- a/hal/src/main/native/sim/Extensions.cpp
+++ b/hal/src/main/native/sim/Extensions.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Extensions.h"
+#include "wpi/hal/Extensions.h"
 
 #include <cstdio>
 #include <string>
@@ -10,10 +10,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
-#include <wpi/print.h>
-#include <wpi/spinlock.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/spinlock.hpp"
 
 #if defined(WIN32) || defined(_WIN32)
 #include <windows.h>
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
index 07ded17eec..58bea9fd85 100644
--- a/hal/src/main/native/sim/HAL.cpp
+++ b/hal/src/main/native/sim/HAL.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/HAL.h"
+#include "wpi/hal/HAL.h"
 
 #include <cstdio>
 #include <cstring>
 #include <utility>
 #include <vector>
 
-#include <wpi/mutex.h>
-#include <wpi/spinlock.h>
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/spinlock.hpp"
 
 #ifdef _WIN32
 #include <Windows.h>
@@ -26,11 +26,11 @@ NtQueryTimerResolution(PULONG MinimumResolution, PULONG MaximumResolution,
 #include "ErrorsInternal.h"
 #include "HALInitializer.h"
 #include "MockHooksInternal.h"
-#include "hal/Errors.h"
-#include "hal/Extensions.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/DriverStationData.h"
-#include "hal/simulation/SimCallbackRegistry.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/Extensions.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/SimCallbackRegistry.h"
 #include "mockdata/RoboRioDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/HALInitializer.cpp b/hal/src/main/native/sim/HALInitializer.cpp
index 50cc9ab42d..84ba73e6d4 100644
--- a/hal/src/main/native/sim/HALInitializer.cpp
+++ b/hal/src/main/native/sim/HALInitializer.cpp
@@ -4,7 +4,7 @@
 
 #include "HALInitializer.h"
 
-#include "hal/HALBase.h"
+#include "wpi/hal/HALBase.h"
 
 namespace hal::init {
 std::atomic_bool HAL_IsInitialized{false};
diff --git a/hal/src/main/native/sim/I2C.cpp b/hal/src/main/native/sim/I2C.cpp
index 0b50fe6687..2fe7e2acb5 100644
--- a/hal/src/main/native/sim/I2C.cpp
+++ b/hal/src/main/native/sim/I2C.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/I2C.h"
+#include "wpi/hal/I2C.h"
 
 #include "HALInitializer.h"
 #include "mockdata/I2CDataInternal.h"
diff --git a/hal/src/main/native/sim/IMU.cpp b/hal/src/main/native/sim/IMU.cpp
index 8149bdbe5e..e42407384f 100644
--- a/hal/src/main/native/sim/IMU.cpp
+++ b/hal/src/main/native/sim/IMU.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/IMU.h"
+#include "wpi/hal/IMU.h"
 
 extern "C" {
 // TODO(Ryan) implement sim
diff --git a/hal/src/main/native/sim/MockHooks.cpp b/hal/src/main/native/sim/MockHooks.cpp
index fcc64e9788..abe6f77ed6 100644
--- a/hal/src/main/native/sim/MockHooks.cpp
+++ b/hal/src/main/native/sim/MockHooks.cpp
@@ -8,12 +8,12 @@
 #include <cstdio>
 #include <thread>
 
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
 #include "MockHooksInternal.h"
 #include "NotifierInternal.h"
-#include "hal/simulation/NotifierData.h"
+#include "wpi/hal/simulation/NotifierData.h"
 
 static std::atomic<bool> programStarted{false};
 
diff --git a/hal/src/main/native/sim/MockHooksInternal.h b/hal/src/main/native/sim/MockHooksInternal.h
index ace09da375..101f42df39 100644
--- a/hal/src/main/native/sim/MockHooksInternal.h
+++ b/hal/src/main/native/sim/MockHooksInternal.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "hal/simulation/MockHooks.h"
+#include "wpi/hal/simulation/MockHooks.h"
 
 namespace hal {
 void RestartTiming();
diff --git a/hal/src/main/native/sim/Notifier.cpp b/hal/src/main/native/sim/Notifier.cpp
index 8ec58858a4..a8f161488d 100644
--- a/hal/src/main/native/sim/Notifier.cpp
+++ b/hal/src/main/native/sim/Notifier.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Notifier.h"
+#include "wpi/hal/Notifier.h"
 
 #include <atomic>
 #include <chrono>
@@ -12,18 +12,18 @@
 #include <string>
 #include <utility>
 
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 #include "HALInitializer.h"
 #include "NotifierInternal.h"
-#include "hal/Errors.h"
-#include "hal/HALBase.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifierData.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/simulation/NotifierData.h"
 
 namespace {
 struct Notifier {
diff --git a/hal/src/main/native/sim/PWM.cpp b/hal/src/main/native/sim/PWM.cpp
index 4d79ca38c3..b6954728b3 100644
--- a/hal/src/main/native/sim/PWM.cpp
+++ b/hal/src/main/native/sim/PWM.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/PWM.h"
+#include "wpi/hal/PWM.h"
 
 #include <algorithm>
 #include <cmath>
@@ -12,7 +12,7 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 #include "mockdata/PWMDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/Ports.cpp b/hal/src/main/native/sim/Ports.cpp
index d4082ad419..d9f6288287 100644
--- a/hal/src/main/native/sim/Ports.cpp
+++ b/hal/src/main/native/sim/Ports.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Ports.h"
+#include "wpi/hal/Ports.h"
 
 #include "PortsInternal.h"
 
diff --git a/hal/src/main/native/sim/Power.cpp b/hal/src/main/native/sim/Power.cpp
index 076d9c5d44..4f0d2ac330 100644
--- a/hal/src/main/native/sim/Power.cpp
+++ b/hal/src/main/native/sim/Power.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Power.h"
+#include "wpi/hal/Power.h"
 
 #include "mockdata/RoboRioDataInternal.h"
 
diff --git a/hal/src/main/native/sim/PowerDistribution.cpp b/hal/src/main/native/sim/PowerDistribution.cpp
index 44956ab6fc..7ca81efe53 100644
--- a/hal/src/main/native/sim/PowerDistribution.cpp
+++ b/hal/src/main/native/sim/PowerDistribution.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/PowerDistribution.h"
+#include "wpi/hal/PowerDistribution.h"
 
 #include <fmt/format.h>
 
@@ -10,8 +10,8 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/CANAPI.h"
-#include "hal/Errors.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/Errors.h"
 #include "mockdata/PowerDistributionDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/REVPH.cpp b/hal/src/main/native/sim/REVPH.cpp
index 1281433b31..f72fcc081e 100644
--- a/hal/src/main/native/sim/REVPH.cpp
+++ b/hal/src/main/native/sim/REVPH.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/REVPH.h"
+#include "wpi/hal/REVPH.h"
 
 #include <string>
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 #include "mockdata/REVPHDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/SerialPort.cpp b/hal/src/main/native/sim/SerialPort.cpp
index 4712b3048c..4f160fb3de 100644
--- a/hal/src/main/native/sim/SerialPort.cpp
+++ b/hal/src/main/native/sim/SerialPort.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/SerialPort.h"
+#include "wpi/hal/SerialPort.h"
 
 #include "HALInitializer.h"
 
diff --git a/hal/src/main/native/sim/SimDevice.cpp b/hal/src/main/native/sim/SimDevice.cpp
index 48b755e6aa..2015aef602 100644
--- a/hal/src/main/native/sim/SimDevice.cpp
+++ b/hal/src/main/native/sim/SimDevice.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/SimDevice.h"
+#include "wpi/hal/SimDevice.h"
 
 #include <fmt/format.h>
 
diff --git a/hal/src/main/native/sim/SystemServer.cpp b/hal/src/main/native/sim/SystemServer.cpp
index 5b0b964bc8..f146a57b68 100644
--- a/hal/src/main/native/sim/SystemServer.cpp
+++ b/hal/src/main/native/sim/SystemServer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/SystemServer.h"
+#include "wpi/hal/SystemServer.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/sim/Threads.cpp b/hal/src/main/native/sim/Threads.cpp
index 94b609033a..ce2db84690 100644
--- a/hal/src/main/native/sim/Threads.cpp
+++ b/hal/src/main/native/sim/Threads.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Threads.h"
+#include "wpi/hal/Threads.h"
 
 namespace hal::init {
 void InitializeThreads() {}
diff --git a/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h b/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
index 648b7d5c8d..bc5961452c 100644
--- a/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
@@ -6,11 +6,11 @@
 
 #include <vector>
 
-#include <wpi/spinlock.h>
+#include "wpi/util/spinlock.hpp"
 
-#include "hal/simulation/AddressableLEDData.h"
-#include "hal/simulation/SimCallbackRegistry.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/AddressableLEDData.h"
+#include "wpi/hal/simulation/SimCallbackRegistry.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class AddressableLEDData {
diff --git a/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h b/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
index 8986d16850..a93df355de 100644
--- a/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/simulation/AnalogInData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/AnalogInData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class AnalogInData {
diff --git a/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h b/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
index 56a6a09f46..d721179983 100644
--- a/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/CTREPCMDataInternal.h
@@ -5,8 +5,8 @@
 #pragma once
 
 #include "../PortsInternal.h"
-#include "hal/simulation/CTREPCMData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class CTREPCMData {
diff --git a/hal/src/main/native/sim/mockdata/CanDataInternal.h b/hal/src/main/native/sim/mockdata/CanDataInternal.h
index c2b728267b..813a8ced29 100644
--- a/hal/src/main/native/sim/mockdata/CanDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/CanDataInternal.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/simulation/CanData.h"
-#include "hal/simulation/SimCallbackRegistry.h"
+#include "wpi/hal/simulation/CanData.h"
+#include "wpi/hal/simulation/SimCallbackRegistry.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/sim/mockdata/DIODataInternal.h b/hal/src/main/native/sim/mockdata/DIODataInternal.h
index 9e6828be54..b43296cf0a 100644
--- a/hal/src/main/native/sim/mockdata/DIODataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DIODataInternal.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/simulation/DIOData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/DIOData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class DIOData {
diff --git a/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h b/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
index fe06389e53..a9f5926cf8 100644
--- a/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/simulation/DigitalPWMData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/DigitalPWMData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class DigitalPWMData {
diff --git a/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h b/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
index 62aeefd389..f5591c1ed3 100644
--- a/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <wpi/spinlock.h>
+#include "wpi/util/spinlock.hpp"
 
-#include "hal/simulation/DriverStationData.h"
-#include "hal/simulation/SimCallbackRegistry.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/SimCallbackRegistry.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h b/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
index 2f5d371e4d..4e8791cd24 100644
--- a/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/DutyCycleDataInternal.h
@@ -7,8 +7,8 @@
 #include <atomic>
 #include <limits>
 
-#include "hal/simulation/DutyCycleData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/DutyCycleData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class DutyCycleData {
diff --git a/hal/src/main/native/sim/mockdata/EncoderDataInternal.h b/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
index bd0db1117f..2b78dadc90 100644
--- a/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
@@ -7,8 +7,8 @@
 #include <atomic>
 #include <limits>
 
-#include "hal/simulation/EncoderData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/EncoderData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class EncoderData {
diff --git a/hal/src/main/native/sim/mockdata/I2CDataInternal.h b/hal/src/main/native/sim/mockdata/I2CDataInternal.h
index 6dd47399fd..ba447f14b6 100644
--- a/hal/src/main/native/sim/mockdata/I2CDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/I2CDataInternal.h
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "hal/simulation/I2CData.h"
-#include "hal/simulation/SimCallbackRegistry.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/I2CData.h"
+#include "wpi/hal/simulation/SimCallbackRegistry.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class I2CData {
diff --git a/hal/src/main/native/sim/mockdata/PWMDataInternal.h b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
index 814d861e8a..e3294faab0 100644
--- a/hal/src/main/native/sim/mockdata/PWMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "hal/simulation/PWMData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/PWMData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class PWMData {
diff --git a/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h b/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
index cb3e4b38e2..10c684f72b 100644
--- a/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
@@ -5,8 +5,8 @@
 #pragma once
 
 #include "../PortsInternal.h"
-#include "hal/simulation/PowerDistributionData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/PowerDistributionData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/sim/mockdata/REVPHDataInternal.h b/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
index c41cbbe32b..7dc268d0af 100644
--- a/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
@@ -5,8 +5,8 @@
 #pragma once
 
 #include "../PortsInternal.h"
-#include "hal/simulation/REVPHData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/REVPHData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class REVPHData {
diff --git a/hal/src/main/native/sim/mockdata/Reset.cpp b/hal/src/main/native/sim/mockdata/Reset.cpp
index adaab48ba9..da22447437 100644
--- a/hal/src/main/native/sim/mockdata/Reset.cpp
+++ b/hal/src/main/native/sim/mockdata/Reset.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <hal/simulation/AddressableLEDData.h>
-#include <hal/simulation/AnalogInData.h>
-#include <hal/simulation/CTREPCMData.h>
-#include <hal/simulation/CanData.h>
-#include <hal/simulation/DIOData.h>
-#include <hal/simulation/DigitalPWMData.h>
-#include <hal/simulation/DriverStationData.h>
-#include <hal/simulation/DutyCycleData.h>
-#include <hal/simulation/EncoderData.h>
-#include <hal/simulation/I2CData.h>
-#include <hal/simulation/PWMData.h>
-#include <hal/simulation/PowerDistributionData.h>
-#include <hal/simulation/REVPHData.h>
-#include <hal/simulation/RoboRioData.h>
-#include <hal/simulation/SimDeviceData.h>
+#include "wpi/hal/simulation/AddressableLEDData.h"
+#include "wpi/hal/simulation/AnalogInData.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
+#include "wpi/hal/simulation/CanData.h"
+#include "wpi/hal/simulation/DIOData.h"
+#include "wpi/hal/simulation/DigitalPWMData.h"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/DutyCycleData.h"
+#include "wpi/hal/simulation/EncoderData.h"
+#include "wpi/hal/simulation/I2CData.h"
+#include "wpi/hal/simulation/PWMData.h"
+#include "wpi/hal/simulation/PowerDistributionData.h"
+#include "wpi/hal/simulation/REVPHData.h"
+#include "wpi/hal/simulation/RoboRioData.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
 #include "../PortsInternal.h"
 
diff --git a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
index 378537ff0a..559015d49b 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
@@ -7,10 +7,10 @@
 #include <cstddef>
 #include <string>
 
-#include <wpi/spinlock.h>
+#include "wpi/util/spinlock.hpp"
 
-#include "hal/simulation/RoboRioData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/RoboRioData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 namespace hal {
 class RoboRioData {
diff --git a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
index b03fde6b1f..44ae17bf9c 100644
--- a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
+++ b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/SimDeviceData.h"  // NOLINT(build/include_order)
+#include "wpi/hal/simulation/SimDeviceData.h"  // NOLINT(build/include_order)
 
 #include <algorithm>
 #include <memory>
 #include <utility>
 
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 #include "SimDeviceDataInternal.h"
 
diff --git a/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h b/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
index 9e202d527c..f26e76aa48 100644
--- a/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
@@ -11,14 +11,14 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
-#include <wpi/UidVector.h>
-#include <wpi/spinlock.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/UidVector.hpp"
+#include "wpi/util/spinlock.hpp"
 
-#include "hal/Value.h"
-#include "hal/simulation/SimCallbackRegistry.h"
-#include "hal/simulation/SimDeviceData.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/simulation/SimCallbackRegistry.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/systemcore/AddressableLED.cpp b/hal/src/main/native/systemcore/AddressableLED.cpp
index a9eb01fb93..5dc5af06c2 100644
--- a/hal/src/main/native/systemcore/AddressableLED.cpp
+++ b/hal/src/main/native/systemcore/AddressableLED.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/AddressableLED.h"
+#include "wpi/hal/AddressableLED.h"
 
 #include <stdint.h>
 
@@ -12,8 +12,8 @@
 #include <thread>
 
 #include <fmt/format.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/RawTopic.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/RawTopic.hpp"
 
 #include "AddressableLEDSimd.h"
 #include "HALInitializer.h"
@@ -21,9 +21,9 @@
 #include "PortsInternal.h"
 #include "SmartIo.h"
 #include "SystemServerInternal.h"
-#include "hal/AddressableLEDTypes.h"
-#include "hal/Errors.h"
-#include "hal/cpp/fpga_clock.h"
+#include "wpi/hal/AddressableLEDTypes.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/cpp/fpga_clock.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/AddressableLEDSimd.h b/hal/src/main/native/systemcore/AddressableLEDSimd.h
index 874444f5ef..d35420461e 100644
--- a/hal/src/main/native/systemcore/AddressableLEDSimd.h
+++ b/hal/src/main/native/systemcore/AddressableLEDSimd.h
@@ -5,7 +5,7 @@
 #pragma once
 #include <utility>
 
-#include "hal/AddressableLEDTypes.h"
+#include "wpi/hal/AddressableLEDTypes.h"
 #include "simd/simd.h"
 
 namespace hal::detail {
diff --git a/hal/src/main/native/systemcore/AnalogInput.cpp b/hal/src/main/native/systemcore/AnalogInput.cpp
index 1cd4263f1b..715058390e 100644
--- a/hal/src/main/native/systemcore/AnalogInput.cpp
+++ b/hal/src/main/native/systemcore/AnalogInput.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/AnalogInput.h"
+#include "wpi/hal/AnalogInput.h"
 
 #include <cstdio>
 #include <thread>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "SmartIo.h"
-#include "hal/Errors.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal::init {
 void InitializeAnalogInput() {}
diff --git a/hal/src/main/native/systemcore/CAN.cpp b/hal/src/main/native/systemcore/CAN.cpp
index e7a7fc7929..f3d4a17a39 100644
--- a/hal/src/main/native/systemcore/CAN.cpp
+++ b/hal/src/main/native/systemcore/CAN.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/CAN.h"
+#include "wpi/hal/CAN.h"
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -17,19 +17,19 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/DenseMap.h>
-#include <wpi/circular_buffer.h>
-#include <wpi/mutex.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/circular_buffer.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
 #include "PortsInternal.h"
-#include "hal/Errors.h"
-#include "hal/Threads.h"
-#include "hal/handles/UnlimitedHandleResource.h"
-#include "wpinet/EventLoopRunner.h"
-#include "wpinet/uv/Poll.h"
-#include "wpinet/uv/Timer.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/Threads.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/uv/Poll.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/CANAPI.cpp b/hal/src/main/native/systemcore/CANAPI.cpp
index 0f038c2b57..4bcdd66a27 100644
--- a/hal/src/main/native/systemcore/CANAPI.cpp
+++ b/hal/src/main/native/systemcore/CANAPI.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/CANAPI.h"
+#include "wpi/hal/CANAPI.h"
 
 #include <ctime>
 #include <memory>
 
-#include <wpi/DenseMap.h>
-#include <wpi/mutex.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/timestamp.h"
 
 #include "HALInitializer.h"
 #include "PortsInternal.h"
-#include "hal/CAN.h"
-#include "hal/Errors.h"
-#include "hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/CTREPCM.cpp b/hal/src/main/native/systemcore/CTREPCM.cpp
index 91fd4c6171..b996b832e0 100644
--- a/hal/src/main/native/systemcore/CTREPCM.cpp
+++ b/hal/src/main/native/systemcore/CTREPCM.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/CTREPCM.h"
+#include "wpi/hal/CTREPCM.h"
 
 #include <string>
 
@@ -11,9 +11,9 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/CANAPI.h"
-#include "hal/Errors.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/CTREPDP.cpp b/hal/src/main/native/systemcore/CTREPDP.cpp
index 2c3236b2cc..578d2376a0 100644
--- a/hal/src/main/native/systemcore/CTREPDP.cpp
+++ b/hal/src/main/native/systemcore/CTREPDP.cpp
@@ -7,15 +7,15 @@
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/CAN.h"
-#include "hal/CANAPI.h"
-#include "hal/Errors.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/CTREPDP.h b/hal/src/main/native/systemcore/CTREPDP.h
index 201e31cd22..a02c2fe6f2 100644
--- a/hal/src/main/native/systemcore/CTREPDP.h
+++ b/hal/src/main/native/systemcore/CTREPDP.h
@@ -6,8 +6,8 @@
 
 #include <stdint.h>
 
-#include "hal/PowerDistribution.h"
-#include "hal/Types.h"
+#include "wpi/hal/PowerDistribution.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_pdp PDP Functions
diff --git a/hal/src/main/native/systemcore/Constants.cpp b/hal/src/main/native/systemcore/Constants.cpp
index 6c1361ed61..d52692612a 100644
--- a/hal/src/main/native/systemcore/Constants.cpp
+++ b/hal/src/main/native/systemcore/Constants.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Constants.h"
+#include "wpi/hal/Constants.h"
 
 #include "ConstantsInternal.h"
 
diff --git a/hal/src/main/native/systemcore/Counter.cpp b/hal/src/main/native/systemcore/Counter.cpp
index 2962246f8b..2970d656c5 100644
--- a/hal/src/main/native/systemcore/Counter.cpp
+++ b/hal/src/main/native/systemcore/Counter.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Counter.h"
+#include "wpi/hal/Counter.h"
 
 #include <cstdio>
 #include <limits>
@@ -15,9 +15,9 @@
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "SmartIo.h"
-#include "hal/HAL.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/handles/LimitedHandleResource.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/handles/LimitedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/DIO.cpp b/hal/src/main/native/systemcore/DIO.cpp
index 2d86ec8e25..c65b294f5f 100644
--- a/hal/src/main/native/systemcore/DIO.cpp
+++ b/hal/src/main/native/systemcore/DIO.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/DIO.h"
+#include "wpi/hal/DIO.h"
 
 #include <cmath>
 #include <cstdio>
@@ -12,10 +12,10 @@
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "SmartIo.h"
-#include "hal/Errors.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/LimitedHandleResource.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/LimitedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/DutyCycle.cpp b/hal/src/main/native/systemcore/DutyCycle.cpp
index 34b19ea101..260dd6cecd 100644
--- a/hal/src/main/native/systemcore/DutyCycle.cpp
+++ b/hal/src/main/native/systemcore/DutyCycle.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/DutyCycle.h"
+#include "wpi/hal/DutyCycle.h"
 
 #include <cstdio>
 #include <memory>
@@ -12,10 +12,10 @@
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "SmartIo.h"
-#include "hal/Errors.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/LimitedHandleResource.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/LimitedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/Encoder.cpp b/hal/src/main/native/systemcore/Encoder.cpp
index b48de62b3e..d3a1f38542 100644
--- a/hal/src/main/native/systemcore/Encoder.cpp
+++ b/hal/src/main/native/systemcore/Encoder.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Encoder.h"
+#include "wpi/hal/Encoder.h"
 
 #include <memory>
 
@@ -11,9 +11,9 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/Counter.h"
-#include "hal/Errors.h"
-#include "hal/handles/LimitedClassedHandleResource.h"
+#include "wpi/hal/Counter.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/LimitedClassedHandleResource.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/FRCDriverStation.cpp b/hal/src/main/native/systemcore/FRCDriverStation.cpp
index 7e61725b19..7e5b2ccae7 100644
--- a/hal/src/main/native/systemcore/FRCDriverStation.cpp
+++ b/hal/src/main/native/systemcore/FRCDriverStation.cpp
@@ -14,29 +14,29 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <networktables/BooleanTopic.h>
-#include <networktables/IntegerTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/ProtobufTopic.h>
-#include <networktables/StringArrayTopic.h>
-#include <networktables/StringTopic.h>
-#include <wpi/EventVector.h>
-#include <wpi/SafeThread.h>
-#include <wpi/SmallVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
-#include <wpi/timestamp.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/ProtobufTopic.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/util/EventVector.hpp"
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/timestamp.h"
 
 #include "HALInitializer.h"
 #include "SystemServerInternal.h"
-#include "hal/DriverStation.h"
-#include "hal/Errors.h"
-#include "hal/proto/ControlData.h"
-#include "hal/proto/ErrorInfo.h"
-#include "hal/proto/JoystickDescriptor.h"
-#include "hal/proto/JoystickRumbleData.h"
-#include "hal/proto/MatchInfo.h"
-#include "hal/proto/OpMode.h"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/proto/ControlData.h"
+#include "wpi/hal/proto/ErrorInfo.h"
+#include "wpi/hal/proto/JoystickDescriptor.h"
+#include "wpi/hal/proto/JoystickRumbleData.h"
+#include "wpi/hal/proto/MatchInfo.h"
+#include "wpi/hal/proto/OpMode.h"
 #include "mrc/NtNetComm.h"
 
 static_assert(sizeof(int32_t) >= sizeof(int),
diff --git a/hal/src/main/native/systemcore/HAL.cpp b/hal/src/main/native/systemcore/HAL.cpp
index 97ef44c9e1..c59b46e6db 100644
--- a/hal/src/main/native/systemcore/HAL.cpp
+++ b/hal/src/main/native/systemcore/HAL.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/HAL.h"
+#include "wpi/hal/HAL.h"
 
 #include <dlfcn.h>
 #include <signal.h>  // linux for kill
@@ -17,21 +17,21 @@
 #include <thread>
 #include <utility>
 
-#include <wpi/MemoryBuffer.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
-#include <wpi/mutex.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
 #include "CANInternal.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "SystemServerInternal.h"
-#include "hal/DriverStation.h"
-#include "hal/Errors.h"
-#include "hal/Notifier.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/Notifier.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/HALInitializer.cpp b/hal/src/main/native/systemcore/HALInitializer.cpp
index 50cc9ab42d..84ba73e6d4 100644
--- a/hal/src/main/native/systemcore/HALInitializer.cpp
+++ b/hal/src/main/native/systemcore/HALInitializer.cpp
@@ -4,7 +4,7 @@
 
 #include "HALInitializer.h"
 
-#include "hal/HALBase.h"
+#include "wpi/hal/HALBase.h"
 
 namespace hal::init {
 std::atomic_bool HAL_IsInitialized{false};
diff --git a/hal/src/main/native/systemcore/I2C.cpp b/hal/src/main/native/systemcore/I2C.cpp
index 0fa24776a4..7520b29e0b 100644
--- a/hal/src/main/native/systemcore/I2C.cpp
+++ b/hal/src/main/native/systemcore/I2C.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/I2C.h"
+#include "wpi/hal/I2C.h"
 
 #include <fcntl.h>
 #include <linux/i2c-dev.h>
@@ -13,14 +13,14 @@
 #include <cstring>
 
 #include <fmt/format.h>
-#include <wpi/mutex.h>
-#include <wpi/print.h>
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/print.hpp"
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/DIO.h"
-#include "hal/HAL.h"
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/HAL.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/IMU.cpp b/hal/src/main/native/systemcore/IMU.cpp
index 98dc8a3f60..e7ab4012e4 100644
--- a/hal/src/main/native/systemcore/IMU.cpp
+++ b/hal/src/main/native/systemcore/IMU.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/IMU.h"
+#include "wpi/hal/IMU.h"
 
 #include <numbers>
 
-#include <networktables/DoubleArrayTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 #include "HALInitializer.h"
 #include "SystemServerInternal.h"
-#include "hal/Errors.h"
+#include "wpi/hal/Errors.h"
 
 #define IMU_PREFIX "/imu/"
 
diff --git a/hal/src/main/native/systemcore/Notifier.cpp b/hal/src/main/native/systemcore/Notifier.cpp
index 7a6fb0e99c..dd174e17ed 100644
--- a/hal/src/main/native/systemcore/Notifier.cpp
+++ b/hal/src/main/native/systemcore/Notifier.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Notifier.h"
+#include "wpi/hal/Notifier.h"
 
 #include <atomic>
 #include <chrono>
@@ -12,17 +12,17 @@
 #include <string>
 #include <utility>
 
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 #include "HALInitializer.h"
-#include "hal/Errors.h"
-#include "hal/HALBase.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifierData.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/handles/UnlimitedHandleResource.h"
+#include "wpi/hal/simulation/NotifierData.h"
 
 namespace {
 struct Notifier {
diff --git a/hal/src/main/native/systemcore/PWM.cpp b/hal/src/main/native/systemcore/PWM.cpp
index 60fe4f1a50..20c3785366 100644
--- a/hal/src/main/native/systemcore/PWM.cpp
+++ b/hal/src/main/native/systemcore/PWM.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/PWM.h"
+#include "wpi/hal/PWM.h"
 
 #include <algorithm>
 #include <cmath>
@@ -10,15 +10,15 @@
 #include <thread>
 
 #include <fmt/format.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "SmartIo.h"
-#include "hal/Errors.h"
-#include "hal/cpp/fpga_clock.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/Ports.cpp b/hal/src/main/native/systemcore/Ports.cpp
index 465b3e89b8..121f068929 100644
--- a/hal/src/main/native/systemcore/Ports.cpp
+++ b/hal/src/main/native/systemcore/Ports.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Ports.h"
+#include "wpi/hal/Ports.h"
 
 #include "PortsInternal.h"
 
diff --git a/hal/src/main/native/systemcore/Power.cpp b/hal/src/main/native/systemcore/Power.cpp
index 5fb5f80c01..ae001d0a1a 100644
--- a/hal/src/main/native/systemcore/Power.cpp
+++ b/hal/src/main/native/systemcore/Power.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Power.h"
+#include "wpi/hal/Power.h"
 
 #include <memory>
 
-#include <networktables/DoubleTopic.h>
+#include "wpi/nt/DoubleTopic.hpp"
 
 #include "HALInitializer.h"
 #include "SystemServerInternal.h"
-#include "hal/Errors.h"
+#include "wpi/hal/Errors.h"
 #include "mrc/NtNetComm.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/systemcore/PowerDistribution.cpp b/hal/src/main/native/systemcore/PowerDistribution.cpp
index a136a97fa8..5d667efd09 100644
--- a/hal/src/main/native/systemcore/PowerDistribution.cpp
+++ b/hal/src/main/native/systemcore/PowerDistribution.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/PowerDistribution.h"
+#include "wpi/hal/PowerDistribution.h"
 
 #include <cstring>
 #include <thread>
@@ -11,9 +11,9 @@
 #include "HALInternal.h"
 #include "PortsInternal.h"
 #include "REVPDH.h"
-#include "hal/Errors.h"
-#include "hal/HALBase.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/systemcore/REVPDH.cpp b/hal/src/main/native/systemcore/REVPDH.cpp
index ebb7511318..ca3872db81 100644
--- a/hal/src/main/native/systemcore/REVPDH.cpp
+++ b/hal/src/main/native/systemcore/REVPDH.cpp
@@ -4,12 +4,12 @@
 
 #include "REVPDH.h"
 
-#include <hal/CAN.h>
-#include <hal/CANAPI.h>
-#include <hal/CANAPITypes.h>
-#include <hal/Errors.h>
-#include <hal/handles/HandlesInternal.h>
-#include <hal/handles/IndexedHandleResource.h>
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/CANAPITypes.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 
 #include <cstring>
 #include <string>
diff --git a/hal/src/main/native/systemcore/REVPDH.h b/hal/src/main/native/systemcore/REVPDH.h
index 5d57a7853b..5604a278d3 100644
--- a/hal/src/main/native/systemcore/REVPDH.h
+++ b/hal/src/main/native/systemcore/REVPDH.h
@@ -6,8 +6,8 @@
 
 #include <stdint.h>
 
-#include "hal/PowerDistribution.h"
-#include "hal/Types.h"
+#include "wpi/hal/PowerDistribution.h"
+#include "wpi/hal/Types.h"
 
 /**
  * @defgroup hal_rev_pdh REV Power Distribution Hub API Functions
diff --git a/hal/src/main/native/systemcore/REVPH.cpp b/hal/src/main/native/systemcore/REVPH.cpp
index 9bbf51014e..4f93529999 100644
--- a/hal/src/main/native/systemcore/REVPH.cpp
+++ b/hal/src/main/native/systemcore/REVPH.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/REVPH.h"
+#include "wpi/hal/REVPH.h"
 
 #include <string>
 #include <thread>
@@ -12,9 +12,9 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/CANAPI.h"
-#include "hal/Errors.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 #include "rev/PHFrames.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/systemcore/SerialPort.cpp b/hal/src/main/native/systemcore/SerialPort.cpp
index 64e24c82c2..8cb7981802 100644
--- a/hal/src/main/native/systemcore/SerialPort.cpp
+++ b/hal/src/main/native/systemcore/SerialPort.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/SerialPort.h"
+#include "wpi/hal/SerialPort.h"
 
 #include <fcntl.h>
 #include <sys/ioctl.h>
@@ -21,8 +21,8 @@
 #include <fmt/format.h>
 
 #include "HALInternal.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/handles/IndexedHandleResource.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/IndexedHandleResource.h"
 
 namespace hal::init {
 void InitializeSerialPort() {}
diff --git a/hal/src/main/native/systemcore/SimDevice.cpp b/hal/src/main/native/systemcore/SimDevice.cpp
index 03b35f7b46..7c24867374 100644
--- a/hal/src/main/native/systemcore/SimDevice.cpp
+++ b/hal/src/main/native/systemcore/SimDevice.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/SimDevice.h"
+#include "wpi/hal/SimDevice.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/SmartIo.cpp b/hal/src/main/native/systemcore/SmartIo.cpp
index f47251c901..f0ff8fbabc 100644
--- a/hal/src/main/native/systemcore/SmartIo.cpp
+++ b/hal/src/main/native/systemcore/SmartIo.cpp
@@ -8,8 +8,8 @@
 
 #include "HALInitializer.h"
 #include "SystemServerInternal.h"
-#include "hal/AddressableLEDTypes.h"
-#include "hal/Errors.h"
+#include "wpi/hal/AddressableLEDTypes.h"
+#include "wpi/hal/Errors.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/systemcore/SmartIo.h b/hal/src/main/native/systemcore/SmartIo.h
index bd21f933fa..a4a371a3b6 100644
--- a/hal/src/main/native/systemcore/SmartIo.h
+++ b/hal/src/main/native/systemcore/SmartIo.h
@@ -6,11 +6,11 @@
 
 #include <string>
 
-#include <networktables/IntegerTopic.h>
+#include "wpi/nt/IntegerTopic.hpp"
 
 #include "PortsInternal.h"
-#include "hal/handles/DigitalHandleResource.h"
-#include "hal/handles/HandlesInternal.h"
+#include "wpi/hal/handles/DigitalHandleResource.h"
+#include "wpi/hal/handles/HandlesInternal.h"
 
 namespace hal {
 
diff --git a/hal/src/main/native/systemcore/SystemServer.cpp b/hal/src/main/native/systemcore/SystemServer.cpp
index ea5b01b8ae..1c16e29962 100644
--- a/hal/src/main/native/systemcore/SystemServer.cpp
+++ b/hal/src/main/native/systemcore/SystemServer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/SystemServer.h"
+#include "wpi/hal/SystemServer.h"
 
 #include "SystemServerInternal.h"
 #include "mrc/NtNetComm.h"
diff --git a/hal/src/main/native/systemcore/SystemServerInternal.h b/hal/src/main/native/systemcore/SystemServerInternal.h
index 258687fef9..1209c8b395 100644
--- a/hal/src/main/native/systemcore/SystemServerInternal.h
+++ b/hal/src/main/native/systemcore/SystemServerInternal.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 namespace hal {
 void InitializeSystemServer();
diff --git a/hal/src/main/native/systemcore/Threads.cpp b/hal/src/main/native/systemcore/Threads.cpp
index aa55b56945..8b76314ab5 100644
--- a/hal/src/main/native/systemcore/Threads.cpp
+++ b/hal/src/main/native/systemcore/Threads.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/Threads.h"
+#include "wpi/hal/Threads.h"
 
 #include <pthread.h>
 #include <sched.h>
 
-#include "hal/Errors.h"
+#include "wpi/hal/Errors.h"
 
 namespace hal::init {
 void InitializeThreads() {}
diff --git a/hal/src/main/native/systemcore/UsageReporting.cpp b/hal/src/main/native/systemcore/UsageReporting.cpp
index e7bd0805c1..f38a69d76b 100644
--- a/hal/src/main/native/systemcore/UsageReporting.cpp
+++ b/hal/src/main/native/systemcore/UsageReporting.cpp
@@ -5,10 +5,10 @@
 #include <stdint.h>
 
 #include <fmt/format.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
-#include <wpi/StringMap.h>
-#include <wpi/string.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/string.h"
 
 #include "SystemServerInternal.h"
 
diff --git a/hal/src/main/native/systemcore/mockdata/AddressableLEDData.cpp b/hal/src/main/native/systemcore/mockdata/AddressableLEDData.cpp
index e27e74ef61..a7e8ac7244 100644
--- a/hal/src/main/native/systemcore/mockdata/AddressableLEDData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/AddressableLEDData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/AddressableLEDData.h"
+#include "wpi/hal/simulation/AddressableLEDData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/mockdata/AnalogInData.cpp b/hal/src/main/native/systemcore/mockdata/AnalogInData.cpp
index eaa79c4926..8125a5bda6 100644
--- a/hal/src/main/native/systemcore/mockdata/AnalogInData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/AnalogInData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/AnalogInData.h"
+#include "wpi/hal/simulation/AnalogInData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetAnalogInData(int32_t index) {}
diff --git a/hal/src/main/native/systemcore/mockdata/CTREPCMData.cpp b/hal/src/main/native/systemcore/mockdata/CTREPCMData.cpp
index fc9edfea74..1380a22991 100644
--- a/hal/src/main/native/systemcore/mockdata/CTREPCMData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/CTREPCMData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/CTREPCMData.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetCTREPCMData(int32_t index) {}
diff --git a/hal/src/main/native/systemcore/mockdata/CanDataInternal.cpp b/hal/src/main/native/systemcore/mockdata/CanDataInternal.cpp
index be2fbc0526..ba017848af 100644
--- a/hal/src/main/native/systemcore/mockdata/CanDataInternal.cpp
+++ b/hal/src/main/native/systemcore/mockdata/CanDataInternal.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/CanData.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/CanData.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/mockdata/DIOData.cpp b/hal/src/main/native/systemcore/mockdata/DIOData.cpp
index 392c31b6d4..af3e84bb48 100644
--- a/hal/src/main/native/systemcore/mockdata/DIOData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/DIOData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/DIOData.h"
+#include "wpi/hal/simulation/DIOData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetDIOData(int32_t index) {}
diff --git a/hal/src/main/native/systemcore/mockdata/DigitalPWMData.cpp b/hal/src/main/native/systemcore/mockdata/DigitalPWMData.cpp
index c3f5d31e30..933b31e812 100644
--- a/hal/src/main/native/systemcore/mockdata/DigitalPWMData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/DigitalPWMData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/DigitalPWMData.h"
+#include "wpi/hal/simulation/DigitalPWMData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 int32_t HALSIM_FindDigitalPWMForChannel(int32_t channel) {
diff --git a/hal/src/main/native/systemcore/mockdata/DriverStationData.cpp b/hal/src/main/native/systemcore/mockdata/DriverStationData.cpp
index 093e00e95d..fb87491b59 100644
--- a/hal/src/main/native/systemcore/mockdata/DriverStationData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/DriverStationData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/DriverStationData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetDriverStationData(void) {}
diff --git a/hal/src/main/native/systemcore/mockdata/DutyCycleData.cpp b/hal/src/main/native/systemcore/mockdata/DutyCycleData.cpp
index d4e3a0e0dd..f2706e49a7 100644
--- a/hal/src/main/native/systemcore/mockdata/DutyCycleData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/DutyCycleData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/DutyCycleData.h"
+#include "wpi/hal/simulation/DutyCycleData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/mockdata/EncoderData.cpp b/hal/src/main/native/systemcore/mockdata/EncoderData.cpp
index 4b07b311db..0f1030561e 100644
--- a/hal/src/main/native/systemcore/mockdata/EncoderData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/EncoderData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/EncoderData.h"
+#include "wpi/hal/simulation/EncoderData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 int32_t HALSIM_FindEncoderForChannel(int32_t channel) {
diff --git a/hal/src/main/native/systemcore/mockdata/I2CData.cpp b/hal/src/main/native/systemcore/mockdata/I2CData.cpp
index 2f91061f95..557cddd94a 100644
--- a/hal/src/main/native/systemcore/mockdata/I2CData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/I2CData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/I2CData.h"
+#include "wpi/hal/simulation/I2CData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetI2CData(int32_t index) {}
diff --git a/hal/src/main/native/systemcore/mockdata/MockHooks.cpp b/hal/src/main/native/systemcore/mockdata/MockHooks.cpp
index a6a680448e..6b3d722daa 100644
--- a/hal/src/main/native/systemcore/mockdata/MockHooks.cpp
+++ b/hal/src/main/native/systemcore/mockdata/MockHooks.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/MockHooks.h"
+#include "wpi/hal/simulation/MockHooks.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/mockdata/NotifierData.cpp b/hal/src/main/native/systemcore/mockdata/NotifierData.cpp
index f75733e0fc..d37f7b0775 100644
--- a/hal/src/main/native/systemcore/mockdata/NotifierData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/NotifierData.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/NotifierData.h"
+#include "wpi/hal/simulation/NotifierData.h"
 
 extern "C" {
 
diff --git a/hal/src/main/native/systemcore/mockdata/PWMData.cpp b/hal/src/main/native/systemcore/mockdata/PWMData.cpp
index 37b5649c13..808198feae 100644
--- a/hal/src/main/native/systemcore/mockdata/PWMData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/PWMData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/PWMData.h"
+#include "wpi/hal/simulation/PWMData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetPWMData(int32_t index) {}
diff --git a/hal/src/main/native/systemcore/mockdata/PowerDistributionData.cpp b/hal/src/main/native/systemcore/mockdata/PowerDistributionData.cpp
index a44e222214..6eb5b352cd 100644
--- a/hal/src/main/native/systemcore/mockdata/PowerDistributionData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/PowerDistributionData.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/PowerDistributionData.h"
+#include "wpi/hal/simulation/PowerDistributionData.h"
 
 #include "../PortsInternal.h"
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetPowerDistributionData(int32_t index) {}
diff --git a/hal/src/main/native/systemcore/mockdata/REVPHData.cpp b/hal/src/main/native/systemcore/mockdata/REVPHData.cpp
index f2c4e85ae3..37d7b1e969 100644
--- a/hal/src/main/native/systemcore/mockdata/REVPHData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/REVPHData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/REVPHData.h"
+#include "wpi/hal/simulation/REVPHData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetREVPHData(int32_t index) {}
diff --git a/hal/src/main/native/systemcore/mockdata/RoboRioData.cpp b/hal/src/main/native/systemcore/mockdata/RoboRioData.cpp
index 8e1b503eaa..a91ca86281 100644
--- a/hal/src/main/native/systemcore/mockdata/RoboRioData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/RoboRioData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/RoboRioData.h"
+#include "wpi/hal/simulation/RoboRioData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 void HALSIM_ResetRoboRioData(void) {}
diff --git a/hal/src/main/native/systemcore/mockdata/SimDeviceData.cpp b/hal/src/main/native/systemcore/mockdata/SimDeviceData.cpp
index 08bd8ce9b8..890e66ddd7 100644
--- a/hal/src/main/native/systemcore/mockdata/SimDeviceData.cpp
+++ b/hal/src/main/native/systemcore/mockdata/SimDeviceData.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/simulation/SimDeviceData.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
-#include "hal/simulation/SimDataValue.h"
+#include "wpi/hal/simulation/SimDataValue.h"
 
 extern "C" {
 
diff --git a/hal/src/main/python/hal/simulation/resethandles.cpp b/hal/src/main/python/hal/simulation/resethandles.cpp
index 5caf333a39..b66b3caa22 100644
--- a/hal/src/main/python/hal/simulation/resethandles.cpp
+++ b/hal/src/main/python/hal/simulation/resethandles.cpp
@@ -1,9 +1,9 @@
 
 
 #ifndef __FRC_SYSTEMCORE__
-#include <hal/Notifier.h>
-#include <hal/handles/HandlesInternal.h>
-#include <hal/simulation/NotifierData.h>
+#include "wpi/hal/Notifier.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/simulation/NotifierData.h"
 
 void HALSIM_ResetGlobalHandles() {
 
diff --git a/hal/src/main/python/hal/simulation/sim_value_cb.h b/hal/src/main/python/hal/simulation/sim_value_cb.h
index d7477caaa8..ff128fc895 100644
--- a/hal/src/main/python/hal/simulation/sim_value_cb.h
+++ b/hal/src/main/python/hal/simulation/sim_value_cb.h
@@ -1,7 +1,7 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
+#include "wpi/hal/SimDevice.h"
 
 class SimValueCB {
 public:
diff --git a/hal/src/main/python/hal/src/ds_types_fmt.h b/hal/src/main/python/hal/src/ds_types_fmt.h
index 04bffd2329..e126365beb 100644
--- a/hal/src/main/python/hal/src/ds_types_fmt.h
+++ b/hal/src/main/python/hal/src/ds_types_fmt.h
@@ -2,7 +2,7 @@
 
 #include <pybind11/pybind11.h>
 
-#include "hal/DriverStationTypes.h"
+#include "wpi/hal/DriverStationTypes.h"
 
 namespace pybind11 {
 
diff --git a/hal/src/main/python/hal/src/hal.cpp b/hal/src/main/python/hal/src/hal.cpp
index 5051977439..f846db552b 100644
--- a/hal/src/main/python/hal/src/hal.cpp
+++ b/hal/src/main/python/hal/src/hal.cpp
@@ -1,8 +1,8 @@
 
 
-#include <hal/HALBase.h>
-#include <hal/DriverStation.h>
-#include <hal/Value.h>
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Value.h"
 #include <semiwrap_init.hal._wpiHal.hpp>
 
 using namespace pybind11::literals;
diff --git a/hal/src/main/python/pyproject.toml b/hal/src/main/python/pyproject.toml
index 8de92529ce..f1df6f18b6 100644
--- a/hal/src/main/python/pyproject.toml
+++ b/hal/src/main/python/pyproject.toml
@@ -43,36 +43,36 @@ update_init = []
 scan_headers_ignore = [
     "hal/ChipObject.h",
     "hal/DMA.h",
-    "hal/Errors.h",
-    "hal/HAL.h",
-    "hal/IMU.h",
-    "hal/IMUTypes.h",
-    "hal/SystemServer.h",
-    "hal/Types.h",
-    "hal/Value.h",
+    "wpi/hal/Errors.h",
+    "wpi/hal/HAL.h",
+    "wpi/hal/IMU.h",
+    "wpi/hal/IMUTypes.h",
+    "wpi/hal/SystemServer.h",
+    "wpi/hal/Types.h",
+    "wpi/hal/Value.h",
 
     "hal/cpp/SerialHelper.h",
     "hal/cpp/UnsafeDIO.h",
-    "hal/cpp/fpga_clock.h",
+    "wpi/hal/cpp/fpga_clock.h",
 
-    "hal/handles/DigitalHandleResource.h",
-    "hal/handles/IndexedClassedHandleResource.h",
-    "hal/handles/IndexedHandleResource.h",
-    "hal/handles/LimitedClassedHandleResource.h",
-    "hal/handles/LimitedHandleResource.h",
-    "hal/handles/UnlimitedHandleResource.h",
+    "wpi/hal/handles/DigitalHandleResource.h",
+    "wpi/hal/handles/IndexedClassedHandleResource.h",
+    "wpi/hal/handles/IndexedHandleResource.h",
+    "wpi/hal/handles/LimitedClassedHandleResource.h",
+    "wpi/hal/handles/LimitedHandleResource.h",
+    "wpi/hal/handles/UnlimitedHandleResource.h",
 
     "hal/proto/*",
 
     "hal/roborio/HMB.h",
     "hal/roborio/InterruptManager.h",
 
-    "hal/simulation/CanData.h",
-    "hal/simulation/I2CData.h",
-    "hal/simulation/NotifyListener.h",
+    "wpi/hal/simulation/CanData.h",
+    "wpi/hal/simulation/I2CData.h",
+    "wpi/hal/simulation/NotifyListener.h",
     "hal/simulation/SPIData.h",
-    "hal/simulation/SimCallbackRegistry.h",
-    "hal/simulation/SimDataValue.h",
+    "wpi/hal/simulation/SimCallbackRegistry.h",
+    "wpi/hal/simulation/SimDataValue.h",
 
     # TODO: might want this in the future
     "mrc/*",
@@ -89,54 +89,54 @@ depends = ["wpiutil", "ntcore"]
 
 [tool.semiwrap.extension_modules."hal._wpiHal".headers]
 # hal
-AddressableLED = "hal/AddressableLED.h"
-AddressableLEDTypes = "hal/AddressableLEDTypes.h"
-AnalogInput = "hal/AnalogInput.h"
-CAN = "hal/CAN.h"
-CANAPI = "hal/CANAPI.h"
-CANAPITypes = "hal/CANAPITypes.h"
-CTREPCM = "hal/CTREPCM.h"
-Constants = "hal/Constants.h"
-Counter = "hal/Counter.h"
-DIO = "hal/DIO.h"
+AddressableLED = "wpi/hal/AddressableLED.h"
+AddressableLEDTypes = "wpi/hal/AddressableLEDTypes.h"
+AnalogInput = "wpi/hal/AnalogInput.h"
+CAN = "wpi/hal/CAN.h"
+CANAPI = "wpi/hal/CANAPI.h"
+CANAPITypes = "wpi/hal/CANAPITypes.h"
+CTREPCM = "wpi/hal/CTREPCM.h"
+Constants = "wpi/hal/Constants.h"
+Counter = "wpi/hal/Counter.h"
+DIO = "wpi/hal/DIO.h"
 # DMA = "hal/DMA.h"
-DriverStation = "hal/DriverStation.h"
-DriverStationTypes = "hal/DriverStationTypes.h"
-DutyCycle = "hal/DutyCycle.h"
-Encoder = "hal/Encoder.h"
-# Errors = "hal/Errors.h"
-Extensions = "hal/Extensions.h"
-# HAL = "hal/HAL.h"
-HALBase = "hal/HALBase.h"
-I2C = "hal/I2C.h"
-I2CTypes = "hal/I2CTypes.h"
-# IMU = "hal/IMU.h"
-# IMUTypes = "hal/IMUTypes.h"
-Main = "hal/Main.h"
-Notifier = "hal/Notifier.h"
-PWM = "hal/PWM.h"
-Ports = "hal/Ports.h"
-Power = "hal/Power.h"
-PowerDistribution = "hal/PowerDistribution.h"
-REVPH = "hal/REVPH.h"
-SerialPort = "hal/SerialPort.h"
-SimDevice = "hal/SimDevice.h"
-UsageReporting = "hal/UsageReporting.h"
-Threads = "hal/Threads.h"
-# Types = "hal/Types.h"
-# Value = "hal/Value.h"
+DriverStation = "wpi/hal/DriverStation.h"
+DriverStationTypes = "wpi/hal/DriverStationTypes.h"
+DutyCycle = "wpi/hal/DutyCycle.h"
+Encoder = "wpi/hal/Encoder.h"
+# Errors = "wpi/hal/Errors.h"
+Extensions = "wpi/hal/Extensions.h"
+# HAL = "wpi/hal/HAL.h"
+HALBase = "wpi/hal/HALBase.h"
+I2C = "wpi/hal/I2C.h"
+I2CTypes = "wpi/hal/I2CTypes.h"
+# IMU = "wpi/hal/IMU.h"
+# IMUTypes = "wpi/hal/IMUTypes.h"
+Main = "wpi/hal/Main.h"
+Notifier = "wpi/hal/Notifier.h"
+PWM = "wpi/hal/PWM.h"
+Ports = "wpi/hal/Ports.h"
+Power = "wpi/hal/Power.h"
+PowerDistribution = "wpi/hal/PowerDistribution.h"
+REVPH = "wpi/hal/REVPH.h"
+SerialPort = "wpi/hal/SerialPort.h"
+SimDevice = "wpi/hal/SimDevice.h"
+UsageReporting = "wpi/hal/UsageReporting.h"
+Threads = "wpi/hal/Threads.h"
+# Types = "wpi/hal/Types.h"
+# Value = "wpi/hal/Value.h"
 
 # hal/cpp
-# fpga_clock = "hal/cpp/fpga_clock.h"
+# fpga_clock = "wpi/hal/cpp/fpga_clock.h"
 
 # hal/handles
-# DigitalHandleResource = "hal/handles/DigitalHandleResource.h"
-HandlesInternal = "hal/handles/HandlesInternal.h"
-# IndexedClassedHandleResource = "hal/handles/IndexedClassedHandleResource.h"
-# IndexedHandleResource = "hal/handles/IndexedHandleResource.h"
-# LimitedClassedHandleResource = "hal/handles/LimitedClassedHandleResource.h"
-# LimitedHandleResource = "hal/handles/LimitedHandleResource.h"
-# UnlimitedHandleResource = "hal/handles/UnlimitedHandleResource.h"
+# DigitalHandleResource = "wpi/hal/handles/DigitalHandleResource.h"
+HandlesInternal = "wpi/hal/handles/HandlesInternal.h"
+# IndexedClassedHandleResource = "wpi/hal/handles/IndexedClassedHandleResource.h"
+# IndexedHandleResource = "wpi/hal/handles/IndexedHandleResource.h"
+# LimitedClassedHandleResource = "wpi/hal/handles/LimitedClassedHandleResource.h"
+# LimitedHandleResource = "wpi/hal/handles/LimitedHandleResource.h"
+# UnlimitedHandleResource = "wpi/hal/handles/UnlimitedHandleResource.h"
 
 
 [tool.semiwrap.extension_modules."hal.simulation._simulation"]
@@ -146,24 +146,24 @@ depends = ["wpiutil", "ntcore"]
 yaml_path = "semiwrap/simulation"
 
 [tool.semiwrap.extension_modules."hal.simulation._simulation".headers]
-AddressableLEDData = "hal/simulation/AddressableLEDData.h"
-AnalogInData = "hal/simulation/AnalogInData.h"
-CTREPCMData = "hal/simulation/CTREPCMData.h"
-# CanData = "hal/simulation/CanData.h"
-DIOData = "hal/simulation/DIOData.h"
-DigitalPWMData = "hal/simulation/DigitalPWMData.h"
-DriverStationData = "hal/simulation/DriverStationData.h"
-DutyCycleData = "hal/simulation/DutyCycleData.h"
-EncoderData = "hal/simulation/EncoderData.h"
-# I2CData = "hal/simulation/I2CData.h"
-MockHooks = "hal/simulation/MockHooks.h"
-NotifierData = "hal/simulation/NotifierData.h"
-# NotifyListener = "hal/simulation/NotifyListener.h"
-PWMData = "hal/simulation/PWMData.h"
-PowerDistributionData = "hal/simulation/PowerDistributionData.h"
-REVPHData = "hal/simulation/REVPHData.h"
-Reset = "hal/simulation/Reset.h"
-RoboRioData = "hal/simulation/RoboRioData.h"
-# SimCallbackRegistry = "hal/simulation/SimCallbackRegistry.h"
-# SimDataValue = "hal/simulation/SimDataValue.h"
-SimDeviceData = "hal/simulation/SimDeviceData.h"
+AddressableLEDData = "wpi/hal/simulation/AddressableLEDData.h"
+AnalogInData = "wpi/hal/simulation/AnalogInData.h"
+CTREPCMData = "wpi/hal/simulation/CTREPCMData.h"
+# CanData = "wpi/hal/simulation/CanData.h"
+DIOData = "wpi/hal/simulation/DIOData.h"
+DigitalPWMData = "wpi/hal/simulation/DigitalPWMData.h"
+DriverStationData = "wpi/hal/simulation/DriverStationData.h"
+DutyCycleData = "wpi/hal/simulation/DutyCycleData.h"
+EncoderData = "wpi/hal/simulation/EncoderData.h"
+# I2CData = "wpi/hal/simulation/I2CData.h"
+MockHooks = "wpi/hal/simulation/MockHooks.h"
+NotifierData = "wpi/hal/simulation/NotifierData.h"
+# NotifyListener = "wpi/hal/simulation/NotifyListener.h"
+PWMData = "wpi/hal/simulation/PWMData.h"
+PowerDistributionData = "wpi/hal/simulation/PowerDistributionData.h"
+REVPHData = "wpi/hal/simulation/REVPHData.h"
+Reset = "wpi/hal/simulation/Reset.h"
+RoboRioData = "wpi/hal/simulation/RoboRioData.h"
+# SimCallbackRegistry = "wpi/hal/simulation/SimCallbackRegistry.h"
+# SimDataValue = "wpi/hal/simulation/SimDataValue.h"
+SimDeviceData = "wpi/hal/simulation/SimDeviceData.h"
diff --git a/hal/src/main/python/semiwrap/SimDevice.yml b/hal/src/main/python/semiwrap/SimDevice.yml
index 47cca971b2..539fa4fb9e 100644
--- a/hal/src/main/python/semiwrap/SimDevice.yml
+++ b/hal/src/main/python/semiwrap/SimDevice.yml
@@ -3,7 +3,7 @@ defaults:
   report_ignored_missing: false
 
 extra_includes:
-- hal/simulation/SimDeviceData.h
+- wpi/hal/simulation/SimDeviceData.h
 
 strip_prefixes:
 - HAL_
diff --git a/hal/src/test/native/cpp/HALTest.cpp b/hal/src/test/native/cpp/HALTest.cpp
index 0c4939e214..1ff2b7f297 100644
--- a/hal/src/test/native/cpp/HALTest.cpp
+++ b/hal/src/test/native/cpp/HALTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/HAL.h"
+#include "wpi/hal/HAL.h"
 
 namespace hal {
 TEST(HALTest, RuntimeType) {
diff --git a/hal/src/test/native/cpp/can/CANTest.cpp b/hal/src/test/native/cpp/can/CANTest.cpp
index 69075db608..b13eaa4811 100644
--- a/hal/src/test/native/cpp/can/CANTest.cpp
+++ b/hal/src/test/native/cpp/can/CANTest.cpp
@@ -7,8 +7,8 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/CANAPI.h"
-#include "hal/simulation/CanData.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/simulation/CanData.h"
 
 namespace hal {
 struct CANTestStore {
diff --git a/hal/src/test/native/cpp/handles/HandleTest.cpp b/hal/src/test/native/cpp/handles/HandleTest.cpp
index d3fd1c7265..cfc7559c0e 100644
--- a/hal/src/test/native/cpp/handles/HandleTest.cpp
+++ b/hal/src/test/native/cpp/handles/HandleTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/handles/IndexedClassedHandleResource.h"
+#include "wpi/hal/handles/IndexedClassedHandleResource.h"
 
 #define HAL_TestHandle HAL_Handle
 
diff --git a/hal/src/test/native/cpp/main.cpp b/hal/src/test/native/cpp/main.cpp
index 20ccbadad9..8b833f274b 100644
--- a/hal/src/test/native/cpp/main.cpp
+++ b/hal/src/test/native/cpp/main.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/HAL.h"
+#include "wpi/hal/HAL.h"
 
 int main(int argc, char** argv) {
   HAL_Initialize(500, 0);
diff --git a/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
index 15dba390ac..aa562360eb 100644
--- a/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/AnalogInput.h"
-#include "hal/HAL.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/AnalogInData.h"
+#include "wpi/hal/AnalogInput.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/simulation/AnalogInData.h"
 
 namespace hal {
 
diff --git a/hal/src/test/native/cpp/mockdata/DIODataTest.cpp b/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
index f1d670c5a5..5512e989b0 100644
--- a/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/DIO.h"
-#include "hal/HAL.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/DIOData.h"
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/simulation/DIOData.h"
 
 namespace hal {
 
diff --git a/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
index 0f8e1f0cc5..1388f7cdab 100644
--- a/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
@@ -6,10 +6,10 @@
 #include <string>
 
 #include <gtest/gtest.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "hal/HAL.h"
-#include "hal/simulation/DriverStationData.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/simulation/DriverStationData.h"
 
 namespace hal {
 
diff --git a/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
index 8ba7806868..89364a5b0f 100644
--- a/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/I2C.h"
-#include "hal/simulation/I2CData.h"
+#include "wpi/hal/I2C.h"
+#include "wpi/hal/simulation/I2CData.h"
 
 namespace hal {
 
diff --git a/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp b/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
index e7a9b4196d..cd321c1874 100644
--- a/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/CTREPCM.h"
-#include "hal/HAL.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/CTREPCMData.h"
+#include "wpi/hal/CTREPCM.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
 
 namespace hal {
 
diff --git a/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
index 7478ae3775..99a96411d2 100644
--- a/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/PowerDistribution.h"
-#include "hal/simulation/PowerDistributionData.h"
+#include "wpi/hal/PowerDistribution.h"
+#include "wpi/hal/simulation/PowerDistributionData.h"
 
 namespace hal {
 
diff --git a/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp b/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
index 286208c28e..268b951b9f 100644
--- a/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/HAL.h"
-#include "hal/PWM.h"
-#include "hal/handles/HandlesInternal.h"
-#include "hal/simulation/PWMData.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/handles/HandlesInternal.h"
+#include "wpi/hal/simulation/PWMData.h"
 
 namespace hal {
 
diff --git a/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp b/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
index fef7adaa24..1af4e62c64 100644
--- a/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/SimDeviceDataTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "hal/SimDevice.h"
-#include "hal/simulation/SimDeviceData.h"
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
 namespace hal {
 
diff --git a/ntcore/src/dev/native/cpp/main.cpp b/ntcore/src/dev/native/cpp/main.cpp
index 3d24fdf2de..d5e02f420e 100644
--- a/ntcore/src/dev/native/cpp/main.cpp
+++ b/ntcore/src/dev/native/cpp/main.cpp
@@ -16,15 +16,15 @@
 
 #include <fmt/format.h>
 #include <fmt/ranges.h>
-#include <wpi/Synchronization.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "networktables/DoubleArrayTopic.h"
-#include "networktables/NetworkTableInstance.h"
-#include "ntcore.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/ntcore.h"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 void bench();
 void bench2();
diff --git a/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja b/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja
index 7768fed4ee..cca55764ba 100644
--- a/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja
+++ b/ntcore/src/generate/main/native/cpp/jni/types_jni.cpp.jinja
@@ -6,10 +6,10 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_networktables_NetworkTablesJNI.h"
-#include "ntcore.h"
+#include "wpi/nt/ntcore.h"
 
 using namespace wpi::java;
 
diff --git a/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja b/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja
index ccfe1833ac..0b421bcdc0 100644
--- a/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja
+++ b/ntcore/src/generate/main/native/cpp/ntcore_c_types.cpp.jinja
@@ -4,10 +4,10 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./ntcore/generate_topics.py. DO NOT MODIFY
 
-#include "ntcore_c_types.h"
+#include "wpi/nt/ntcore_c_types.h"
 
-#include "Value_internal.h"
-#include "ntcore_cpp.h"
+#include "Value_internal.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja b/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja
index d9501f899a..c627e52786 100644
--- a/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja
+++ b/ntcore/src/generate/main/native/cpp/ntcore_cpp_types.cpp.jinja
@@ -4,10 +4,10 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./ntcore/generate_topics.py. DO NOT MODIFY
 
-#include "ntcore_cpp_types.h"
+#include "wpi/nt/ntcore_cpp_types.hpp"
 
-#include "Handle.h"
-#include "InstanceImpl.h"
+#include "Handle.hpp"
+#include "InstanceImpl.hpp"
 
 namespace {
 template <nt::ValidType T>
diff --git a/ntcore/src/generate/main/native/include/ntcore_c_types.h.jinja b/ntcore/src/generate/main/native/include/ntcore_c_types.h.jinja
index 93359ffce5..47be9976a0 100644
--- a/ntcore/src/generate/main/native/include/ntcore_c_types.h.jinja
+++ b/ntcore/src/generate/main/native/include/ntcore_c_types.h.jinja
@@ -8,7 +8,7 @@
 
 #include <stdint.h>
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja b/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja
index 941414d671..b45152293d 100644
--- a/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja
+++ b/ntcore/src/generate/main/native/include/ntcore_cpp_types.hpp.jinja
@@ -14,7 +14,7 @@
 #include <utility>
 #include <vector>
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja b/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja
index 19939c0b94..74f19ed5ac 100644
--- a/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja
+++ b/ntcore/src/generate/main/native/include/wpi/nt/Topic.hpp.jinja
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp b/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp
index 4f36ff6abf..f561f3e4dc 100644
--- a/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp
+++ b/ntcore/src/generated/main/native/cpp/jni/types_jni.cpp
@@ -6,10 +6,10 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_networktables_NetworkTablesJNI.h"
-#include "ntcore.h"
+#include "wpi/nt/ntcore.h"
 
 using namespace wpi::java;
 
diff --git a/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp b/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp
index dcf1a946cb..6d9dfade79 100644
--- a/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp
+++ b/ntcore/src/generated/main/native/cpp/ntcore_c_types.cpp
@@ -4,10 +4,10 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./ntcore/generate_topics.py. DO NOT MODIFY
 
-#include "ntcore_c_types.h"
+#include "wpi/nt/ntcore_c_types.h"
 
-#include "Value_internal.h"
-#include "ntcore_cpp.h"
+#include "Value_internal.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp b/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp
index 030857e895..239a2a1a6f 100644
--- a/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp
+++ b/ntcore/src/generated/main/native/cpp/ntcore_cpp_types.cpp
@@ -4,10 +4,10 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./ntcore/generate_topics.py. DO NOT MODIFY
 
-#include "ntcore_cpp_types.h"
+#include "wpi/nt/ntcore_cpp_types.hpp"
 
-#include "Handle.h"
-#include "InstanceImpl.h"
+#include "Handle.hpp"
+#include "InstanceImpl.hpp"
 
 namespace {
 template <nt::ValidType T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp
index 137c922c27..b5c972de3d 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/BooleanArrayTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp
index 6da5b2943e..58c24d50a7 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/BooleanTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp
index 79aba1ddba..f89c29f451 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/DoubleArrayTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp
index 5601354a2b..41dca50f43 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/DoubleTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp
index c54425250d..aa6ddb0bc9 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/FloatArrayTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp
index 1e402837dd..04f73ff688 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/FloatTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp
index 3063d4cc44..77c4e01ecf 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/IntegerArrayTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp
index f0576e9dde..d7efb3e81d 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/IntegerTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp
index b42dfe58db..1c53742416 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/RawTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp
index 9c36bac3f3..f6b62e68a2 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/StringArrayTopic.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp b/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp
index 2e65a1bbb7..cdf930e3a7 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/StringTopic.hpp
@@ -15,11 +15,11 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/ntcore_c_types.h b/ntcore/src/generated/main/native/include/wpi/nt/ntcore_c_types.h
index a9a57117c1..c5c989aa71 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/ntcore_c_types.h
+++ b/ntcore/src/generated/main/native/include/wpi/nt/ntcore_c_types.h
@@ -8,7 +8,7 @@
 
 #include <stdint.h>
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp b/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp
index c0cac5e5a5..5ae1297edb 100644
--- a/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp
+++ b/ntcore/src/generated/main/native/include/wpi/nt/ntcore_cpp_types.hpp
@@ -14,7 +14,7 @@
 #include <utility>
 #include <vector>
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/main/native/cpp/ConnectionList.cpp b/ntcore/src/main/native/cpp/ConnectionList.cpp
index f4ae7475a1..243ac52b17 100644
--- a/ntcore/src/main/native/cpp/ConnectionList.cpp
+++ b/ntcore/src/main/native/cpp/ConnectionList.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ConnectionList.h"
+#include "ConnectionList.hpp"
 
 #include <string>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "IListenerStorage.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "IListenerStorage.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/ConnectionList.hpp b/ntcore/src/main/native/cpp/ConnectionList.hpp
index 6551ee468c..448f23945d 100644
--- a/ntcore/src/main/native/cpp/ConnectionList.hpp
+++ b/ntcore/src/main/native/cpp/ConnectionList.hpp
@@ -13,14 +13,14 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/UidVector.h>
-#include <wpi/datalog/DataLog.h>
-#include <wpi/mutex.h>
+#include "wpi/util/UidVector.hpp"
+#include "wpi/datalog/DataLog.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "Handle.h"
-#include "HandleMap.h"
-#include "IConnectionList.h"
-#include "ntcore_cpp.h"
+#include "Handle.hpp"
+#include "HandleMap.hpp"
+#include "IConnectionList.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/Handle.hpp b/ntcore/src/main/native/cpp/Handle.hpp
index d23aebef33..e17fe192fe 100644
--- a/ntcore/src/main/native/cpp/Handle.hpp
+++ b/ntcore/src/main/native/cpp/Handle.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/HandleMap.hpp b/ntcore/src/main/native/cpp/HandleMap.hpp
index 89b4866890..d3f8d84b84 100644
--- a/ntcore/src/main/native/cpp/HandleMap.hpp
+++ b/ntcore/src/main/native/cpp/HandleMap.hpp
@@ -8,9 +8,9 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/UidVector.h>
+#include "wpi/util/UidVector.hpp"
 
-#include "Handle.h"
+#include "Handle.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/IConnectionList.hpp b/ntcore/src/main/native/cpp/IConnectionList.hpp
index a4a59e3c60..bd593c8cbd 100644
--- a/ntcore/src/main/native/cpp/IConnectionList.hpp
+++ b/ntcore/src/main/native/cpp/IConnectionList.hpp
@@ -6,7 +6,7 @@
 
 #include <vector>
 
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/IListenerStorage.hpp b/ntcore/src/main/native/cpp/IListenerStorage.hpp
index 82d743224e..ec69d2323d 100644
--- a/ntcore/src/main/native/cpp/IListenerStorage.hpp
+++ b/ntcore/src/main/native/cpp/IListenerStorage.hpp
@@ -9,7 +9,7 @@
 #include <span>
 #include <string_view>
 
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/INetworkClient.hpp b/ntcore/src/main/native/cpp/INetworkClient.hpp
index e9523c8d66..2a49584489 100644
--- a/ntcore/src/main/native/cpp/INetworkClient.hpp
+++ b/ntcore/src/main/native/cpp/INetworkClient.hpp
@@ -8,7 +8,7 @@
 #include <string>
 #include <utility>
 
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/InstanceImpl.cpp b/ntcore/src/main/native/cpp/InstanceImpl.cpp
index 3c7a1b020d..12dadaf891 100644
--- a/ntcore/src/main/native/cpp/InstanceImpl.cpp
+++ b/ntcore/src/main/native/cpp/InstanceImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "InstanceImpl.h"
+#include "InstanceImpl.hpp"
 
 #include <memory>
 #include <string>
diff --git a/ntcore/src/main/native/cpp/InstanceImpl.hpp b/ntcore/src/main/native/cpp/InstanceImpl.hpp
index d22f4217bf..a2438cccd8 100644
--- a/ntcore/src/main/native/cpp/InstanceImpl.hpp
+++ b/ntcore/src/main/native/cpp/InstanceImpl.hpp
@@ -12,16 +12,16 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "ConnectionList.h"
-#include "Handle.h"
-#include "ListenerStorage.h"
-#include "LocalStorage.h"
-#include "Log.h"
-#include "LoggerImpl.h"
-#include "NetworkClient.h"
-#include "NetworkServer.h"
+#include "ConnectionList.hpp"
+#include "Handle.hpp"
+#include "ListenerStorage.hpp"
+#include "LocalStorage.hpp"
+#include "Log.hpp"
+#include "LoggerImpl.hpp"
+#include "NetworkClient.hpp"
+#include "NetworkServer.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/ListenerStorage.cpp b/ntcore/src/main/native/cpp/ListenerStorage.cpp
index 97339cdb43..3e81281106 100644
--- a/ntcore/src/main/native/cpp/ListenerStorage.cpp
+++ b/ntcore/src/main/native/cpp/ListenerStorage.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ListenerStorage.h"
+#include "ListenerStorage.hpp"
 
 #include <algorithm>
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/ListenerStorage.hpp b/ntcore/src/main/native/cpp/ListenerStorage.hpp
index 49dc8ce082..7888892c4e 100644
--- a/ntcore/src/main/native/cpp/ListenerStorage.hpp
+++ b/ntcore/src/main/native/cpp/ListenerStorage.hpp
@@ -11,17 +11,17 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/DenseMap.h>
-#include <wpi/SafeThread.h>
-#include <wpi/SmallVector.h>
-#include <wpi/Synchronization.h>
-#include <wpi/mutex.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/mutex.hpp"
 
-#include "Handle.h"
-#include "HandleMap.h"
-#include "IListenerStorage.h"
-#include "VectorSet.h"
-#include "ntcore_cpp.h"
+#include "Handle.hpp"
+#include "HandleMap.hpp"
+#include "IListenerStorage.hpp"
+#include "VectorSet.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/LocalStorage.cpp b/ntcore/src/main/native/cpp/LocalStorage.cpp
index c8e35a229c..ddac1f5073 100644
--- a/ntcore/src/main/native/cpp/LocalStorage.cpp
+++ b/ntcore/src/main/native/cpp/LocalStorage.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "LocalStorage.h"
+#include "LocalStorage.hpp"
 
 #include <vector>
 
diff --git a/ntcore/src/main/native/cpp/LocalStorage.hpp b/ntcore/src/main/native/cpp/LocalStorage.hpp
index 09a56d3e44..a92984eb4f 100644
--- a/ntcore/src/main/native/cpp/LocalStorage.hpp
+++ b/ntcore/src/main/native/cpp/LocalStorage.hpp
@@ -12,15 +12,15 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/Logger.h>
-#include <wpi/SmallVector.h>
-#include <wpi/json.h>
-#include <wpi/mutex.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "local/LocalStorageImpl.h"
-#include "net/MessageHandler.h"
-#include "net/NetworkInterface.h"
-#include "ntcore_cpp.h"
+#include "local/LocalStorageImpl.hpp"
+#include "net/MessageHandler.hpp"
+#include "net/NetworkInterface.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/Log.hpp b/ntcore/src/main/native/cpp/Log.hpp
index ef9743bc92..864cfbfa3c 100644
--- a/ntcore/src/main/native/cpp/Log.hpp
+++ b/ntcore/src/main/native/cpp/Log.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
 #define LOG(level, format, ...) \
   WPI_LOG(m_logger, level, format __VA_OPT__(, ) __VA_ARGS__)
diff --git a/ntcore/src/main/native/cpp/LoggerImpl.cpp b/ntcore/src/main/native/cpp/LoggerImpl.cpp
index 90a655a64a..48e1b0d0a3 100644
--- a/ntcore/src/main/native/cpp/LoggerImpl.cpp
+++ b/ntcore/src/main/native/cpp/LoggerImpl.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "LoggerImpl.h"
+#include "LoggerImpl.hpp"
 
 #include <string>
 
-#include <wpi/Logger.h>
-#include <wpi/SmallVector.h>
-#include <wpi/fs.h>
-#include <wpi/print.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/print.hpp"
 
-#include "IListenerStorage.h"
+#include "IListenerStorage.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/LoggerImpl.hpp b/ntcore/src/main/native/cpp/LoggerImpl.hpp
index 13a1b80fb5..054ee797df 100644
--- a/ntcore/src/main/native/cpp/LoggerImpl.hpp
+++ b/ntcore/src/main/native/cpp/LoggerImpl.hpp
@@ -7,11 +7,11 @@
 #include <atomic>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "IListenerStorage.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "IListenerStorage.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/NetworkClient.cpp b/ntcore/src/main/native/cpp/NetworkClient.cpp
index 4603df6416..6a59fb6b02 100644
--- a/ntcore/src/main/native/cpp/NetworkClient.cpp
+++ b/ntcore/src/main/native/cpp/NetworkClient.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "NetworkClient.h"
+#include "NetworkClient.hpp"
 
 #include <stdint.h>
 
@@ -13,16 +13,16 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpinet/HttpUtil.h>
-#include <wpinet/uv/Loop.h>
-#include <wpinet/uv/Tcp.h>
-#include <wpinet/uv/util.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/net/HttpUtil.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/util.hpp"
 
-#include "IConnectionList.h"
-#include "Log.h"
-#include "net/NetworkInterface.h"
+#include "IConnectionList.hpp"
+#include "Log.hpp"
+#include "net/NetworkInterface.hpp"
 
 using namespace nt;
 namespace uv = wpi::uv;
diff --git a/ntcore/src/main/native/cpp/NetworkClient.hpp b/ntcore/src/main/native/cpp/NetworkClient.hpp
index 5345614b5b..dec9ddeb03 100644
--- a/ntcore/src/main/native/cpp/NetworkClient.hpp
+++ b/ntcore/src/main/native/cpp/NetworkClient.hpp
@@ -13,18 +13,18 @@
 #include <utility>
 #include <vector>
 
-#include <wpinet/DsClient.h>
-#include <wpinet/EventLoopRunner.h>
-#include <wpinet/ParallelTcpConnector.h>
-#include <wpinet/WebSocket.h>
-#include <wpinet/uv/Async.h>
-#include <wpinet/uv/Timer.h>
+#include "wpi/net/DsClient.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/ParallelTcpConnector.hpp"
+#include "wpi/net/WebSocket.hpp"
+#include "wpi/net/uv/Async.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
-#include "INetworkClient.h"
-#include "net/ClientImpl.h"
-#include "net/ClientMessageQueue.h"
-#include "net/Message.h"
-#include "net/WebSocketConnection.h"
+#include "INetworkClient.hpp"
+#include "net/ClientImpl.hpp"
+#include "net/ClientMessageQueue.hpp"
+#include "net/Message.hpp"
+#include "net/WebSocketConnection.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/NetworkServer.cpp b/ntcore/src/main/native/cpp/NetworkServer.cpp
index e51fc9e2ce..f77d9e3483 100644
--- a/ntcore/src/main/native/cpp/NetworkServer.cpp
+++ b/ntcore/src/main/native/cpp/NetworkServer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "NetworkServer.h"
+#include "NetworkServer.hpp"
 
 #include <stdint.h>
 
@@ -14,26 +14,26 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MemoryBuffer.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
-#include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
-#include <wpi/timestamp.h>
-#include <wpinet/HttpUtil.h>
-#include <wpinet/HttpWebSocketServerConnection.h>
-#include <wpinet/UrlParser.h>
-#include <wpinet/uv/Tcp.h>
-#include <wpinet/uv/Work.h>
-#include <wpinet/uv/util.h>
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/timestamp.h"
+#include "wpi/net/HttpUtil.hpp"
+#include "wpi/net/HttpWebSocketServerConnection.hpp"
+#include "wpi/net/UrlParser.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Work.hpp"
+#include "wpi/net/uv/util.hpp"
 
-#include "IConnectionList.h"
-#include "InstanceImpl.h"
-#include "Log.h"
-#include "net/WebSocketConnection.h"
-#include "net/WireDecoder.h"
-#include "net/WireEncoder.h"
+#include "IConnectionList.hpp"
+#include "InstanceImpl.hpp"
+#include "Log.hpp"
+#include "net/WebSocketConnection.hpp"
+#include "net/WireDecoder.hpp"
+#include "net/WireEncoder.hpp"
 
 using namespace nt;
 namespace uv = wpi::uv;
diff --git a/ntcore/src/main/native/cpp/NetworkServer.hpp b/ntcore/src/main/native/cpp/NetworkServer.hpp
index 3cbcbf0d2b..ab00a701b0 100644
--- a/ntcore/src/main/native/cpp/NetworkServer.hpp
+++ b/ntcore/src/main/native/cpp/NetworkServer.hpp
@@ -11,15 +11,15 @@
 #include <string_view>
 #include <vector>
 
-#include <wpinet/EventLoopRunner.h>
-#include <wpinet/uv/Async.h>
-#include <wpinet/uv/Idle.h>
-#include <wpinet/uv/Timer.h>
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/uv/Async.hpp"
+#include "wpi/net/uv/Idle.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
-#include "net/ClientMessageQueue.h"
-#include "net/Message.h"
-#include "ntcore_cpp.h"
-#include "server/ServerImpl.h"
+#include "net/ClientMessageQueue.hpp"
+#include "net/Message.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "server/ServerImpl.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/PubSubOptions.hpp b/ntcore/src/main/native/cpp/PubSubOptions.hpp
index 72ba2c3ed2..67ed602cf9 100644
--- a/ntcore/src/main/native/cpp/PubSubOptions.hpp
+++ b/ntcore/src/main/native/cpp/PubSubOptions.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/Types_internal.cpp b/ntcore/src/main/native/cpp/Types_internal.cpp
index d6de540267..faf49d645f 100644
--- a/ntcore/src/main/native/cpp/Types_internal.cpp
+++ b/ntcore/src/main/native/cpp/Types_internal.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Types_internal.h"
+#include "Types_internal.hpp"
 
 std::string_view nt::TypeToString(NT_Type type) {
   switch (type) {
diff --git a/ntcore/src/main/native/cpp/Types_internal.hpp b/ntcore/src/main/native/cpp/Types_internal.hpp
index 09196417ef..c05e068f3c 100644
--- a/ntcore/src/main/native/cpp/Types_internal.hpp
+++ b/ntcore/src/main/native/cpp/Types_internal.hpp
@@ -6,7 +6,7 @@
 
 #include <string_view>
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/Value.cpp b/ntcore/src/main/native/cpp/Value.cpp
index 6d1e73bcd1..357643c346 100644
--- a/ntcore/src/main/native/cpp/Value.cpp
+++ b/ntcore/src/main/native/cpp/Value.cpp
@@ -13,11 +13,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MemAlloc.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Value_internal.h"
-#include "networktables/NetworkTableValue.h"
+#include "Value_internal.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp b/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
index b9a449f54f..c1ac1b26d2 100644
--- a/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
+++ b/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ValueCircularBuffer.h"
+#include "ValueCircularBuffer.hpp"
 
 #include <utility>
 #include <vector>
diff --git a/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp b/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp
index 9ea01718a7..2405c7d9a3 100644
--- a/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp
+++ b/ntcore/src/main/native/cpp/ValueCircularBuffer.hpp
@@ -7,11 +7,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/circular_buffer.h>
+#include "wpi/util/circular_buffer.hpp"
 
-#include "Value_internal.h"
-#include "networktables/NetworkTableValue.h"
-#include "ntcore_cpp_types.h"
+#include "Value_internal.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/ntcore_cpp_types.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/Value_internal.cpp b/ntcore/src/main/native/cpp/Value_internal.cpp
index c947bdcbe9..74ed89fe1a 100644
--- a/ntcore/src/main/native/cpp/Value_internal.cpp
+++ b/ntcore/src/main/native/cpp/Value_internal.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Value_internal.h"
+#include "Value_internal.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/Value_internal.hpp b/ntcore/src/main/native/cpp/Value_internal.hpp
index 768b9034ce..2634578f53 100644
--- a/ntcore/src/main/native/cpp/Value_internal.hpp
+++ b/ntcore/src/main/native/cpp/Value_internal.hpp
@@ -13,11 +13,11 @@
 #include <type_traits>
 #include <vector>
 
-#include <wpi/MemAlloc.h>
+#include "wpi/util/MemAlloc.hpp"
 
-#include "networktables/NetworkTableValue.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp_types.h"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp_types.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp b/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
index a1f0447ea8..0d796f89e1 100644
--- a/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
+++ b/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
@@ -10,13 +10,13 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/ConvertUTF.h>
-#include <wpi/jni_util.h>
-#include <wpi/json.h>
+#include "wpi/util/ConvertUTF.hpp"
+#include "wpi/util/jni_util.hpp"
+#include "wpi/util/json.hpp"
 
 #include "org_wpilib_networktables_NetworkTablesJNI.h"
-#include "ntcore.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace wpi::java;
 
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp b/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp
index 3ae62f60b1..a68cc11241 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLogger.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "LocalDataLogger.h"
+#include "LocalDataLogger.hpp"
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
-#include <wpi/datalog/DataLog.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/datalog/DataLog.hpp"
 
 using namespace nt::local;
 
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp b/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp
index c92e9ce337..1f13bcb6d1 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLogger.hpp
@@ -9,8 +9,8 @@
 #include <string>
 #include <string_view>
 
-#include "Handle.h"
-#include "ntcore_c.h"
+#include "Handle.hpp"
+#include "wpi/nt/ntcore_c.h"
 
 namespace wpi::log {
 class DataLog;
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp
index bd0fb47aed..0082bf63c5 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "LocalDataLoggerEntry.h"
+#include "LocalDataLoggerEntry.hpp"
 
 #include <string>
 #include <string_view>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "networktables/NetworkTableValue.h"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 using namespace nt::local;
 
diff --git a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp
index 0d86ea893c..3b90642de1 100644
--- a/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalDataLoggerEntry.hpp
@@ -9,9 +9,9 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/datalog/DataLog.h>
+#include "wpi/datalog/DataLog.hpp"
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace wpi::log {
 class DataLog;
diff --git a/ntcore/src/main/native/cpp/local/LocalEntry.hpp b/ntcore/src/main/native/cpp/local/LocalEntry.hpp
index 01f43d475a..5a1bdb9aad 100644
--- a/ntcore/src/main/native/cpp/local/LocalEntry.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalEntry.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "Handle.h"
-#include "local/LocalSubscriber.h"
+#include "Handle.hpp"
+#include "local/LocalSubscriber.hpp"
 
 namespace nt::local {
 
diff --git a/ntcore/src/main/native/cpp/local/LocalListener.hpp b/ntcore/src/main/native/cpp/local/LocalListener.hpp
index 89b21fcc15..12485c14ce 100644
--- a/ntcore/src/main/native/cpp/local/LocalListener.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalListener.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt::local {
 
diff --git a/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp b/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp
index 8962759917..29feab2249 100644
--- a/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalMultiSubscriber.hpp
@@ -9,13 +9,13 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/StringExtras.h>
-#include <wpi/Synchronization.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/Synchronization.h"
 
-#include "Handle.h"
-#include "PubSubOptions.h"
-#include "VectorSet.h"
-#include "ntcore_c.h"
+#include "Handle.hpp"
+#include "PubSubOptions.hpp"
+#include "VectorSet.hpp"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt::local {
 
diff --git a/ntcore/src/main/native/cpp/local/LocalPublisher.hpp b/ntcore/src/main/native/cpp/local/LocalPublisher.hpp
index 611c038735..05c7d54196 100644
--- a/ntcore/src/main/native/cpp/local/LocalPublisher.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalPublisher.hpp
@@ -6,11 +6,11 @@
 
 #include <utility>
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "Handle.h"
-#include "local/LocalTopic.h"
-#include "local/PubSubConfig.h"
+#include "Handle.hpp"
+#include "local/LocalTopic.hpp"
+#include "local/PubSubConfig.hpp"
 
 namespace nt::local {
 
diff --git a/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp b/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp
index fd00bc9aa6..8debac8d8e 100644
--- a/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalStorageImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "LocalStorageImpl.h"
+#include "LocalStorageImpl.hpp"
 
 #include <memory>
 #include <string_view>
@@ -11,13 +11,13 @@
 
 #include <fmt/format.h>
 #include <fmt/ranges.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/datalog/DataLog.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/datalog/DataLog.hpp"
 
-#include "IListenerStorage.h"
-#include "Log.h"
-#include "net/MessageHandler.h"
+#include "IListenerStorage.hpp"
+#include "Log.hpp"
+#include "net/MessageHandler.hpp"
 
 using namespace nt;
 using namespace nt::local;
diff --git a/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp b/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp
index dfa5e77fd4..3041f07109 100644
--- a/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalStorageImpl.hpp
@@ -8,22 +8,22 @@
 #include <memory>
 #include <string_view>
 
-#include <wpi/DenseMap.h>
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
-#include <wpi/Synchronization.h>
-#include <wpi/json.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/json.hpp"
 
-#include "HandleMap.h"
-#include "local/LocalDataLogger.h"
-#include "local/LocalEntry.h"
-#include "local/LocalListener.h"
-#include "local/LocalMultiSubscriber.h"
-#include "local/LocalPublisher.h"
-#include "local/LocalSubscriber.h"
-#include "local/LocalTopic.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "HandleMap.hpp"
+#include "local/LocalDataLogger.hpp"
+#include "local/LocalEntry.hpp"
+#include "local/LocalListener.hpp"
+#include "local/LocalMultiSubscriber.hpp"
+#include "local/LocalPublisher.hpp"
+#include "local/LocalSubscriber.hpp"
+#include "local/LocalTopic.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp b/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp
index e0c5cf4228..4f9d0a0a06 100644
--- a/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalSubscriber.hpp
@@ -6,15 +6,15 @@
 
 #include <utility>
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "Handle.h"
-#include "Types_internal.h"
-#include "ValueCircularBuffer.h"
-#include "VectorSet.h"
-#include "local/LocalTopic.h"
-#include "local/PubSubConfig.h"
-#include "ntcore_c.h"
+#include "Handle.hpp"
+#include "Types_internal.hpp"
+#include "ValueCircularBuffer.hpp"
+#include "VectorSet.hpp"
+#include "local/LocalTopic.hpp"
+#include "local/PubSubConfig.hpp"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt::local {
 
diff --git a/ntcore/src/main/native/cpp/local/LocalTopic.cpp b/ntcore/src/main/native/cpp/local/LocalTopic.cpp
index 2803dd5a31..e280d145df 100644
--- a/ntcore/src/main/native/cpp/local/LocalTopic.cpp
+++ b/ntcore/src/main/native/cpp/local/LocalTopic.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "LocalTopic.h"
+#include "LocalTopic.hpp"
 
 #include <algorithm>
 
-#include "local/LocalDataLogger.h"
+#include "local/LocalDataLogger.hpp"
 
 using namespace nt::local;
 
diff --git a/ntcore/src/main/native/cpp/local/LocalTopic.hpp b/ntcore/src/main/native/cpp/local/LocalTopic.hpp
index 278248ea15..5b11e9b363 100644
--- a/ntcore/src/main/native/cpp/local/LocalTopic.hpp
+++ b/ntcore/src/main/native/cpp/local/LocalTopic.hpp
@@ -9,15 +9,15 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/SmallVector.h>
-#include <wpi/Synchronization.h>
-#include <wpi/json.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/json.hpp"
 
-#include "Handle.h"
-#include "VectorSet.h"
-#include "local/LocalDataLogger.h"
-#include "local/LocalDataLoggerEntry.h"
-#include "ntcore_cpp.h"
+#include "Handle.hpp"
+#include "VectorSet.hpp"
+#include "local/LocalDataLogger.hpp"
+#include "local/LocalDataLoggerEntry.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt::local {
 
diff --git a/ntcore/src/main/native/cpp/local/PubSubConfig.hpp b/ntcore/src/main/native/cpp/local/PubSubConfig.hpp
index ab5c118f9b..69526cd33b 100644
--- a/ntcore/src/main/native/cpp/local/PubSubConfig.hpp
+++ b/ntcore/src/main/native/cpp/local/PubSubConfig.hpp
@@ -7,8 +7,8 @@
 #include <string>
 #include <string_view>
 
-#include "PubSubOptions.h"
-#include "ntcore_c.h"
+#include "PubSubOptions.hpp"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt::local {
 
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.cpp b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
index c449bb9933..de412fa95b 100644
--- a/ntcore/src/main/native/cpp/net/ClientImpl.cpp
+++ b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ClientImpl.h"
+#include "ClientImpl.hpp"
 
 #include <memory>
 #include <numeric>
@@ -12,17 +12,17 @@
 #include <variant>
 
 #include <fmt/format.h>
-#include <wpi/Logger.h>
-#include <wpi/raw_ostream.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Handle.h"
-#include "Log.h"
-#include "Message.h"
-#include "NetworkInterface.h"
-#include "WireConnection.h"
-#include "WireEncoder.h"
-#include "networktables/NetworkTableValue.h"
+#include "Handle.hpp"
+#include "Log.hpp"
+#include "Message.hpp"
+#include "NetworkInterface.hpp"
+#include "WireConnection.hpp"
+#include "WireEncoder.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 using namespace nt;
 using namespace nt::net;
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.hpp b/ntcore/src/main/native/cpp/net/ClientImpl.hpp
index 91cb47fa2d..846f0d9f06 100644
--- a/ntcore/src/main/native/cpp/net/ClientImpl.hpp
+++ b/ntcore/src/main/native/cpp/net/ClientImpl.hpp
@@ -12,14 +12,14 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/DenseMap.h>
+#include "wpi/util/DenseMap.hpp"
 
-#include "MessageHandler.h"
-#include "NetworkOutgoingQueue.h"
-#include "NetworkPing.h"
-#include "PubSubOptions.h"
-#include "WireConnection.h"
-#include "WireDecoder.h"
+#include "MessageHandler.hpp"
+#include "NetworkOutgoingQueue.hpp"
+#include "NetworkPing.hpp"
+#include "PubSubOptions.hpp"
+#include "WireConnection.hpp"
+#include "WireDecoder.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp b/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp
index b4baeef233..4f71f22834 100644
--- a/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp
+++ b/ntcore/src/main/native/cpp/net/ClientMessageQueue.hpp
@@ -7,12 +7,12 @@
 #include <span>
 #include <string>
 
-#include <wpi/FastQueue.h>
-#include <wpi/Logger.h>
-#include <wpi/mutex.h>
+#include "wpi/util/FastQueue.hpp"
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "Message.h"
-#include "MessageHandler.h"
+#include "Message.hpp"
+#include "MessageHandler.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/net/Message.hpp b/ntcore/src/main/native/cpp/net/Message.hpp
index 2c7dfe9bd6..db59c262d1 100644
--- a/ntcore/src/main/native/cpp/net/Message.hpp
+++ b/ntcore/src/main/native/cpp/net/Message.hpp
@@ -9,10 +9,10 @@
 #include <variant>
 #include <vector>
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "PubSubOptions.h"
-#include "networktables/NetworkTableValue.h"
+#include "PubSubOptions.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 namespace nt::net {
 
diff --git a/ntcore/src/main/native/cpp/net/MessageHandler.hpp b/ntcore/src/main/native/cpp/net/MessageHandler.hpp
index 6f09e4ae49..ee3784393a 100644
--- a/ntcore/src/main/native/cpp/net/MessageHandler.hpp
+++ b/ntcore/src/main/native/cpp/net/MessageHandler.hpp
@@ -9,7 +9,7 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
 namespace nt {
 class PubSubOptionsImpl;
diff --git a/ntcore/src/main/native/cpp/net/NetworkInterface.hpp b/ntcore/src/main/native/cpp/net/NetworkInterface.hpp
index 20667952d1..e4bd826d53 100644
--- a/ntcore/src/main/native/cpp/net/NetworkInterface.hpp
+++ b/ntcore/src/main/native/cpp/net/NetworkInterface.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "MessageHandler.h"
+#include "MessageHandler.hpp"
 
 namespace nt::net {
 
diff --git a/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp b/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp
index fed4acb408..5ea4e26fc7 100644
--- a/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp
+++ b/ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.hpp
@@ -13,13 +13,13 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/DenseMap.h>
+#include "wpi/util/DenseMap.hpp"
 
-#include "Message.h"
-#include "WireConnection.h"
-#include "WireEncoder.h"
-#include "networktables/NetworkTableValue.h"
-#include "ntcore_c.h"
+#include "Message.hpp"
+#include "WireConnection.hpp"
+#include "WireEncoder.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt::net {
 
diff --git a/ntcore/src/main/native/cpp/net/NetworkPing.cpp b/ntcore/src/main/native/cpp/net/NetworkPing.cpp
index e3d55a2b31..209da1c92f 100644
--- a/ntcore/src/main/native/cpp/net/NetworkPing.cpp
+++ b/ntcore/src/main/native/cpp/net/NetworkPing.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "NetworkPing.h"
+#include "NetworkPing.hpp"
 
-#include "WireConnection.h"
+#include "WireConnection.hpp"
 
 using namespace nt::net;
 
diff --git a/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp b/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
index 595e724e0a..2909d49c13 100644
--- a/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
+++ b/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WebSocketConnection.h"
+#include "WebSocketConnection.hpp"
 
 #include <algorithm>
 #include <span>
 
-#include <wpi/Endian.h>
-#include <wpi/Logger.h>
-#include <wpi/SpanExtras.h>
-#include <wpi/raw_ostream.h>
-#include <wpi/timestamp.h>
-#include <wpinet/WebSocket.h>
-#include <wpinet/raw_uv_ostream.h>
+#include "wpi/util/Endian.hpp"
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SpanExtras.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/timestamp.h"
+#include "wpi/net/WebSocket.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
 
 using namespace nt;
 using namespace nt::net;
diff --git a/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp b/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp
index 4d494ae056..7a293f6129 100644
--- a/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp
+++ b/ntcore/src/main/native/cpp/net/WebSocketConnection.hpp
@@ -9,12 +9,12 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/function_ref.h>
-#include <wpinet/WebSocket.h>
-#include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Stream.h>
+#include "wpi/util/function_ref.hpp"
+#include "wpi/net/WebSocket.hpp"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Stream.hpp"
 
-#include "WireConnection.h"
+#include "WireConnection.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/net/WireConnection.hpp b/ntcore/src/main/native/cpp/net/WireConnection.hpp
index a6ca1df1a3..1c9cd68fd2 100644
--- a/ntcore/src/main/native/cpp/net/WireConnection.hpp
+++ b/ntcore/src/main/native/cpp/net/WireConnection.hpp
@@ -8,7 +8,7 @@
 
 #include <string_view>
 
-#include <wpi/function_ref.h>
+#include "wpi/util/function_ref.hpp"
 
 namespace wpi {
 class raw_ostream;
diff --git a/ntcore/src/main/native/cpp/net/WireDecoder.cpp b/ntcore/src/main/native/cpp/net/WireDecoder.cpp
index e588229aa6..b5819f50ec 100644
--- a/ntcore/src/main/native/cpp/net/WireDecoder.cpp
+++ b/ntcore/src/main/native/cpp/net/WireDecoder.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WireDecoder.h"
+#include "WireDecoder.hpp"
 
 #include <algorithm>
 #include <concepts>
@@ -11,13 +11,13 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/Logger.h>
-#include <wpi/SpanExtras.h>
-#include <wpi/json.h>
-#include <wpi/mpack.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SpanExtras.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/mpack.h"
 
-#include "Message.h"
-#include "MessageHandler.h"
+#include "Message.hpp"
+#include "MessageHandler.hpp"
 
 using namespace nt;
 using namespace nt::net;
diff --git a/ntcore/src/main/native/cpp/net/WireEncoder.cpp b/ntcore/src/main/native/cpp/net/WireEncoder.cpp
index 5e712cb7d5..a8dec61c3e 100644
--- a/ntcore/src/main/native/cpp/net/WireEncoder.cpp
+++ b/ntcore/src/main/native/cpp/net/WireEncoder.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WireEncoder.h"
+#include "WireEncoder.hpp"
 
 #include <optional>
 #include <string>
 
-#include <wpi/json.h>
-#include <wpi/mpack.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/json.hpp"
+#include "wpi/util/mpack.h"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "Message.h"
-#include "PubSubOptions.h"
-#include "networktables/NetworkTableValue.h"
+#include "Message.hpp"
+#include "PubSubOptions.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 using namespace nt;
 using namespace nt::net;
diff --git a/ntcore/src/main/native/cpp/net/WireEncoder.hpp b/ntcore/src/main/native/cpp/net/WireEncoder.hpp
index 5a0c2c68b9..ea1b5228e1 100644
--- a/ntcore/src/main/native/cpp/net/WireEncoder.hpp
+++ b/ntcore/src/main/native/cpp/net/WireEncoder.hpp
@@ -9,7 +9,7 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
 namespace wpi {
 class raw_ostream;
diff --git a/ntcore/src/main/native/cpp/networktables/NTSendable.cpp b/ntcore/src/main/native/cpp/networktables/NTSendable.cpp
index 211fcc5977..0b8f337ace 100644
--- a/ntcore/src/main/native/cpp/networktables/NTSendable.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NTSendable.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "networktables/NTSendable.h"
+#include "wpi/nt/NTSendable.hpp"
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "networktables/NTSendableBuilder.h"
+#include "wpi/nt/NTSendableBuilder.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp b/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp
index df9fc47855..0681127e7c 100644
--- a/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "networktables/NTSendableBuilder.h"
+#include "wpi/nt/NTSendableBuilder.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
index 1defd6200d..1c8c9e64ee 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "networktables/NetworkTable.h"
+#include "wpi/nt/NetworkTable.hpp"
 
 #include <algorithm>
 #include <memory>
@@ -11,24 +11,24 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/StringMap.hpp"
 
-#include "networktables/BooleanArrayTopic.h"
-#include "networktables/BooleanTopic.h"
-#include "networktables/DoubleArrayTopic.h"
-#include "networktables/DoubleTopic.h"
-#include "networktables/FloatArrayTopic.h"
-#include "networktables/FloatTopic.h"
-#include "networktables/IntegerArrayTopic.h"
-#include "networktables/IntegerTopic.h"
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/RawTopic.h"
-#include "networktables/StringArrayTopic.h"
-#include "networktables/StringTopic.h"
-#include "ntcore.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/BooleanArrayTopic.hpp"
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/FloatArrayTopic.hpp"
+#include "wpi/nt/FloatTopic.hpp"
+#include "wpi/nt/IntegerArrayTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/RawTopic.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/nt/ntcore.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp
index 12bb5d8936..9912b46914 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTableEntry.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "networktables/NetworkTableEntry.h"
+#include "wpi/nt/NetworkTableEntry.hpp"
 
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/Topic.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/Topic.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
index 19c1ebfb3e..8f501c55f6 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
@@ -2,28 +2,28 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "networktables/NetworkTableInstance.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/print.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/print.hpp"
 
-#include "networktables/BooleanArrayTopic.h"
-#include "networktables/BooleanTopic.h"
-#include "networktables/DoubleArrayTopic.h"
-#include "networktables/DoubleTopic.h"
-#include "networktables/FloatArrayTopic.h"
-#include "networktables/FloatTopic.h"
-#include "networktables/IntegerArrayTopic.h"
-#include "networktables/IntegerTopic.h"
-#include "networktables/MultiSubscriber.h"
-#include "networktables/RawTopic.h"
-#include "networktables/StringArrayTopic.h"
-#include "networktables/StringTopic.h"
+#include "wpi/nt/BooleanArrayTopic.hpp"
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/FloatArrayTopic.hpp"
+#include "wpi/nt/FloatTopic.hpp"
+#include "wpi/nt/IntegerArrayTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/nt/MultiSubscriber.hpp"
+#include "wpi/nt/RawTopic.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/networktables/Topic.cpp b/ntcore/src/main/native/cpp/networktables/Topic.cpp
index 4447903df9..54aed43dcd 100644
--- a/ntcore/src/main/native/cpp/networktables/Topic.cpp
+++ b/ntcore/src/main/native/cpp/networktables/Topic.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "networktables/Topic.h"
+#include "wpi/nt/Topic.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "networktables/GenericEntry.h"
-#include "networktables/NetworkTableInstance.h"
+#include "wpi/nt/GenericEntry.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/ntcore_c.cpp b/ntcore/src/main/native/cpp/ntcore_c.cpp
index 610985abe8..96243a38c7 100644
--- a/ntcore/src/main/native/cpp/ntcore_c.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_c.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 #include <stdint.h>
 
@@ -13,14 +13,14 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MemAlloc.h>
-#include <wpi/SmallVector.h>
-#include <wpi/json.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Value_internal.h"
-#include "ntcore.h"
-#include "ntcore_cpp.h"
+#include "Value_internal.hpp"
+#include "wpi/nt/ntcore.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace nt;
 
diff --git a/ntcore/src/main/native/cpp/ntcore_cpp.cpp b/ntcore/src/main/native/cpp/ntcore_cpp.cpp
index b796e08146..ee5faefa4d 100644
--- a/ntcore/src/main/native/cpp/ntcore_cpp.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_cpp.cpp
@@ -13,15 +13,15 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/json.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/json.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Handle.h"
-#include "InstanceImpl.h"
-#include "Log.h"
-#include "Types_internal.h"
-#include "ntcore.h"
-#include "ntcore_c.h"
+#include "Handle.hpp"
+#include "InstanceImpl.hpp"
+#include "Log.hpp"
+#include "Types_internal.hpp"
+#include "wpi/nt/ntcore.h"
+#include "wpi/nt/ntcore_c.h"
 
 static std::atomic_bool gNowSet{false};
 static std::atomic<int64_t> gNowTime;
diff --git a/ntcore/src/main/native/cpp/ntcore_meta.cpp b/ntcore/src/main/native/cpp/ntcore_meta.cpp
index 0593391419..24441b5af6 100644
--- a/ntcore/src/main/native/cpp/ntcore_meta.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_meta.cpp
@@ -7,10 +7,10 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/MessagePack.h>
-#include <wpi/mpack.h>
+#include "wpi/util/MessagePack.hpp"
+#include "wpi/util/mpack.h"
 
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace mpack;
 
diff --git a/ntcore/src/main/native/cpp/ntcore_meta_c.cpp b/ntcore/src/main/native/cpp/ntcore_meta_c.cpp
index 6c6c026ecb..064b9a1238 100644
--- a/ntcore/src/main/native/cpp/ntcore_meta_c.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_meta_c.cpp
@@ -5,8 +5,8 @@
 #include <optional>
 #include <vector>
 
-#include "Value_internal.h"
-#include "ntcore_cpp.h"
+#include "Value_internal.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using namespace nt;
 using namespace nt::meta;
diff --git a/ntcore/src/main/native/cpp/ntcore_test.cpp b/ntcore/src/main/native/cpp/ntcore_test.cpp
index 4364370668..08ea6167b1 100644
--- a/ntcore/src/main/native/cpp/ntcore_test.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_test.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ntcore_test.h"
+#include "wpi/nt/ntcore_test.hpp"
 
 #include <cstring>
 
-#include <wpi/MemAlloc.h>
+#include "wpi/util/MemAlloc.hpp"
 
-#include "Value_internal.h"
+#include "Value_internal.hpp"
 
 extern "C" {
 struct WPI_String* NT_GetStringForTesting(const char* str, int* struct_size) {
diff --git a/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp b/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp
index 5ff99bc9c6..2d57b665f9 100644
--- a/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp
+++ b/ntcore/src/main/native/cpp/server/MessagePackWriter.hpp
@@ -8,8 +8,8 @@
 
 #include <vector>
 
-#include <wpi/MessagePack.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/MessagePack.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace nt::server {
 
diff --git a/ntcore/src/main/native/cpp/server/ServerClient.cpp b/ntcore/src/main/native/cpp/server/ServerClient.cpp
index d192668fe9..95f9275ece 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerClient.h"
+#include "ServerClient.hpp"
 
 #include <utility>
 
-#include <wpi/MessagePack.h>
+#include "wpi/util/MessagePack.hpp"
 
-#include "server/MessagePackWriter.h"
-#include "server/ServerPublisher.h"
-#include "server/ServerStorage.h"
+#include "server/MessagePackWriter.hpp"
+#include "server/ServerPublisher.hpp"
+#include "server/ServerStorage.hpp"
 
 using namespace nt::server;
 using namespace mpack;
diff --git a/ntcore/src/main/native/cpp/server/ServerClient.hpp b/ntcore/src/main/native/cpp/server/ServerClient.hpp
index e01d3d538a..d79a09d7db 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient.hpp
@@ -13,12 +13,12 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "net/NetworkOutgoingQueue.h"
-#include "server/Functions.h"
-#include "server/ServerPublisher.h"
-#include "server/ServerSubscriber.h"
+#include "net/NetworkOutgoingQueue.hpp"
+#include "server/Functions.hpp"
+#include "server/ServerPublisher.hpp"
+#include "server/ServerSubscriber.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4.cpp b/ntcore/src/main/native/cpp/server/ServerClient4.cpp
index 9b6299fded..13f1a0f1af 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerClient4.h"
+#include "ServerClient4.hpp"
 
 #include <string>
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "Log.h"
-#include "net/WireDecoder.h"
-#include "server/ServerStorage.h"
-#include "server/ServerTopic.h"
+#include "Log.hpp"
+#include "net/WireDecoder.hpp"
+#include "server/ServerStorage.hpp"
+#include "server/ServerTopic.hpp"
 
 using namespace nt::server;
 
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4.hpp b/ntcore/src/main/native/cpp/server/ServerClient4.hpp
index 7c58addf01..03cc44c6a6 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4.hpp
@@ -6,10 +6,10 @@
 
 #include <string_view>
 
-#include "net/NetworkPing.h"
-#include "net/WireConnection.h"
-#include "server/Functions.h"
-#include "server/ServerClient4Base.h"
+#include "net/NetworkPing.hpp"
+#include "net/WireConnection.hpp"
+#include "server/Functions.hpp"
+#include "server/ServerClient4Base.hpp"
 
 namespace nt::server {
 
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp b/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp
index dd7ab56913..000e101f11 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4Base.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerClient4Base.h"
+#include "ServerClient4Base.hpp"
 
 #include <memory>
 #include <string>
 #include <vector>
 
 #include <fmt/ranges.h>
-#include <wpi/SpanExtras.h>
+#include "wpi/util/SpanExtras.hpp"
 
-#include "Log.h"
-#include "server/ServerImpl.h"
-#include "server/ServerPublisher.h"
+#include "Log.hpp"
+#include "server/ServerImpl.hpp"
+#include "server/ServerPublisher.hpp"
 
 using namespace nt::server;
 
diff --git a/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp b/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp
index 814723095b..d95be81e8c 100644
--- a/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClient4Base.hpp
@@ -7,11 +7,11 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/DenseMap.h>
+#include "wpi/util/DenseMap.hpp"
 
-#include "net/ClientMessageQueue.h"
-#include "server/Functions.h"
-#include "server/ServerClient.h"
+#include "net/ClientMessageQueue.hpp"
+#include "server/Functions.hpp"
+#include "server/ServerClient.hpp"
 
 namespace nt::server {
 
diff --git a/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp b/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp
index 5abf9eb927..b3dca02092 100644
--- a/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerClientLocal.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerClientLocal.h"
+#include "ServerClientLocal.hpp"
 
-#include "server/ServerImpl.h"
+#include "server/ServerImpl.hpp"
 
 using namespace nt::server;
 
diff --git a/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp b/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp
index 16d0efafa2..df6f6393f2 100644
--- a/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerClientLocal.hpp
@@ -7,7 +7,7 @@
 #include <span>
 #include <string_view>
 
-#include "server/ServerClient4Base.h"
+#include "server/ServerClient4Base.hpp"
 
 namespace nt::server {
 
diff --git a/ntcore/src/main/native/cpp/server/ServerImpl.cpp b/ntcore/src/main/native/cpp/server/ServerImpl.cpp
index 1973080a24..a01db23c73 100644
--- a/ntcore/src/main/native/cpp/server/ServerImpl.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerImpl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerImpl.h"
+#include "ServerImpl.hpp"
 
 #include <stdint.h>
 
@@ -12,12 +12,12 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MessagePack.h>
+#include "wpi/util/MessagePack.hpp"
 
-#include "Log.h"
-#include "server/MessagePackWriter.h"
-#include "server/ServerClient4.h"
-#include "server/ServerClientLocal.h"
+#include "Log.hpp"
+#include "server/MessagePackWriter.hpp"
+#include "server/ServerClient4.hpp"
+#include "server/ServerClientLocal.hpp"
 
 using namespace nt;
 using namespace nt::server;
diff --git a/ntcore/src/main/native/cpp/server/ServerImpl.hpp b/ntcore/src/main/native/cpp/server/ServerImpl.hpp
index 584df3f9ae..6993ce9831 100644
--- a/ntcore/src/main/native/cpp/server/ServerImpl.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerImpl.hpp
@@ -13,9 +13,9 @@
 #include <utility>
 #include <vector>
 
-#include "server/Functions.h"
-#include "server/ServerClient.h"
-#include "server/ServerStorage.h"
+#include "server/Functions.hpp"
+#include "server/ServerClient.hpp"
+#include "server/ServerStorage.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/server/ServerPublisher.cpp b/ntcore/src/main/native/cpp/server/ServerPublisher.cpp
index 90d7b2ea50..66b48da39e 100644
--- a/ntcore/src/main/native/cpp/server/ServerPublisher.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerPublisher.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerPublisher.h"
+#include "ServerPublisher.hpp"
 
 #include <utility>
 
-#include <wpi/MessagePack.h>
+#include "wpi/util/MessagePack.hpp"
 
-#include "server/MessagePackWriter.h"
-#include "server/ServerTopic.h"
+#include "server/MessagePackWriter.hpp"
+#include "server/ServerTopic.hpp"
 
 using namespace nt::server;
 using namespace mpack;
diff --git a/ntcore/src/main/native/cpp/server/ServerStorage.cpp b/ntcore/src/main/native/cpp/server/ServerStorage.cpp
index 5ea352f688..14ae4d0bd3 100644
--- a/ntcore/src/main/native/cpp/server/ServerStorage.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerStorage.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerStorage.h"
+#include "ServerStorage.hpp"
 
 #include <memory>
 #include <string>
@@ -10,13 +10,13 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/Base64.h>
-#include <wpi/MessagePack.h>
-#include <wpi/json.h>
+#include "wpi/util/Base64.hpp"
+#include "wpi/util/MessagePack.hpp"
+#include "wpi/util/json.hpp"
 
-#include "Log.h"
-#include "server/MessagePackWriter.h"
-#include "server/ServerClient.h"
+#include "Log.hpp"
+#include "server/MessagePackWriter.hpp"
+#include "server/ServerClient.hpp"
 
 using namespace nt;
 using namespace nt::server;
diff --git a/ntcore/src/main/native/cpp/server/ServerStorage.hpp b/ntcore/src/main/native/cpp/server/ServerStorage.hpp
index a3b011fb4d..15d1aa21c8 100644
--- a/ntcore/src/main/native/cpp/server/ServerStorage.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerStorage.hpp
@@ -9,11 +9,11 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/StringMap.h>
-#include <wpi/UidVector.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/UidVector.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "server/ServerTopic.h"
+#include "server/ServerTopic.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp b/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp
index a5acc4f065..e010e3cba7 100644
--- a/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerSubscriber.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerSubscriber.h"
+#include "ServerSubscriber.hpp"
 
 #include <utility>
 
-#include <wpi/MessagePack.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/MessagePack.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "PubSubOptions.h"
-#include "server/MessagePackWriter.h"
+#include "PubSubOptions.hpp"
+#include "server/MessagePackWriter.hpp"
 
 using namespace nt;
 using namespace nt::server;
diff --git a/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp b/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp
index 47a79eb3bd..e41aa87f2a 100644
--- a/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerSubscriber.hpp
@@ -12,8 +12,8 @@
 #include <string_view>
 #include <vector>
 
-#include "PubSubOptions.h"
-#include "server/Constants.h"
+#include "PubSubOptions.hpp"
+#include "server/Constants.hpp"
 
 namespace nt::server {
 
diff --git a/ntcore/src/main/native/cpp/server/ServerTopic.cpp b/ntcore/src/main/native/cpp/server/ServerTopic.cpp
index 826a49e9c2..72f504913e 100644
--- a/ntcore/src/main/native/cpp/server/ServerTopic.cpp
+++ b/ntcore/src/main/native/cpp/server/ServerTopic.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ServerTopic.h"
+#include "ServerTopic.hpp"
 
-#include "Log.h"
+#include "Log.hpp"
 
 using namespace nt::server;
 
diff --git a/ntcore/src/main/native/cpp/server/ServerTopic.hpp b/ntcore/src/main/native/cpp/server/ServerTopic.hpp
index 20cafccf62..c82a5ef743 100644
--- a/ntcore/src/main/native/cpp/server/ServerTopic.hpp
+++ b/ntcore/src/main/native/cpp/server/ServerTopic.hpp
@@ -8,14 +8,14 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/DenseMap.h>
-#include <wpi/SmallPtrSet.h>
-#include <wpi/json.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/SmallPtrSet.hpp"
+#include "wpi/util/json.hpp"
 
-#include "net/NetworkOutgoingQueue.h"
-#include "networktables/NetworkTableValue.h"
-#include "server/ServerPublisher.h"
-#include "server/ServerSubscriber.h"
+#include "net/NetworkOutgoingQueue.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "server/ServerPublisher.hpp"
+#include "server/ServerSubscriber.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp b/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp
index 449daab2f5..d00b3a39da 100644
--- a/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/GenericEntry.hpp
@@ -11,8 +11,8 @@
 #include <string_view>
 #include <vector>
 
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp b/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp
index 57b7216fdd..54d3dcb777 100644
--- a/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/MultiSubscriber.hpp
@@ -7,8 +7,8 @@
 #include <span>
 #include <string_view>
 
-#include "networktables/NetworkTableInstance.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp b/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp
index 88924f8731..2153938c79 100644
--- a/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NTSendable.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
+#include "wpi/util/sendable/Sendable.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp b/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp
index 3c6fe0e3f0..0e837eaf64 100644
--- a/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NTSendableBuilder.hpp
@@ -7,11 +7,11 @@
 #include <memory>
 #include <string_view>
 
-#include <wpi/FunctionExtras.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/FunctionExtras.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "networktables/NetworkTable.h"
-#include "networktables/Topic.h"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/Topic.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp
index b887337267..b3f353b7e9 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTable.hpp
@@ -12,14 +12,14 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/StringMap.h>
-#include <wpi/mutex.h>
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "networktables/NetworkTableEntry.h"
-#include "networktables/Topic.h"
-#include "ntcore_c.h"
+#include "wpi/nt/NetworkTableEntry.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp
index 789d4361bc..3cd11c37fd 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableEntry.hpp
@@ -11,9 +11,9 @@
 #include <string_view>
 #include <vector>
 
-#include "networktables/NetworkTableType.h"
-#include "networktables/NetworkTableValue.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp
index 7ffe822815..f9ed5472df 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableInstance.hpp
@@ -11,13 +11,13 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "networktables/NetworkTable.h"
-#include "networktables/NetworkTableEntry.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableEntry.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp
index fc0cf65e60..6f989048a8 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableListener.hpp
@@ -9,11 +9,11 @@
 #include <utility>
 #include <vector>
 
-#include "networktables/MultiSubscriber.h"
-#include "networktables/NetworkTableEntry.h"
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/MultiSubscriber.hpp"
+#include "wpi/nt/NetworkTableEntry.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp
index 3b3e086155..df384346a0 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableType.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp b/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp
index 2dcd65e979..726643ecdc 100644
--- a/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/NetworkTableValue.hpp
@@ -16,7 +16,7 @@
 #include <utility>
 #include <vector>
 
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp b/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp
index 43baa87927..0d43dddde9 100644
--- a/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/ProtobufTopic.hpp
@@ -11,14 +11,14 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp b/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp
index 009524a8bf..dc211a557b 100644
--- a/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/StructArrayTopic.hpp
@@ -15,14 +15,14 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp b/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp
index 7097dbc132..f0e111692b 100644
--- a/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/StructTopic.hpp
@@ -15,13 +15,13 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
-#include <wpi/json_fwd.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/Topic.hpp b/ntcore/src/main/native/include/wpi/nt/Topic.hpp
index a936031718..619b839fad 100644
--- a/ntcore/src/main/native/include/wpi/nt/Topic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/Topic.hpp
@@ -11,11 +11,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableType.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/NetworkTableType.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp b/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp
index ff836c034a..259ef62f91 100644
--- a/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/UnitTopic.hpp
@@ -9,10 +9,10 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "networktables/Topic.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/Topic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/main/native/include/wpi/nt/ntcore.h b/ntcore/src/main/native/include/wpi/nt/ntcore.h
index e4ae7f981c..39f838b77b 100644
--- a/ntcore/src/main/native/include/wpi/nt/ntcore.h
+++ b/ntcore/src/main/native/include/wpi/nt/ntcore.h
@@ -5,9 +5,9 @@
 #pragma once
 
 /* C API */
-#include "ntcore_c.h"
+#include "wpi/nt/ntcore_c.h"
 
 #ifdef __cplusplus
 /* C++ API */
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 #endif /* __cplusplus */
diff --git a/ntcore/src/main/native/include/wpi/nt/ntcore_c.h b/ntcore/src/main/native/include/wpi/nt/ntcore_c.h
index 40729f0ecc..ad77fa76c7 100644
--- a/ntcore/src/main/native/include/wpi/nt/ntcore_c.h
+++ b/ntcore/src/main/native/include/wpi/nt/ntcore_c.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <wpi/string.h>
+#include "wpi/util/string.h"
 
 #ifdef __cplusplus
 #include <cstddef>
@@ -1956,4 +1956,4 @@ void NT_Meta_FreeClients(struct NT_Meta_Client* arr, size_t count);
 }  // extern "C"
 #endif
 
-#include "ntcore_c_types.h"
+#include "wpi/nt/ntcore_c_types.h"
diff --git a/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp b/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp
index 6f73dff91f..f6e95a45dd 100644
--- a/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/ntcore_cpp.hpp
@@ -17,11 +17,11 @@
 #include <variant>
 #include <vector>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
-#include "networktables/NetworkTableValue.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp_types.h"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp_types.hpp"
 
 namespace wpi {
 template <typename T>
diff --git a/ntcore/src/main/native/include/wpi/nt/ntcore_test.hpp b/ntcore/src/main/native/include/wpi/nt/ntcore_test.hpp
index bc17b6d6aa..f24edd51ad 100644
--- a/ntcore/src/main/native/include/wpi/nt/ntcore_test.hpp
+++ b/ntcore/src/main/native/include/wpi/nt/ntcore_test.hpp
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "ntcore.h"
+#include "wpi/nt/ntcore.h"
 
 // Functions in this header are to be used only for testing
 
diff --git a/ntcore/src/main/python/ntcore/src/nt_instance.cpp b/ntcore/src/main/python/ntcore/src/nt_instance.cpp
index 9924c44da2..f42cfd40a7 100644
--- a/ntcore/src/main/python/ntcore/src/nt_instance.cpp
+++ b/ntcore/src/main/python/ntcore/src/nt_instance.cpp
@@ -1,6 +1,6 @@
 #include <semiwrap.h>
 #include "nt_instance.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 #include <set>
 
diff --git a/ntcore/src/main/python/ntcore/src/nt_instance.h b/ntcore/src/main/python/ntcore/src/nt_instance.h
index 67b51da98e..7f93a8b625 100644
--- a/ntcore/src/main/python/ntcore/src/nt_instance.h
+++ b/ntcore/src/main/python/ntcore/src/nt_instance.h
@@ -1,8 +1,8 @@
 
 #pragma once
 
-#include <ntcore.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/ntcore.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 namespace pyntcore {
 
diff --git a/ntcore/src/main/python/ntcore/src/py2value.h b/ntcore/src/main/python/ntcore/src/py2value.h
index 410ba5a7c8..7858cb5e05 100644
--- a/ntcore/src/main/python/ntcore/src/py2value.h
+++ b/ntcore/src/main/python/ntcore/src/py2value.h
@@ -1,7 +1,7 @@
 
 #include <semiwrap.h>
-#include <networktables/NetworkTableValue.h>
-#include <networktables/NetworkTableType.h>
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/NetworkTableType.hpp"
 #include <fmt/format.h>
 
 namespace pyntcore {
diff --git a/ntcore/src/main/python/ntcore/src/pyentry.h b/ntcore/src/main/python/ntcore/src/pyentry.h
index 8693ccfe70..b3ca524a61 100644
--- a/ntcore/src/main/python/ntcore/src/pyentry.h
+++ b/ntcore/src/main/python/ntcore/src/pyentry.h
@@ -1,7 +1,7 @@
 
 #include <semiwrap.h>
-#include <networktables/NetworkTableEntry.h>
-#include <networktables/NetworkTableValue.h>
+#include "wpi/nt/NetworkTableEntry.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 namespace pyntcore {
 
diff --git a/ntcore/src/main/python/pyproject.toml b/ntcore/src/main/python/pyproject.toml
index 63b7654fa0..1401c7c148 100644
--- a/ntcore/src/main/python/pyproject.toml
+++ b/ntcore/src/main/python/pyproject.toml
@@ -48,13 +48,13 @@ update_init = [
     "ntcore.meta ntcore._ntcore.meta"
 ]
 scan_headers_ignore = [
-    "networktables/ProtobufTopic.h",
-    "networktables/UnitTopic.h",
+    "wpi/nt/ProtobufTopic.hpp",
+    "wpi/nt/UnitTopic.hpp",
 
-    "ntcore.h",
-    "ntcore_c.h",
-    "ntcore_c_types.h",
-    "ntcore_test.h",
+    "wpi/nt/ntcore.h",
+    "wpi/nt/ntcore_c.h",
+    "wpi/nt/ntcore_c_types.h",
+    "wpi/nt/ntcore_test.hpp",
 
     "src/*",
 ]
@@ -67,30 +67,30 @@ depends = ["wpiutil", "wpinet", "wpilog"]
 
 [tool.semiwrap.extension_modules."ntcore._ntcore".headers]
 # networktables
-BooleanArrayTopic = "networktables/BooleanArrayTopic.h"
-BooleanTopic = "networktables/BooleanTopic.h"
-DoubleArrayTopic = "networktables/DoubleArrayTopic.h"
-DoubleTopic = "networktables/DoubleTopic.h"
-FloatArrayTopic = "networktables/FloatArrayTopic.h"
-FloatTopic = "networktables/FloatTopic.h"
-GenericEntry = "networktables/GenericEntry.h"
-IntegerArrayTopic = "networktables/IntegerArrayTopic.h"
-IntegerTopic = "networktables/IntegerTopic.h"
-MultiSubscriber = "networktables/MultiSubscriber.h"
-NTSendable = "networktables/NTSendable.h"
-NTSendableBuilder = "networktables/NTSendableBuilder.h"
-NetworkTable = "networktables/NetworkTable.h"
-NetworkTableEntry = "networktables/NetworkTableEntry.h"
-NetworkTableInstance = "networktables/NetworkTableInstance.h"
-NetworkTableListener = "networktables/NetworkTableListener.h"
-NetworkTableType = "networktables/NetworkTableType.h"
-NetworkTableValue = "networktables/NetworkTableValue.h"
-RawTopic = "networktables/RawTopic.h"
-StructTopic = "networktables/StructTopic.h"
-StructArrayTopic = "networktables/StructArrayTopic.h"
-StringArrayTopic = "networktables/StringArrayTopic.h"
-StringTopic = "networktables/StringTopic.h"
-Topic = "networktables/Topic.h"
+BooleanArrayTopic = "wpi/nt/BooleanArrayTopic.hpp"
+BooleanTopic = "wpi/nt/BooleanTopic.hpp"
+DoubleArrayTopic = "wpi/nt/DoubleArrayTopic.hpp"
+DoubleTopic = "wpi/nt/DoubleTopic.hpp"
+FloatArrayTopic = "wpi/nt/FloatArrayTopic.hpp"
+FloatTopic = "wpi/nt/FloatTopic.hpp"
+GenericEntry = "wpi/nt/GenericEntry.hpp"
+IntegerArrayTopic = "wpi/nt/IntegerArrayTopic.hpp"
+IntegerTopic = "wpi/nt/IntegerTopic.hpp"
+MultiSubscriber = "wpi/nt/MultiSubscriber.hpp"
+NTSendable = "wpi/nt/NTSendable.hpp"
+NTSendableBuilder = "wpi/nt/NTSendableBuilder.hpp"
+NetworkTable = "wpi/nt/NetworkTable.hpp"
+NetworkTableEntry = "wpi/nt/NetworkTableEntry.hpp"
+NetworkTableInstance = "wpi/nt/NetworkTableInstance.hpp"
+NetworkTableListener = "wpi/nt/NetworkTableListener.hpp"
+NetworkTableType = "wpi/nt/NetworkTableType.hpp"
+NetworkTableValue = "wpi/nt/NetworkTableValue.hpp"
+RawTopic = "wpi/nt/RawTopic.hpp"
+StructTopic = "wpi/nt/StructTopic.hpp"
+StructArrayTopic = "wpi/nt/StructArrayTopic.hpp"
+StringArrayTopic = "wpi/nt/StringArrayTopic.hpp"
+StringTopic = "wpi/nt/StringTopic.hpp"
+Topic = "wpi/nt/Topic.hpp"
 
-ntcore_cpp = "ntcore_cpp.h"
-ntcore_cpp_types = "ntcore_cpp_types.h"
+ntcore_cpp = "wpi/nt/ntcore_cpp.hpp"
+ntcore_cpp_types = "wpi/nt/ntcore_cpp_types.hpp"
diff --git a/ntcore/src/main/python/semiwrap/NTSendable.yml b/ntcore/src/main/python/semiwrap/NTSendable.yml
index b105e6fa11..57ad364839 100644
--- a/ntcore/src/main/python/semiwrap/NTSendable.yml
+++ b/ntcore/src/main/python/semiwrap/NTSendable.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- networktables/NTSendableBuilder.h
+- wpi/nt/NTSendableBuilder.hpp
 
 classes:
   nt::NTSendable:
diff --git a/ntcore/src/main/python/semiwrap/NetworkTable.yml b/ntcore/src/main/python/semiwrap/NetworkTable.yml
index c940e475b7..9967873efe 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTable.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTable.yml
@@ -1,19 +1,19 @@
 extra_includes:
-- networktables/BooleanArrayTopic.h
-- networktables/BooleanTopic.h
-- networktables/DoubleArrayTopic.h
-- networktables/DoubleTopic.h
-- networktables/FloatArrayTopic.h
-- networktables/FloatTopic.h
-- networktables/IntegerArrayTopic.h
-- networktables/IntegerTopic.h
-- networktables/NetworkTableInstance.h
-- networktables/RawTopic.h
-- networktables/StringArrayTopic.h
-- networktables/StringTopic.h
-- networktables/StructArrayTopic.h
-- networktables/StructTopic.h
-- networktables/Topic.h
+- wpi/nt/BooleanArrayTopic.hpp
+- wpi/nt/BooleanTopic.hpp
+- wpi/nt/DoubleArrayTopic.hpp
+- wpi/nt/DoubleTopic.hpp
+- wpi/nt/FloatArrayTopic.hpp
+- wpi/nt/FloatTopic.hpp
+- wpi/nt/IntegerArrayTopic.hpp
+- wpi/nt/IntegerTopic.hpp
+- wpi/nt/NetworkTableInstance.hpp
+- wpi/nt/RawTopic.hpp
+- wpi/nt/StringArrayTopic.hpp
+- wpi/nt/StringTopic.hpp
+- wpi/nt/StructArrayTopic.hpp
+- wpi/nt/StructTopic.hpp
+- wpi/nt/Topic.hpp
 - src/py2value.h
 - src/pyentry.h
 - wpystruct.h
diff --git a/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml b/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml
index 107fa6f650..8ba9f8788c 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTableEntry.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- networktables/NetworkTableInstance.h
-- networktables/Topic.h
+- wpi/nt/NetworkTableInstance.hpp
+- wpi/nt/Topic.hpp
 - src/py2value.h
 - src/pyentry.h
 
diff --git a/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml b/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml
index 82f2a9bb18..84f7e39f7f 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTableInstance.yml
@@ -1,22 +1,22 @@
 extra_includes:
-- networktables/BooleanArrayTopic.h
-- networktables/BooleanTopic.h
-- networktables/DoubleArrayTopic.h
-- networktables/DoubleTopic.h
-- networktables/FloatArrayTopic.h
-- networktables/FloatTopic.h
-- networktables/IntegerArrayTopic.h
-- networktables/IntegerTopic.h
-- networktables/MultiSubscriber.h
-- networktables/RawTopic.h
-- networktables/StringArrayTopic.h
-- networktables/StringTopic.h
-- networktables/StructArrayTopic.h
-- networktables/StructTopic.h
-- networktables/Topic.h
+- wpi/nt/BooleanArrayTopic.hpp
+- wpi/nt/BooleanTopic.hpp
+- wpi/nt/DoubleArrayTopic.hpp
+- wpi/nt/DoubleTopic.hpp
+- wpi/nt/FloatArrayTopic.hpp
+- wpi/nt/FloatTopic.hpp
+- wpi/nt/IntegerArrayTopic.hpp
+- wpi/nt/IntegerTopic.hpp
+- wpi/nt/MultiSubscriber.hpp
+- wpi/nt/RawTopic.hpp
+- wpi/nt/StringArrayTopic.hpp
+- wpi/nt/StringTopic.hpp
+- wpi/nt/StructArrayTopic.hpp
+- wpi/nt/StructTopic.hpp
+- wpi/nt/Topic.hpp
 - src/py2value.h
 - src/nt_instance.h
-- wpi/datalog/DataLog.h
+- wpi/datalog/DataLog.hpp
 - wpystruct.h
 
 classes:
diff --git a/ntcore/src/main/python/semiwrap/NetworkTableValue.yml b/ntcore/src/main/python/semiwrap/NetworkTableValue.yml
index 3d5af62478..f114ecfa49 100644
--- a/ntcore/src/main/python/semiwrap/NetworkTableValue.yml
+++ b/ntcore/src/main/python/semiwrap/NetworkTableValue.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- networktables/NetworkTableType.h
+- wpi/nt/NetworkTableType.hpp
 - src/py2value.h
 
 functions:
diff --git a/ntcore/src/main/python/semiwrap/Topic.yml b/ntcore/src/main/python/semiwrap/Topic.yml
index d2a951a84a..aca537746e 100644
--- a/ntcore/src/main/python/semiwrap/Topic.yml
+++ b/ntcore/src/main/python/semiwrap/Topic.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- networktables/GenericEntry.h
-- networktables/NetworkTableInstance.h
+- wpi/nt/GenericEntry.hpp
+- wpi/nt/NetworkTableInstance.hpp
 
 classes:
   nt::Topic:
diff --git a/ntcore/src/main/python/semiwrap/ntcore_cpp.yml b/ntcore/src/main/python/semiwrap/ntcore_cpp.yml
index 6e1a237f12..360e2c47af 100644
--- a/ntcore/src/main/python/semiwrap/ntcore_cpp.yml
+++ b/ntcore/src/main/python/semiwrap/ntcore_cpp.yml
@@ -4,7 +4,7 @@ defaults:
 
 extra_includes:
 - pybind11/stl.h
-- networktables/Topic.h
+- wpi/nt/Topic.hpp
 
 functions:
   RemoveListener:
diff --git a/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp b/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
index ebceeb7e59..5e1aa7ac1b 100644
--- a/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
@@ -7,11 +7,11 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/Synchronization.h>
-#include <wpi/mutex.h>
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/mutex.hpp"
 
-#include "TestPrinters.h"
-#include "ntcore_cpp.h"
+#include "TestPrinters.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 class ConnectionListenerTest : public ::testing::Test {
  public:
diff --git a/ntcore/src/test/native/cpp/LocalStorageTest.cpp b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
index e9b673483d..feb6ec21be 100644
--- a/ntcore/src/test/native/cpp/LocalStorageTest.cpp
+++ b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
@@ -6,19 +6,19 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/SpanMatcher.h>
+#include "wpi/util/SpanMatcher.hpp"
 
-#include "LocalStorage.h"
-#include "MockListenerStorage.h"
-#include "MockLogger.h"
-#include "PubSubOptionsMatcher.h"
-#include "TestPrinters.h"
-#include "ValueMatcher.h"
+#include "LocalStorage.hpp"
+#include "MockListenerStorage.hpp"
+#include "MockLogger.hpp"
+#include "PubSubOptionsMatcher.hpp"
+#include "TestPrinters.hpp"
+#include "ValueMatcher.hpp"
 #include "gmock/gmock.h"
-#include "net/MockMessageHandler.h"
-#include "net/MockNetworkInterface.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "net/MockMessageHandler.hpp"
+#include "net/MockNetworkInterface.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using ::testing::_;
 using ::testing::AllOf;
diff --git a/ntcore/src/test/native/cpp/LoggerTest.cpp b/ntcore/src/test/native/cpp/LoggerTest.cpp
index ee621baab2..f0367f2e14 100644
--- a/ntcore/src/test/native/cpp/LoggerTest.cpp
+++ b/ntcore/src/test/native/cpp/LoggerTest.cpp
@@ -5,11 +5,11 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
-#include "Handle.h"
-#include "TestPrinters.h"
-#include "ntcore_cpp.h"
+#include "Handle.hpp"
+#include "TestPrinters.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 class LoggerTest : public ::testing::Test {
  public:
diff --git a/ntcore/src/test/native/cpp/MockConnectionList.hpp b/ntcore/src/test/native/cpp/MockConnectionList.hpp
index cd93343c86..97c5f6f109 100644
--- a/ntcore/src/test/native/cpp/MockConnectionList.hpp
+++ b/ntcore/src/test/native/cpp/MockConnectionList.hpp
@@ -6,7 +6,7 @@
 
 #include <vector>
 
-#include "IConnectionList.h"
+#include "IConnectionList.hpp"
 #include "gmock/gmock.h"
 
 namespace nt {
diff --git a/ntcore/src/test/native/cpp/MockListenerStorage.hpp b/ntcore/src/test/native/cpp/MockListenerStorage.hpp
index 6e1dc4ef9c..370923e9e0 100644
--- a/ntcore/src/test/native/cpp/MockListenerStorage.hpp
+++ b/ntcore/src/test/native/cpp/MockListenerStorage.hpp
@@ -8,7 +8,7 @@
 #include <span>
 #include <string_view>
 
-#include "IListenerStorage.h"
+#include "IListenerStorage.hpp"
 #include "gmock/gmock.h"
 
 namespace nt {
diff --git a/ntcore/src/test/native/cpp/MockLogger.hpp b/ntcore/src/test/native/cpp/MockLogger.hpp
index f20a12f608..6c15304dd1 100644
--- a/ntcore/src/test/native/cpp/MockLogger.hpp
+++ b/ntcore/src/test/native/cpp/MockLogger.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
 #include "gmock/gmock.h"
 
diff --git a/ntcore/src/test/native/cpp/NetworkTableTest.cpp b/ntcore/src/test/native/cpp/NetworkTableTest.cpp
index db856a5d87..9ffab514d0 100644
--- a/ntcore/src/test/native/cpp/NetworkTableTest.cpp
+++ b/ntcore/src/test/native/cpp/NetworkTableTest.cpp
@@ -7,9 +7,9 @@
 
 #include <gtest/gtest.h>
 
-#include "TestPrinters.h"
-#include "networktables/NetworkTable.h"
-#include "networktables/NetworkTableInstance.h"
+#include "TestPrinters.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 class NetworkTableTest : public ::testing::Test {};
 
diff --git a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp
index 3437a9102b..6f7f5489d3 100644
--- a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp
+++ b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "PubSubOptionsMatcher.h"
+#include "PubSubOptionsMatcher.hpp"
 
-#include "TestPrinters.h"
+#include "TestPrinters.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp
index 925f17d293..b43da2d7c9 100644
--- a/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp
+++ b/ntcore/src/test/native/cpp/PubSubOptionsMatcher.hpp
@@ -7,7 +7,7 @@
 #include <ostream>
 #include <utility>
 
-#include "PubSubOptions.h"
+#include "PubSubOptions.hpp"
 #include "gmock/gmock.h"
 
 namespace nt {
diff --git a/ntcore/src/test/native/cpp/StorageTest.hpp b/ntcore/src/test/native/cpp/StorageTest.hpp
index a0cc737bff..c80fbf1891 100644
--- a/ntcore/src/test/native/cpp/StorageTest.hpp
+++ b/ntcore/src/test/native/cpp/StorageTest.hpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>
 
-#include "Log.h"
+#include "Log.hpp"
 #include "MockDispatcher.h"
 #include "Storage.h"
 
diff --git a/ntcore/src/test/native/cpp/StructTest.cpp b/ntcore/src/test/native/cpp/StructTest.cpp
index 3c66482822..928f9e9a31 100644
--- a/ntcore/src/test/native/cpp/StructTest.cpp
+++ b/ntcore/src/test/native/cpp/StructTest.cpp
@@ -3,12 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SpanMatcher.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SpanMatcher.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/StructArrayTopic.h"
-#include "networktables/StructTopic.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StructArrayTopic.hpp"
+#include "wpi/nt/StructTopic.hpp"
 
 namespace {
 struct Inner {
diff --git a/ntcore/src/test/native/cpp/TableListenerTest.cpp b/ntcore/src/test/native/cpp/TableListenerTest.cpp
index 797c5052dc..55586ee455 100644
--- a/ntcore/src/test/native/cpp/TableListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/TableListenerTest.cpp
@@ -6,11 +6,11 @@
 
 #include <gtest/gtest.h>
 
-#include "TestPrinters.h"
+#include "TestPrinters.hpp"
 #include "gmock/gmock.h"
-#include "networktables/DoubleTopic.h"
-#include "networktables/NetworkTableInstance.h"
-#include "ntcore_cpp.h"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using ::testing::_;
 
diff --git a/ntcore/src/test/native/cpp/TestPrinters.cpp b/ntcore/src/test/native/cpp/TestPrinters.cpp
index f918e80a73..896d759ce6 100644
--- a/ntcore/src/test/native/cpp/TestPrinters.cpp
+++ b/ntcore/src/test/native/cpp/TestPrinters.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "TestPrinters.h"
+#include "TestPrinters.hpp"
 
-#include "Handle.h"
-#include "PubSubOptions.h"
-#include "net/Message.h"
-#include "networktables/NetworkTableValue.h"
-#include "ntcore_cpp.h"
+#include "Handle.hpp"
+#include "PubSubOptions.hpp"
+#include "net/Message.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/test/native/cpp/TestPrinters.hpp b/ntcore/src/test/native/cpp/TestPrinters.hpp
index 3481e762cf..58db5f2733 100644
--- a/ntcore/src/test/native/cpp/TestPrinters.hpp
+++ b/ntcore/src/test/native/cpp/TestPrinters.hpp
@@ -10,7 +10,7 @@
 #include <string_view>
 
 #include <gtest/gtest.h>
-#include <wpi/TestPrinters.h>
+#include "wpi/util/TestPrinters.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/test/native/cpp/TimeSyncTest.cpp b/ntcore/src/test/native/cpp/TimeSyncTest.cpp
index 283e7b768b..0f815b36ef 100644
--- a/ntcore/src/test/native/cpp/TimeSyncTest.cpp
+++ b/ntcore/src/test/native/cpp/TimeSyncTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "networktables/NetworkTableInstance.h"
-#include "networktables/NetworkTableListener.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/NetworkTableListener.hpp"
 
 class TimeSyncTest : public ::testing::Test {
  public:
diff --git a/ntcore/src/test/native/cpp/TopicListenerTest.cpp b/ntcore/src/test/native/cpp/TopicListenerTest.cpp
index 8e3d34544e..bf192f4edd 100644
--- a/ntcore/src/test/native/cpp/TopicListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/TopicListenerTest.cpp
@@ -8,13 +8,13 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/Synchronization.h>
-#include <wpi/json.h>
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/json.hpp"
 
-#include "TestPrinters.h"
-#include "ValueMatcher.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "TestPrinters.hpp"
+#include "ValueMatcher.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 class TopicListenerTest : public ::testing::Test {
  public:
diff --git a/ntcore/src/test/native/cpp/ValueListenerTest.cpp b/ntcore/src/test/native/cpp/ValueListenerTest.cpp
index 83ef6d812e..ed59b326fc 100644
--- a/ntcore/src/test/native/cpp/ValueListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/ValueListenerTest.cpp
@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/StringExtras.h>
-#include <wpi/Synchronization.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/Synchronization.h"
 
-#include "TestPrinters.h"
-#include "ValueMatcher.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
+#include "TestPrinters.hpp"
+#include "ValueMatcher.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
 
 using ::testing::_;
 using ::testing::AnyNumber;
diff --git a/ntcore/src/test/native/cpp/ValueMatcher.cpp b/ntcore/src/test/native/cpp/ValueMatcher.cpp
index 7a0d453abc..8a7106ff1b 100644
--- a/ntcore/src/test/native/cpp/ValueMatcher.cpp
+++ b/ntcore/src/test/native/cpp/ValueMatcher.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ValueMatcher.h"
+#include "ValueMatcher.hpp"
 
-#include "TestPrinters.h"
+#include "TestPrinters.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/test/native/cpp/ValueMatcher.hpp b/ntcore/src/test/native/cpp/ValueMatcher.hpp
index c77e04d158..d82ab055cc 100644
--- a/ntcore/src/test/native/cpp/ValueMatcher.hpp
+++ b/ntcore/src/test/native/cpp/ValueMatcher.hpp
@@ -9,7 +9,7 @@
 #include <utility>
 
 #include "gmock/gmock.h"
-#include "networktables/NetworkTableValue.h"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 namespace nt {
 
diff --git a/ntcore/src/test/native/cpp/ValueTest.cpp b/ntcore/src/test/native/cpp/ValueTest.cpp
index 5209bbb98a..4e5f13867a 100644
--- a/ntcore/src/test/native/cpp/ValueTest.cpp
+++ b/ntcore/src/test/native/cpp/ValueTest.cpp
@@ -10,9 +10,9 @@
 
 #include <gtest/gtest.h>
 
-#include "TestPrinters.h"
-#include "Value_internal.h"
-#include "networktables/NetworkTableValue.h"
+#include "TestPrinters.hpp"
+#include "Value_internal.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 using namespace std::string_view_literals;
 
diff --git a/ntcore/src/test/native/cpp/main.cpp b/ntcore/src/test/native/cpp/main.cpp
index a0813aacb8..b7ec6da49a 100644
--- a/ntcore/src/test/native/cpp/main.cpp
+++ b/ntcore/src/test/native/cpp/main.cpp
@@ -5,10 +5,10 @@
 #include <climits>
 #include <cstdio>
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
 #include "gmock/gmock.h"
-#include "ntcore.h"
+#include "wpi/nt/ntcore.h"
 
 int main(int argc, char** argv) {
   nt::AddLogger(nt::GetDefaultInstance(), 0, UINT_MAX, [](auto& event) {
diff --git a/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp b/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp
index 99ac6cbce6..c290810de0 100644
--- a/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp
+++ b/ntcore/src/test/native/cpp/net/MockClientMessageQueue.hpp
@@ -8,8 +8,8 @@
 #include <utility>
 #include <vector>
 
-#include "net/ClientMessageQueue.h"
-#include "net/Message.h"
+#include "net/ClientMessageQueue.hpp"
+#include "net/Message.hpp"
 
 namespace nt::net {
 
diff --git a/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp b/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp
index 1f26e5c692..0c524e28bd 100644
--- a/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp
+++ b/ntcore/src/test/native/cpp/net/MockMessageHandler.hpp
@@ -6,11 +6,11 @@
 
 #include <string>
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "PubSubOptions.h"
+#include "PubSubOptions.hpp"
 #include "gmock/gmock.h"
-#include "net/MessageHandler.h"
+#include "net/MessageHandler.hpp"
 
 namespace nt::net {
 
diff --git a/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp b/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp
index 8bd77d21ab..649079979a 100644
--- a/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp
+++ b/ntcore/src/test/native/cpp/net/MockNetworkInterface.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 #include "gmock/gmock.h"
-#include "net/NetworkInterface.h"
+#include "net/NetworkInterface.hpp"
 
 namespace nt::net {
 
diff --git a/ntcore/src/test/native/cpp/net/MockWireConnection.hpp b/ntcore/src/test/native/cpp/net/MockWireConnection.hpp
index 60d446fa88..1675eb661e 100644
--- a/ntcore/src/test/native/cpp/net/MockWireConnection.hpp
+++ b/ntcore/src/test/native/cpp/net/MockWireConnection.hpp
@@ -11,10 +11,10 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/raw_ostream.h>
+#include "wpi/util/raw_ostream.hpp"
 
 #include "gmock/gmock.h"
-#include "net/WireConnection.h"
+#include "net/WireConnection.hpp"
 
 namespace nt::net {
 
diff --git a/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp b/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
index 6f8b6ca340..8db59a11fc 100644
--- a/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
+++ b/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
@@ -5,18 +5,18 @@
 #include <string>
 
 #include <gtest/gtest.h>
-#include <wpi/SmallString.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "../MockLogger.h"
-#include "../PubSubOptionsMatcher.h"
-#include "../TestPrinters.h"
-#include "MockMessageHandler.h"
-#include "PubSubOptions.h"
+#include "../MockLogger.hpp"
+#include "../PubSubOptionsMatcher.hpp"
+#include "../TestPrinters.hpp"
+#include "MockMessageHandler.hpp"
+#include "PubSubOptions.hpp"
 #include "gmock/gmock.h"
-#include "net/MessageHandler.h"
-#include "net/WireDecoder.h"
-#include "networktables/NetworkTableValue.h"
+#include "net/MessageHandler.hpp"
+#include "net/WireDecoder.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 using namespace std::string_view_literals;
 using testing::_;
diff --git a/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp b/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp
index 08d043f463..8ec1904046 100644
--- a/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp
+++ b/ntcore/src/test/native/cpp/net/WireEncoderTest.cpp
@@ -8,17 +8,17 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/SpanMatcher.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SpanMatcher.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "../TestPrinters.h"
-#include "Handle.h"
-#include "PubSubOptions.h"
+#include "../TestPrinters.hpp"
+#include "Handle.hpp"
+#include "PubSubOptions.hpp"
 #include "gmock/gmock-matchers.h"
-#include "net/Message.h"
-#include "net/WireEncoder.h"
-#include "networktables/NetworkTableValue.h"
+#include "net/Message.hpp"
+#include "net/WireEncoder.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 using namespace std::string_view_literals;
 
diff --git a/ntcore/src/test/native/cpp/server/ServerImplTest.cpp b/ntcore/src/test/native/cpp/server/ServerImplTest.cpp
index 2821e7c8f5..3c93f40fa7 100644
--- a/ntcore/src/test/native/cpp/server/ServerImplTest.cpp
+++ b/ntcore/src/test/native/cpp/server/ServerImplTest.cpp
@@ -11,22 +11,22 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/SpanMatcher.h>
+#include "wpi/util/SpanMatcher.hpp"
 
-#include "../MockLogger.h"
-#include "../PubSubOptionsMatcher.h"
-#include "../TestPrinters.h"
-#include "../ValueMatcher.h"
-#include "../net/MockClientMessageQueue.h"
-#include "../net/MockMessageHandler.h"
-#include "../net/MockWireConnection.h"
-#include "Handle.h"
+#include "../MockLogger.hpp"
+#include "../PubSubOptionsMatcher.hpp"
+#include "../TestPrinters.hpp"
+#include "../ValueMatcher.hpp"
+#include "../net/MockClientMessageQueue.hpp"
+#include "../net/MockMessageHandler.hpp"
+#include "../net/MockWireConnection.hpp"
+#include "Handle.hpp"
 #include "gmock/gmock.h"
-#include "net/Message.h"
-#include "net/WireEncoder.h"
-#include "ntcore_c.h"
-#include "ntcore_cpp.h"
-#include "server/ServerImpl.h"
+#include "net/Message.hpp"
+#include "net/WireEncoder.hpp"
+#include "wpi/nt/ntcore_c.h"
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "server/ServerImpl.hpp"
 
 using ::testing::_;
 using ::testing::AllOf;
diff --git a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
index cbc347017c..cf0d6506ad 100644
--- a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
+++ b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
@@ -12,13 +12,13 @@
 
 #include <fmt/chrono.h>
 #include <fmt/format.h>
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/SafeThread.h>
-#include <wpi/StringExtras.h>
-#include <wpi/datalog/DataLogBackgroundWriter.h>
-#include <wpi/datalog/FileLogger.h>
-#include <wpi/fs.h>
-#include <wpi/print.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/datalog/DataLogBackgroundWriter.hpp"
+#include "wpi/datalog/FileLogger.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/print.hpp"
 
 using namespace wpi;
 
diff --git a/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp b/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
index ce1c81bb9b..641c331f43 100644
--- a/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
@@ -4,11 +4,11 @@
 
 #include <memory>
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalOutput.h>
-#include <frc/Errors.h>
-#include <frc/Timer.h>
-#include <frc/romi/OnBoardIO.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Timer.hpp"
+#include "wpi/romi/OnBoardIO.hpp"
 
 using namespace frc;
 
diff --git a/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp b/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp
index 4c67f77abe..0db60092ce 100644
--- a/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/romi/RomiGyro.h>
+#include "wpi/romi/RomiGyro.hpp"
 
 using namespace frc;
 
diff --git a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
index bb3867b652..071e820043 100644
--- a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/romi/RomiMotor.h>
+#include "wpi/romi/RomiMotor.hpp"
 
 using namespace frc;
 
diff --git a/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp b/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp
index eef6a8488d..72530cd32c 100644
--- a/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp
+++ b/romiVendordep/src/main/native/include/wpi/romi/OnBoardIO.hpp
@@ -6,9 +6,9 @@
 
 #include <memory>
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalOutput.h>
-#include <units/time.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp b/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp
index b64ee60ec4..cc468a6bdd 100644
--- a/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp
+++ b/romiVendordep/src/main/native/include/wpi/romi/RomiGyro.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 namespace frc {
 
diff --git a/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp b/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
index 75bbe5b162..7542c7a72d 100644
--- a/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
+++ b/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc/motorcontrol/PWMMotorController.h>
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/romiVendordep/src/main/python/pyproject.toml b/romiVendordep/src/main/python/pyproject.toml
index 872f0987e9..3ebd3cce3a 100644
--- a/romiVendordep/src/main/python/pyproject.toml
+++ b/romiVendordep/src/main/python/pyproject.toml
@@ -50,6 +50,6 @@ depends = [
 
 [tool.semiwrap.extension_modules."romi._romi".headers]
 # frc/romi
-OnBoardIO = "frc/romi/OnBoardIO.h"
-RomiGyro = "frc/romi/RomiGyro.h"
-RomiMotor = "frc/romi/RomiMotor.h"
+OnBoardIO = "wpi/romi/OnBoardIO.hpp"
+RomiGyro = "wpi/romi/RomiGyro.hpp"
+RomiMotor = "wpi/romi/RomiMotor.hpp"
diff --git a/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp
index cf3adc6c7e..23114a179c 100644
--- a/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp
@@ -4,8 +4,8 @@
 
 #include <thread>
 
-#include <hal/DriverStation.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/HALBase.h"
 
 extern "C" int HALSIM_InitExtension(void);
 
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
index 7c51f71c66..9cb84afdc5 100644
--- a/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "DSCommPacket.h"
+#include "wpi/halsim/ds_socket/DSCommPacket.hpp"
 
 #include <algorithm>
 #include <chrono>
@@ -11,8 +11,8 @@
 #include <thread>
 #include <vector>
 
-#include <hal/simulation/DriverStationData.h>
-#include <hal/simulation/MockHooks.h>
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/MockHooks.h"
 
 using namespace halsim;
 
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
index f5e4cf3e44..6de64cf9a4 100644
--- a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -20,15 +20,15 @@
 #include <memory>
 #include <string_view>
 
-#include <DSCommPacket.h>
-#include <hal/Extensions.h>
-#include <wpi/print.h>
-#include <wpinet/EventLoopRunner.h>
-#include <wpinet/raw_uv_ostream.h>
-#include <wpinet/uv/Tcp.h>
-#include <wpinet/uv/Timer.h>
-#include <wpinet/uv/Udp.h>
-#include <wpinet/uv/util.h>
+#include "wpi/halsim/ds_socket/DSCommPacket.hpp"
+#include "wpi/hal/Extensions.h"
+#include "wpi/util/print.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Timer.hpp"
+#include "wpi/net/uv/Udp.hpp"
+#include "wpi/net/uv/util.hpp"
 
 #if defined(Win32) || defined(_WIN32)
 #pragma comment(lib, "Ws2_32.lib")
diff --git a/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommJoystickPacket.hpp b/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommJoystickPacket.hpp
index db430a19e9..f1177b081e 100644
--- a/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommJoystickPacket.hpp
+++ b/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommJoystickPacket.hpp
@@ -6,7 +6,7 @@
 
 #include <cstring>
 
-#include <hal/DriverStationTypes.h>
+#include "wpi/hal/DriverStationTypes.h"
 
 namespace halsim {
 
diff --git a/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp b/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
index bfc42c315f..6210107f12 100644
--- a/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
+++ b/simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
@@ -7,9 +7,9 @@
 #include <array>
 #include <span>
 
-#include <DSCommJoystickPacket.h>
-#include <hal/simulation/DriverStationData.h>
-#include <wpinet/raw_uv_ostream.h>
+#include "wpi/halsim/ds_socket/DSCommJoystickPacket.hpp"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/net/raw_uv_ostream.hpp"
 
 class DSCommPacketTest;
 
diff --git a/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp b/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
index 9a9a6f6a72..5256201f42 100644
--- a/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
+++ b/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "DSCommPacket.h"
+#include "wpi/halsim/ds_socket/DSCommPacket.hpp"
 
 class DSCommPacketTest : public ::testing::Test {
  public:
diff --git a/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
index d181e39c9f..9b73af360b 100644
--- a/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 int main(int argc, char** argv) {
   HAL_Initialize(500, 0);
diff --git a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
index b9611dbbe2..2f488588c4 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "AddressableLEDGui.h"
+#include "AddressableLEDGui.hpp"
 
 #include <memory>
 #include <vector>
 
-#include <glass/hardware/LEDDisplay.h>
-#include <hal/Ports.h>
-#include <hal/simulation/AddressableLEDData.h>
+#include "wpi/glass/hardware/LEDDisplay.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/AddressableLEDData.h"
 #include <imgui.h>
 
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
index 954d4f240b..22b98aa053 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "AnalogInputSimGui.h"
+#include "AnalogInputSimGui.hpp"
 
 #include <memory>
 #include <vector>
 
-#include <glass/View.h>
-#include <glass/hardware/AnalogInput.h>
-#include <hal/Ports.h>
-#include <hal/simulation/AnalogInData.h>
-#include <hal/simulation/SimDeviceData.h>
+#include "wpi/glass/View.hpp"
+#include "wpi/glass/hardware/AnalogInput.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/AnalogInData.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
index 61e4da6d69..36d05f862c 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
@@ -2,23 +2,23 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "DIOSimGui.h"
+#include "DIOSimGui.hpp"
 
 #include <memory>
 #include <vector>
 
-#include <glass/hardware/DIO.h>
-#include <glass/hardware/Encoder.h>
-#include <hal/Ports.h>
-#include <hal/simulation/DIOData.h>
-#include <hal/simulation/DigitalPWMData.h>
-#include <hal/simulation/DutyCycleData.h>
-#include <hal/simulation/EncoderData.h>
-#include <hal/simulation/SimDeviceData.h>
+#include "wpi/glass/hardware/DIO.hpp"
+#include "wpi/glass/hardware/Encoder.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/DIOData.h"
+#include "wpi/hal/simulation/DigitalPWMData.h"
+#include "wpi/hal/simulation/DutyCycleData.h"
+#include "wpi/hal/simulation/EncoderData.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
-#include "EncoderSimGui.h"
-#include "HALDataSource.h"
-#include "HALSimGui.h"
+#include "EncoderSimGui.hpp"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
index 78d62473d7..906e0a29a9 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "DriverStationGui.h"
+#include "DriverStationGui.hpp"
 
 #include <algorithm>
 #include <atomic>
@@ -14,22 +14,22 @@
 
 #include <GLFW/glfw3.h>
 #include <fmt/format.h>
-#include <glass/Context.h>
-#include <glass/Storage.h>
-#include <glass/other/FMS.h>
-#include <glass/support/ExtraGuiWidgets.h>
-#include <glass/support/NameSetting.h>
-#include <hal/DriverStationTypes.h>
-#include <hal/simulation/DriverStationData.h>
-#include <hal/simulation/MockHooks.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/other/FMS.hpp"
+#include "wpi/glass/support/ExtraGuiWidgets.hpp"
+#include "wpi/glass/support/NameSetting.hpp"
+#include "wpi/hal/DriverStationTypes.h"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/MockHooks.h"
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
-#include <wpigui.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
index 55c90a39f6..a544d192f4 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
@@ -7,7 +7,7 @@
 #include <memory>
 #include <string_view>
 
-#include <glass/WindowManager.h>
+#include "wpi/glass/WindowManager.hpp"
 
 namespace halsimgui {
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
index 9af9db17e7..e092b19c13 100644
--- a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "EncoderSimGui.h"
+#include "EncoderSimGui.hpp"
 
 #include <stdint.h>
 
@@ -12,13 +12,13 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <glass/DataSource.h>
-#include <glass/hardware/Encoder.h>
-#include <hal/Ports.h>
-#include <hal/simulation/EncoderData.h>
-#include <hal/simulation/SimDeviceData.h>
+#include "wpi/glass/DataSource.hpp"
+#include "wpi/glass/hardware/Encoder.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/EncoderData.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
index 7d36478b8f..4bc821c241 100644
--- a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALProvider.h"
+#include "wpi/halsim/gui/HALProvider.hpp"
 
 #include <string>
 #include <utility>
 
-#include <glass/Model.h>
-#include <glass/Storage.h>
-#include <hal/simulation/DriverStationData.h>
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/hal/simulation/DriverStationData.h"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
index e6329c3b6e..6152d25188 100644
--- a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <glass/Context.h>
-#include <glass/Storage.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
 #include <imgui.h>
-#include <wpigui.h>
+#include "wpi/gui/wpigui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
index 763d28e8aa..ec29eab270 100644
--- a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "NetworkTablesSimGui.h"
+#include "NetworkTablesSimGui.hpp"
 
 #include <memory>
 
-#include <glass/Context.h>
-#include <glass/Storage.h>
-#include <glass/networktables/NetworkTables.h>
-#include <wpigui.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/networktables/NetworkTables.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
index fd8bd6d493..7be3616a29 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "PCMSimGui.h"
+#include "PCMSimGui.hpp"
 
 #include <cstdio>
 #include <memory>
 #include <vector>
 
-#include <glass/hardware/Pneumatic.h>
-#include <glass/other/DeviceTree.h>
-#include <hal/Ports.h>
-#include <hal/Value.h>
-#include <hal/simulation/CTREPCMData.h>
+#include "wpi/glass/hardware/Pneumatic.hpp"
+#include "wpi/glass/other/DeviceTree.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
-#include "SimDeviceGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
+#include "wpi/halsim/gui/SimDeviceGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
index d484249267..31d43597d7 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
@@ -5,7 +5,7 @@
 #pragma once
 #include <memory>
 
-#include <glass/hardware/Pneumatic.h>
+#include "wpi/glass/hardware/Pneumatic.hpp"
 
 namespace halsimgui {
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
index abd0a0d7d7..17132ccbb4 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "PHSimGui.h"
+#include "PHSimGui.hpp"
 
 #include <cstdio>
 #include <memory>
 #include <vector>
 
-#include <glass/hardware/Pneumatic.h>
-#include <glass/other/DeviceTree.h>
-#include <hal/Ports.h>
-#include <hal/Value.h>
-#include <hal/simulation/REVPHData.h>
+#include "wpi/glass/hardware/Pneumatic.hpp"
+#include "wpi/glass/other/DeviceTree.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/Value.h"
+#include "wpi/hal/simulation/REVPHData.h"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
-#include "SimDeviceGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
+#include "wpi/halsim/gui/SimDeviceGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
index 348f6df963..159e409e04 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
@@ -5,7 +5,7 @@
 #pragma once
 #include <memory>
 
-#include <glass/hardware/Pneumatic.h>
+#include "wpi/glass/hardware/Pneumatic.hpp"
 
 namespace halsimgui {
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
index 5d8a358dba..c60a5b5f1b 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "PWMSimGui.h"
+#include "PWMSimGui.hpp"
 
 #include <memory>
 #include <vector>
 
-#include <glass/hardware/PWM.h>
-#include <hal/Ports.h>
-#include <hal/simulation/AddressableLEDData.h>
-#include <hal/simulation/PWMData.h>
+#include "wpi/glass/hardware/PWM.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/AddressableLEDData.h"
+#include "wpi/hal/simulation/PWMData.h"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
index 6b0d8c801a..673d9b3288 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "PowerDistributionSimGui.h"
+#include "PowerDistributionSimGui.hpp"
 
 #include <cstdio>
 #include <cstring>
 #include <memory>
 #include <vector>
 
-#include <glass/hardware/PowerDistribution.h>
-#include <hal/Ports.h>
-#include <hal/simulation/PowerDistributionData.h>
+#include "wpi/glass/hardware/PowerDistribution.hpp"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/PowerDistributionData.h"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
index 9e6a45edde..d7187d32f4 100644
--- a/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RoboRioSimGui.h"
+#include "RoboRioSimGui.hpp"
 
 #include <memory>
 
-#include <glass/hardware/RoboRio.h>
-#include <hal/simulation/RoboRioData.h>
+#include "wpi/glass/hardware/RoboRio.hpp"
+#include "wpi/hal/simulation/RoboRioData.h"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
index cbd721fb1c..0cc2d5020a 100644
--- a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "SimDeviceGui.h"
+#include "wpi/halsim/gui/SimDeviceGui.hpp"
 
 #include <stdint.h>
 
@@ -10,14 +10,14 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <glass/other/DeviceTree.h>
-#include <hal/SimDevice.h>
-#include <hal/simulation/SimDeviceData.h>
-#include <wpi/DenseMap.h>
-#include <wpi/StringExtras.h>
+#include "wpi/glass/other/DeviceTree.hpp"
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "HALDataSource.h"
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALDataSource.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp b/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
index 043e360d57..5d7eae52b9 100644
--- a/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "TimingGui.h"
+#include "TimingGui.hpp"
 
 #include <cstdio>
 #include <cstring>
 #include <memory>
 #include <vector>
 
-#include <glass/Model.h>
-#include <glass/View.h>
-#include <hal/HALBase.h>
-#include <hal/simulation/MockHooks.h>
-#include <hal/simulation/NotifierData.h>
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/View.hpp"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/simulation/MockHooks.h"
+#include "wpi/hal/simulation/NotifierData.h"
 #include <imgui.h>
 
-#include "HALSimGui.h"
+#include "wpi/halsim/gui/HALSimGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/main.cpp b/simulation/halsim_gui/src/main/native/cpp/main.cpp
index 91f258d616..8bc9300901 100644
--- a/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -6,30 +6,30 @@
 #include <memory>
 #include <string_view>
 
-#include <glass/Context.h>
-#include <glass/Storage.h>
-#include <glass/hardware/Pneumatic.h>
-#include <glass/other/Plot.h>
-#include <hal/Extensions.h>
-#include <hal/Main.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/hardware/Pneumatic.hpp"
+#include "wpi/glass/other/Plot.hpp"
+#include "wpi/hal/Extensions.h"
+#include "wpi/hal/Main.h"
 #include <imgui.h>
-#include <wpigui.h>
+#include "wpi/gui/wpigui.hpp"
 
-#include "AddressableLEDGui.h"
-#include "AnalogInputSimGui.h"
-#include "DIOSimGui.h"
-#include "DriverStationGui.h"
-#include "EncoderSimGui.h"
-#include "HALSimGui.h"
-#include "HALSimGuiExt.h"
-#include "NetworkTablesSimGui.h"
-#include "PCMSimGui.h"
-#include "PHSimGui.h"
-#include "PWMSimGui.h"
-#include "PowerDistributionSimGui.h"
-#include "RoboRioSimGui.h"
-#include "SimDeviceGui.h"
-#include "TimingGui.h"
+#include "AddressableLEDGui.hpp"
+#include "AnalogInputSimGui.hpp"
+#include "DIOSimGui.hpp"
+#include "DriverStationGui.hpp"
+#include "EncoderSimGui.hpp"
+#include "wpi/halsim/gui/HALSimGui.hpp"
+#include "wpi/halsim/gui/HALSimGuiExt.hpp"
+#include "NetworkTablesSimGui.hpp"
+#include "PCMSimGui.hpp"
+#include "PHSimGui.hpp"
+#include "PWMSimGui.hpp"
+#include "PowerDistributionSimGui.hpp"
+#include "RoboRioSimGui.hpp"
+#include "wpi/halsim/gui/SimDeviceGui.hpp"
+#include "TimingGui.hpp"
 
 using namespace halsimgui;
 
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp
index df11af51aa..0de9290032 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <glass/DataSource.h>
+#include "wpi/glass/DataSource.hpp"
 
 #define HALSIMGUI_DATASOURCE(cbname, id, TYPE, Type, vtype)                   \
   class cbname##Source : public ::glass::Type##Source {                       \
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp
index 11372b11f4..a8fdfd2f75 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALProvider.hpp
@@ -10,8 +10,8 @@
 #include <string_view>
 #include <vector>
 
-#include <glass/Model.h>
-#include <glass/Provider.h>
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/Provider.hpp"
 
 namespace halsimgui {
 
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp
index 50590e6b6c..7c2d952e4b 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGui.hpp
@@ -7,11 +7,11 @@
 #include <functional>
 #include <memory>
 
-#include <glass/MainMenuBar.h>
-#include <glass/WindowManager.h>
-#include <glass/networktables/NetworkTablesProvider.h>
+#include "wpi/glass/MainMenuBar.hpp"
+#include "wpi/glass/WindowManager.hpp"
+#include "wpi/glass/networktables/NetworkTablesProvider.hpp"
 
-#include "HALProvider.h"
+#include "wpi/halsim/gui/HALProvider.hpp"
 
 namespace halsimgui {
 
diff --git a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp
index 84f432cbf1..a80f5bdebe 100644
--- a/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp
+++ b/simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
+#include "wpi/hal/SimDevice.h"
 
 namespace glass {
 class DataSource;
diff --git a/simulation/halsim_gui/src/test/native/cpp/main.cpp b/simulation/halsim_gui/src/test/native/cpp/main.cpp
index d181e39c9f..9b73af360b 100644
--- a/simulation/halsim_gui/src/test/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/test/native/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 int main(int argc, char** argv) {
   HAL_Initialize(500, 0);
diff --git a/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp b/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp
index 9bec8b88db..0f8d4ee5e0 100644
--- a/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp
+++ b/simulation/halsim_ws_client/src/dev/native/cpp/main.cpp
@@ -4,10 +4,10 @@
 
 #include <thread>
 
-#include <hal/DriverStation.h>
-#include <hal/HALBase.h>
-#include <hal/Main.h>
-#include <wpi/print.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Main.h"
+#include "wpi/util/print.hpp"
 
 extern "C" int HALSIM_InitExtension(void);
 
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
index da72cbc798..71b39f0a7f 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimWS.h"
+#include "wpi/halsim/ws_client/HALSimWS.hpp"
 
 #include <cstdio>
 #include <memory>
 #include <string>
 
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/print.h>
-#include <wpinet/uv/util.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/net/uv/util.hpp"
 
-#include "HALSimWSClientConnection.h"
+#include "wpi/halsim/ws_client/HALSimWSClientConnection.hpp"
 
 static constexpr int kTcpConnectAttemptTimeout = 1000;
 
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
index 68dd286f95..29ee16458d 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
@@ -2,24 +2,24 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimWSClient.h"
+#include "wpi/halsim/ws_client/HALSimWSClient.hpp"
 
 #include <memory>
 
-#include <WSProviderContainer.h>
-#include <WSProvider_AddressableLED.h>
-#include <WSProvider_Analog.h>
-#include <WSProvider_DIO.h>
-#include <WSProvider_DriverStation.h>
-#include <WSProvider_Encoder.h>
-#include <WSProvider_Joystick.h>
-#include <WSProvider_PCM.h>
-#include <WSProvider_PWM.h>
-#include <WSProvider_RoboRIO.h>
-#include <WSProvider_SimDevice.h>
-#include <WSProvider_Solenoid.h>
-#include <WSProvider_dPWM.h>
-#include <wpinet/EventLoopRunner.h>
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_AddressableLED.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Analog.hpp"
+#include "wpi/halsim/ws_core/WSProvider_DIO.hpp"
+#include "wpi/halsim/ws_core/WSProvider_DriverStation.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Encoder.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Joystick.hpp"
+#include "wpi/halsim/ws_core/WSProvider_PCM.hpp"
+#include "wpi/halsim/ws_core/WSProvider_PWM.hpp"
+#include "wpi/halsim/ws_core/WSProvider_RoboRIO.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Solenoid.hpp"
+#include "wpi/halsim/ws_core/WSProvider_dPWM.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
 
 using namespace wpilibws;
 
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
index c889d38b8a..98fe0a5317 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimWSClientConnection.h"
+#include "wpi/halsim/ws_client/HALSimWSClientConnection.hpp"
 
 #include <cstdio>
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/print.h>
-#include <wpinet/raw_uv_ostream.h>
+#include "wpi/util/print.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
 
-#include "HALSimWS.h"
+#include "wpi/halsim/ws_client/HALSimWS.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/main.cpp b/simulation/halsim_ws_client/src/main/native/cpp/main.cpp
index f46fad6c04..81712ff05c 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/main.cpp
@@ -5,9 +5,9 @@
 #include <cstdio>
 #include <memory>
 
-#include <hal/Extensions.h>
+#include "wpi/hal/Extensions.h"
 
-#include "HALSimWSClient.h"
+#include "wpi/halsim/ws_client/HALSimWSClient.hpp"
 
 using namespace wpilibws;
 
diff --git a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp
index ea01d280ef..b3af4f0579 100644
--- a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp
+++ b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWS.hpp
@@ -9,14 +9,14 @@
 #include <string>
 #include <string_view>
 
-#include <WSProviderContainer.h>
-#include <WSProvider_SimDevice.h>
-#include <wpi/StringMap.h>
-#include <wpi/json_fwd.h>
-#include <wpinet/uv/Async.h>
-#include <wpinet/uv/Loop.h>
-#include <wpinet/uv/Tcp.h>
-#include <wpinet/uv/Timer.h>
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/net/uv/Async.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp
index d5cdbbbafd..864de26298 100644
--- a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp
+++ b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClient.hpp
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <WSProviderContainer.h>
-#include <WSProvider_SimDevice.h>
-#include <wpinet/EventLoopRunner.h>
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
 
-#include "HALSimWS.h"
+#include "wpi/halsim/ws_client/HALSimWS.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp
index 005813f8d7..2c851696b8 100644
--- a/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp
+++ b/simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp
@@ -7,14 +7,14 @@
 #include <memory>
 #include <utility>
 
-#include <HALSimBaseWebSocketConnection.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
-#include <wpinet/WebSocket.h>
-#include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Stream.h>
+#include "wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/net/WebSocket.hpp"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Stream.hpp"
 
-#include "HALSimWS.h"
+#include "wpi/halsim/ws_client/HALSimWS.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp
index 16d92fa371..42bf642d5f 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSBaseProvider.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSBaseProvider.h"
+#include "wpi/halsim/ws_core/WSBaseProvider.hpp"
 
 #include <utility>
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
index 4afc6b65bc..d53afb3ae2 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 #include <memory>
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
index e310eb742f..b68a4f5c3f 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_AddressableLED.h"
+#include "wpi/halsim/ws_core/WSProvider_AddressableLED.hpp"
 
 #include <vector>
 
-#include <hal/Ports.h>
-#include <hal/simulation/AddressableLEDData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/AddressableLEDData.h"
 
 #define REGISTER(halsim, jsonid, ctype, haltype)                          \
   HALSIM_RegisterAddressableLED##halsim##Callback(                        \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
index 45c59dd092..afb56587a2 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_Analog.h"
+#include "wpi/halsim/ws_core/WSProvider_Analog.hpp"
 
-#include <hal/Ports.h>
-#include <hal/simulation/AnalogInData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/AnalogInData.h"
 
 #define REGISTER_AIN(halsim, jsonid, ctype, haltype)                       \
   HALSIM_RegisterAnalogIn##halsim##Callback(                               \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp
index 405a2df985..4366775ad2 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DIO.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_DIO.h"
+#include "wpi/halsim/ws_core/WSProvider_DIO.hpp"
 
-#include <hal/Ports.h>
-#include <hal/simulation/DIOData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/DIOData.h"
 
 #define REGISTER(halsim, jsonid, ctype, haltype)                         \
   HALSIM_RegisterDIO##halsim##Callback(                                  \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
index 3c3989eac1..51f148e20d 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_DriverStation.h"
+#include "wpi/halsim/ws_core/WSProvider_DriverStation.hpp"
 
 #include <atomic>
 #include <string>
 #include <string_view>
 
-#include <hal/DriverStation.h>
-#include <hal/Extensions.h>
-#include <hal/Ports.h>
-#include <hal/simulation/DriverStationData.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Extensions.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/util/raw_ostream.hpp"
 
 #define REGISTER(halsim, jsonid, ctype, haltype)                          \
   HALSIM_RegisterDriverStation##halsim##Callback(                         \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
index 73f05dc462..29ad8aba74 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_Encoder.h"
+#include "wpi/halsim/ws_core/WSProvider_Encoder.hpp"
 
-#include <hal/Ports.h>
-#include <hal/simulation/EncoderData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/EncoderData.h"
 
 #define REGISTER(halsim, jsonid, ctype, haltype)                          \
   HALSIM_RegisterEncoder##halsim##Callback(                               \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp
index 4010a85ace..d43a2523ac 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_HAL.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_HAL.h"
+#include "wpi/halsim/ws_core/WSProvider_HAL.hpp"
 
 #include <algorithm>
 #include <atomic>
 #include <string_view>
 
-#include <hal/Extensions.h>
-#include <hal/HAL.h>
-#include <hal/Ports.h>
-#include <hal/simulation/MockHooks.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/hal/Extensions.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/MockHooks.h"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
index 8ac98a73a5..88df204857 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_Joystick.h"
+#include "wpi/halsim/ws_core/WSProvider_Joystick.hpp"
 
 #include <algorithm>
 #include <atomic>
 #include <vector>
 
-#include <hal/Ports.h>
-#include <hal/simulation/DriverStationData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/DriverStationData.h"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PCM.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PCM.cpp
index b7eab57ce3..d158b4f803 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PCM.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PCM.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_PCM.h"
+#include "wpi/halsim/ws_core/WSProvider_PCM.hpp"
 
-#include <hal/Ports.h>
-#include <hal/simulation/CTREPCMData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
 
 #define REGISTER_CTREPCM(halsim, jsonid, ctype, haltype)                 \
   HALSIM_RegisterCTREPCM##halsim##Callback(                              \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PWM.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PWM.cpp
index c04dd2f24b..d49f19a78f 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PWM.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PWM.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_PWM.h"
+#include "wpi/halsim/ws_core/WSProvider_PWM.hpp"
 
-#include <hal/Ports.h>
-#include <hal/simulation/PWMData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/PWMData.h"
 
 #define REGISTER(halsim, jsonid, ctype, haltype)                         \
   HALSIM_RegisterPWM##halsim##Callback(                                  \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp
index ebb272b01d..7a1e0bf028 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_RoboRIO.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_RoboRIO.h"
+#include "wpi/halsim/ws_core/WSProvider_RoboRIO.hpp"
 
-#include <hal/Ports.h>
-#include <hal/simulation/RoboRioData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/RoboRioData.h"
 
 #define REGISTER(halsim, jsonid, ctype, haltype)                          \
   HALSIM_RegisterRoboRio##halsim##Callback(                               \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
index 81948a8f7a..793de3cb44 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_SimDevice.h"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -11,8 +11,8 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <hal/Ports.h>
-#include <wpi/StringExtras.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/util/StringExtras.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp
index 944367b7af..29922bce81 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_Solenoid.h"
+#include "wpi/halsim/ws_core/WSProvider_Solenoid.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
 #include <fmt/format.h>
-#include <hal/Ports.h>
-#include <hal/simulation/CTREPCMData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/CTREPCMData.h"
 
 #define REGISTER_SOLENOID(halsim, jsonid, ctype, haltype)                  \
   HALSIM_RegisterCTREPCMSolenoid##halsim##Callback(                        \
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_dPWM.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_dPWM.cpp
index af8a8e4aa3..47fbcf63be 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_dPWM.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_dPWM.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WSProvider_dPWM.h"
+#include "wpi/halsim/ws_core/WSProvider_dPWM.hpp"
 
-#include <hal/Ports.h>
-#include <hal/simulation/DigitalPWMData.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/simulation/DigitalPWMData.h"
 
 #define REGISTER(halsim, jsonid, ctype, haltype)                             \
   HALSIM_RegisterDigitalPWM##halsim##Callback(                               \
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp
index 5a699c8786..d17ad019c0 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include <wpi/json_fwd.h>
+#include "wpi/util/json_fwd.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp
index 268c47af4e..007cc98b22 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSBaseProvider.hpp
@@ -9,9 +9,9 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "HALSimBaseWebSocketConnection.h"
+#include "wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp
index adf6135eb1..20f76050da 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSHalProviders.hpp
@@ -10,11 +10,11 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <hal/simulation/NotifyListener.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
+#include "wpi/hal/simulation/NotifyListener.h"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "WSBaseProvider.h"
+#include "wpi/halsim/ws_core/WSBaseProvider.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp
index b83235b524..03421d6a2b 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProviderContainer.hpp
@@ -10,9 +10,9 @@
 #include <shared_mutex>
 #include <string_view>
 
-#include <wpi/StringMap.h>
+#include "wpi/util/StringMap.hpp"
 
-#include "WSBaseProvider.h"
+#include "wpi/halsim/ws_core/WSBaseProvider.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_AddressableLED.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_AddressableLED.hpp
index b4f2795e24..58e3709e6b 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_AddressableLED.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_AddressableLED.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 class HALSimWSProviderAddressableLED : public HALSimWSHalChanProvider {
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp
index a8091c8153..53e56f9282 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp
index 5fc3296de8..cdc0a3d3cc 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DIO.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp
index f164a70eb5..c297189f64 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp
index b7601b3e55..5601e40da9 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Encoder.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp
index 05ea722a22..48cdd6ada6 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_HAL.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp
index edabad0cc4..d69a44ce4a 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Joystick.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PCM.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PCM.hpp
index d12d6df20f..86e7d0c0c2 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PCM.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PCM.hpp
@@ -6,7 +6,7 @@
 
 #include <string>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 class HALSimWSProviderPCM : public HALSimWSHalChanProvider {
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PWM.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PWM.hpp
index 01a67030d6..7c6e260626 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PWM.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_PWM.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp
index 55aa592932..c95e279ce7 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_RoboRIO.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp
index 66f8303d1d..5bfacc8d67 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_SimDevice.hpp
@@ -10,13 +10,13 @@
 #include <string_view>
 #include <vector>
 
-#include <hal/SimDevice.h>
-#include <hal/simulation/SimDeviceData.h>
-#include <wpi/StringMap.h>
-#include <wpinet/uv/AsyncFunction.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/net/uv/AsyncFunction.hpp"
 
-#include "WSBaseProvider.h"
-#include "WSProviderContainer.h"
+#include "wpi/halsim/ws_core/WSBaseProvider.hpp"
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Solenoid.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Solenoid.hpp
index b6bc47a617..870b9ca580 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Solenoid.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Solenoid.hpp
@@ -6,7 +6,7 @@
 
 #include <string>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 class HALSimWSProviderSolenoid : public HALSimWSHalProvider {
diff --git a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_dPWM.hpp b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_dPWM.hpp
index 0340a59837..151866e3bf 100644
--- a/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_dPWM.hpp
+++ b/simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_dPWM.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "WSHalProviders.h"
+#include "wpi/halsim/ws_core/WSHalProviders.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp b/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
index 5621b7f9d7..669548f13d 100644
--- a/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
@@ -5,10 +5,10 @@
 #include <cstdio>
 #include <thread>
 
-#include <hal/DriverStation.h>
-#include <hal/HALBase.h>
-#include <hal/Main.h>
-#include <wpi/print.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Main.h"
+#include "wpi/util/print.hpp"
 
 extern "C" int HALSIM_InitExtension(void);
 
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
index cb6b43715a..1c3c6c9a1f 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimHttpConnection.h"
+#include "wpi/halsim/ws_server/HALSimHttpConnection.hpp"
 
 #include <uv.h>
 
@@ -10,15 +10,15 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/MemoryBuffer.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
-#include <wpi/print.h>
-#include <wpinet/MimeTypes.h>
-#include <wpinet/UrlParser.h>
-#include <wpinet/raw_uv_ostream.h>
-#include <wpinet/uv/Request.h>
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/net/MimeTypes.hpp"
+#include "wpi/net/UrlParser.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/Request.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
index a78c64bb70..286788dd08 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
@@ -2,23 +2,23 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimWSServer.h"
+#include "wpi/halsim/ws_server/HALSimWSServer.hpp"
 
 #include <memory>
 
-#include <WSProviderContainer.h>
-#include <WSProvider_AddressableLED.h>
-#include <WSProvider_Analog.h>
-#include <WSProvider_DIO.h>
-#include <WSProvider_DriverStation.h>
-#include <WSProvider_Encoder.h>
-#include <WSProvider_Joystick.h>
-#include <WSProvider_PCM.h>
-#include <WSProvider_PWM.h>
-#include <WSProvider_RoboRIO.h>
-#include <WSProvider_SimDevice.h>
-#include <WSProvider_Solenoid.h>
-#include <WSProvider_dPWM.h>
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_AddressableLED.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Analog.hpp"
+#include "wpi/halsim/ws_core/WSProvider_DIO.hpp"
+#include "wpi/halsim/ws_core/WSProvider_DriverStation.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Encoder.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Joystick.hpp"
+#include "wpi/halsim/ws_core/WSProvider_PCM.hpp"
+#include "wpi/halsim/ws_core/WSProvider_PWM.hpp"
+#include "wpi/halsim/ws_core/WSProvider_RoboRIO.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Solenoid.hpp"
+#include "wpi/halsim/ws_core/WSProvider_dPWM.hpp"
 
 using namespace wpilibws;
 
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
index fa16ceff7b..9598f9038e 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimWeb.h"
+#include "wpi/halsim/ws_server/HALSimWeb.hpp"
 
 #include <memory>
 #include <string>
 
-#include <wpi/SmallString.h>
-#include <wpi/fs.h>
-#include <wpi/print.h>
-#include <wpinet/UrlParser.h>
-#include <wpinet/WebSocketServer.h>
-#include <wpinet/raw_uv_ostream.h>
-#include <wpinet/uv/Loop.h>
-#include <wpinet/uv/Tcp.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/net/UrlParser.hpp"
+#include "wpi/net/WebSocketServer.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Tcp.hpp"
 
-#include "HALSimHttpConnection.h"
+#include "wpi/halsim/ws_server/HALSimHttpConnection.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/main.cpp b/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
index ef9f8a2081..9881c02e82 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
@@ -5,9 +5,9 @@
 #include <cstdio>
 #include <memory>
 
-#include <hal/Extensions.h>
+#include "wpi/hal/Extensions.h"
 
-#include "HALSimWSServer.h"
+#include "wpi/halsim/ws_server/HALSimWSServer.hpp"
 
 using namespace std::placeholders;
 using namespace wpilibws;
diff --git a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp
index 7073256de6..9c19d85a90 100644
--- a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp
+++ b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp
@@ -9,14 +9,14 @@
 #include <string_view>
 #include <utility>
 
-#include <HALSimBaseWebSocketConnection.h>
-#include <wpi/json_fwd.h>
-#include <wpi/mutex.h>
-#include <wpinet/HttpWebSocketServerConnection.h>
-#include <wpinet/uv/AsyncFunction.h>
-#include <wpinet/uv/Buffer.h>
+#include "wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/net/HttpWebSocketServerConnection.hpp"
+#include "wpi/net/uv/AsyncFunction.hpp"
+#include "wpi/net/uv/Buffer.hpp"
 
-#include "HALSimWeb.h"
+#include "wpi/halsim/ws_server/HALSimWeb.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp
index 842e5b2dcb..99573aed96 100644
--- a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp
+++ b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWSServer.hpp
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <WSProviderContainer.h>
-#include <WSProvider_SimDevice.h>
-#include <wpinet/EventLoopRunner.h>
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
 
-#include "HALSimWeb.h"
+#include "wpi/halsim/ws_server/HALSimWeb.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp
index 03f2cb6ade..9e206cdae7 100644
--- a/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp
+++ b/simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimWeb.hpp
@@ -9,14 +9,14 @@
 #include <string>
 #include <string_view>
 
-#include <WSBaseProvider.h>
-#include <WSProviderContainer.h>
-#include <WSProvider_SimDevice.h>
-#include <wpi/StringMap.h>
-#include <wpi/json_fwd.h>
-#include <wpinet/uv/Async.h>
-#include <wpinet/uv/Loop.h>
-#include <wpinet/uv/Tcp.h>
+#include "wpi/halsim/ws_core/WSBaseProvider.hpp"
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/net/uv/Async.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Tcp.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
index 3a7429127f..4ea553bda5 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WebServerClientTest.h"
+#include "WebServerClientTest.hpp"
 
 #include <cstdio>
 #include <memory>
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/SmallString.h>
-#include <wpi/print.h>
-#include <wpinet/raw_uv_ostream.h>
-#include <wpinet/uv/util.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/util.hpp"
 
 static constexpr int kTcpConnectAttemptTimeout = 1000;
 
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
index 2ff9a5aaf9..8915f3b4f5 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
@@ -7,15 +7,15 @@
 #include <thread>
 
 #include <gtest/gtest.h>
-#include <hal/DriverStation.h>
-#include <hal/HALBase.h>
-#include <hal/Main.h>
-#include <hal/simulation/DIOData.h>
-#include <wpi/print.h>
-#include <wpinet/uv/Loop.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Main.h"
+#include "wpi/hal/simulation/DIOData.h"
+#include "wpi/util/print.hpp"
+#include "wpi/net/uv/Loop.hpp"
 
-#include "HALSimWSServer.h"
-#include "WebServerClientTest.h"
+#include "wpi/halsim/ws_server/HALSimWSServer.hpp"
+#include "WebServerClientTest.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp
index 6f2995f0ea..06c0988620 100644
--- a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp
+++ b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.hpp
@@ -8,14 +8,14 @@
 #include <memory>
 #include <string>
 
-#include <wpi/json.h>
-#include <wpinet/WebSocket.h>
-#include <wpinet/uv/AsyncFunction.h>
-#include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Loop.h>
-#include <wpinet/uv/Stream.h>
-#include <wpinet/uv/Tcp.h>
-#include <wpinet/uv/Timer.h>
+#include "wpi/util/json.hpp"
+#include "wpi/net/WebSocket.hpp"
+#include "wpi/net/uv/AsyncFunction.hpp"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Stream.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 namespace wpilibws {
 
diff --git a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
index 704e172c82..7292b15d42 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimXRP.h"
+#include "wpi/halsim/xrp/HALSimXRP.hpp"
 
 #include <cstdio>
 #include <string>
 
-#include <wpi/Endian.h>
-#include <wpi/MathExtras.h>
-#include <wpi/SmallString.h>
-#include <wpi/print.h>
-#include <wpinet/raw_uv_ostream.h>
-#include <wpinet/uv/util.h>
+#include "wpi/util/Endian.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/util.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
index 50f3772a1b..cd66d7a6a2 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "HALSimXRPClient.h"
+#include "wpi/halsim/xrp/HALSimXRPClient.hpp"
 
 #include <memory>
 
-#include <WSProviderContainer.h>
-#include <WSProvider_Analog.h>
-#include <WSProvider_DIO.h>
-#include <WSProvider_DriverStation.h>
-#include <WSProvider_Encoder.h>
-#include <WSProvider_HAL.h>
-#include <WSProvider_SimDevice.h>
-#include <wpinet/EventLoopRunner.h>
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Analog.hpp"
+#include "wpi/halsim/ws_core/WSProvider_DIO.hpp"
+#include "wpi/halsim/ws_core/WSProvider_DriverStation.hpp"
+#include "wpi/halsim/ws_core/WSProvider_Encoder.hpp"
+#include "wpi/halsim/ws_core/WSProvider_HAL.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
 
 using namespace wpilibxrp;
 using namespace wpilibws;
diff --git a/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp b/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
index e1fde0e007..2f11e1b86b 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "XRP.h"
+#include "wpi/halsim/xrp/XRP.hpp"
 
 #include <bit>
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/Endian.h>
-#include <wpi/json.h>
+#include "wpi/util/Endian.hpp"
+#include "wpi/util/json.hpp"
 
 using namespace wpilibxrp;
 
diff --git a/simulation/halsim_xrp/src/main/native/cpp/main.cpp b/simulation/halsim_xrp/src/main/native/cpp/main.cpp
index 4b338f4453..acb99dce9f 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/main.cpp
@@ -5,9 +5,9 @@
 #include <cstdio>
 #include <memory>
 
-#include <hal/Extensions.h>
+#include "wpi/hal/Extensions.h"
 
-#include "HALSimXRPClient.h"
+#include "wpi/halsim/xrp/HALSimXRPClient.hpp"
 
 #if defined(Win32) || defined(_WIN32)
 #pragma comment(lib, "Ws2_32.lib")
diff --git a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp
index ee6d730389..94c0c1b7b9 100644
--- a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp
+++ b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRP.hpp
@@ -9,17 +9,17 @@
 #include <span>
 #include <string>
 
-#include <HALSimBaseWebSocketConnection.h>
-#include <WSProviderContainer.h>
-#include <WSProvider_SimDevice.h>
-#include <wpi/json_fwd.h>
-#include <wpinet/uv/Async.h>
-#include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Loop.h>
-#include <wpinet/uv/Timer.h>
-#include <wpinet/uv/Udp.h>
+#include "wpi/halsim/ws_core/HALSimBaseWebSocketConnection.hpp"
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/net/uv/Async.hpp"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Timer.hpp"
+#include "wpi/net/uv/Udp.hpp"
 
-#include "XRP.h"
+#include "wpi/halsim/xrp/XRP.hpp"
 
 namespace wpilibxrp {
 
diff --git a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp
index d6b26ffd38..f6f0e368d2 100644
--- a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp
+++ b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/HALSimXRPClient.hpp
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <WSProviderContainer.h>
-#include <WSProvider_SimDevice.h>
-#include <wpinet/EventLoopRunner.h>
+#include "wpi/halsim/ws_core/WSProviderContainer.hpp"
+#include "wpi/halsim/ws_core/WSProvider_SimDevice.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
 
-#include "HALSimXRP.h"
+#include "wpi/halsim/xrp/HALSimXRP.hpp"
 
 namespace wpilibxrp {
 
diff --git a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp
index eb77689810..0666782d92 100644
--- a/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp
+++ b/simulation/halsim_xrp/src/main/native/include/wpi/halsim/xrp/XRP.hpp
@@ -9,8 +9,8 @@
 #include <span>
 #include <string>
 
-#include <wpi/json_fwd.h>
-#include <wpinet/raw_uv_ostream.h>
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
 
 #define XRP_TAG_MOTOR 0x12
 #define XRP_TAG_SERVO 0x13
diff --git a/tools/datalogtool/src/main/native/cpp/App.cpp b/tools/datalogtool/src/main/native/cpp/App.cpp
index ee0d893d45..10bcf3e8a7 100644
--- a/tools/datalogtool/src/main/native/cpp/App.cpp
+++ b/tools/datalogtool/src/main/native/cpp/App.cpp
@@ -2,22 +2,22 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "App.h"
+#include "App.hpp"
 
 #include <memory>
 #include <string_view>
 
-#include <glass/Context.h>
-#include <glass/MainMenuBar.h>
-#include <glass/Storage.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/MainMenuBar.hpp"
+#include "wpi/glass/Storage.hpp"
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <libssh/libssh.h>
-#include <wpigui.h>
-#include <wpigui_openurl.h>
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_openurl.hpp"
 
-#include "Downloader.h"
-#include "Exporter.h"
+#include "Downloader.hpp"
+#include "Exporter.hpp"
 
 namespace gui = wpi::gui;
 
diff --git a/tools/datalogtool/src/main/native/cpp/Downloader.cpp b/tools/datalogtool/src/main/native/cpp/Downloader.cpp
index c9d76577d5..2c9b9e0f12 100644
--- a/tools/datalogtool/src/main/native/cpp/Downloader.cpp
+++ b/tools/datalogtool/src/main/native/cpp/Downloader.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Downloader.h"
+#include "Downloader.hpp"
 
 #ifdef _WIN32
 #include <fcntl.h>
@@ -18,15 +18,15 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <glass/Storage.h>
+#include "wpi/glass/Storage.hpp"
 #include <imgui.h>
 #include <imgui_stdlib.h>
 #include <libssh/sftp.h>
-#include <portable-file-dialogs.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fs.h>
+#include "wpi/gui/portable-file-dialogs.h"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fs.hpp"
 
-#include "Sftp.h"
+#include "Sftp.hpp"
 
 Downloader::Downloader(glass::Storage& storage)
     : m_serverTeam{storage.GetString("serverTeam")},
diff --git a/tools/datalogtool/src/main/native/cpp/Downloader.hpp b/tools/datalogtool/src/main/native/cpp/Downloader.hpp
index f427b99331..2054382ef4 100644
--- a/tools/datalogtool/src/main/native/cpp/Downloader.hpp
+++ b/tools/datalogtool/src/main/native/cpp/Downloader.hpp
@@ -9,8 +9,8 @@
 #include <thread>
 #include <vector>
 
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 namespace glass {
 class Storage;
diff --git a/tools/datalogtool/src/main/native/cpp/Exporter.cpp b/tools/datalogtool/src/main/native/cpp/Exporter.cpp
index 2cf399b71c..cd9b97a72f 100644
--- a/tools/datalogtool/src/main/native/cpp/Exporter.cpp
+++ b/tools/datalogtool/src/main/native/cpp/Exporter.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Exporter.h"
+#include "Exporter.hpp"
 
 #include <atomic>
 #include <ctime>
@@ -19,24 +19,24 @@
 #include <fmt/chrono.h>
 #include <fmt/format.h>
 #include <fmt/ranges.h>
-#include <glass/Storage.h>
+#include "wpi/glass/Storage.hpp"
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
-#include <portable-file-dialogs.h>
-#include <wpi/DenseMap.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/SmallVector.h>
-#include <wpi/SpanExtras.h>
-#include <wpi/StringExtras.h>
-#include <wpi/datalog/DataLogReaderThread.h>
-#include <wpi/fmt/raw_ostream.h>
-#include <wpi/fs.h>
-#include <wpi/mutex.h>
-#include <wpi/print.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/gui/portable-file-dialogs.h"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/SpanExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/datalog/DataLogReaderThread.hpp"
+#include "wpi/util/fmt/raw_ostream.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "App.h"
+#include "App.hpp"
 
 namespace {
 struct InputFile {
diff --git a/tools/datalogtool/src/main/native/cpp/Sftp.cpp b/tools/datalogtool/src/main/native/cpp/Sftp.cpp
index fe418d4e4c..b27bfa1e2a 100644
--- a/tools/datalogtool/src/main/native/cpp/Sftp.cpp
+++ b/tools/datalogtool/src/main/native/cpp/Sftp.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Sftp.h"
+#include "Sftp.hpp"
 
 #include <string>
 #include <utility>
diff --git a/tools/outlineviewer/src/main/native/cpp/main.cpp b/tools/outlineviewer/src/main/native/cpp/main.cpp
index 768cf4ce6e..66ceea13c4 100644
--- a/tools/outlineviewer/src/main/native/cpp/main.cpp
+++ b/tools/outlineviewer/src/main/native/cpp/main.cpp
@@ -7,17 +7,17 @@
 
 #include <GLFW/glfw3.h>
 #include <fmt/format.h>
-#include <glass/Context.h>
-#include <glass/MainMenuBar.h>
-#include <glass/Model.h>
-#include <glass/Storage.h>
-#include <glass/networktables/NetworkTables.h>
-#include <glass/networktables/NetworkTablesSettings.h>
-#include <glass/other/Log.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/MainMenuBar.hpp"
+#include "wpi/glass/Model.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/networktables/NetworkTables.hpp"
+#include "wpi/glass/networktables/NetworkTablesSettings.hpp"
+#include "wpi/glass/other/Log.hpp"
 #include <imgui.h>
-#include <ntcore_cpp.h>
-#include <wpigui.h>
-#include <wpigui_openurl.h>
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_openurl.hpp"
 
 namespace gui = wpi::gui;
 
diff --git a/tools/processstarter/src/main/native/linux/main.cpp b/tools/processstarter/src/main/native/linux/main.cpp
index 0ee1bc6b4e..2207c4add7 100644
--- a/tools/processstarter/src/main/native/linux/main.cpp
+++ b/tools/processstarter/src/main/native/linux/main.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "main.h"
+#include "main.hpp"
 
 #include <poll.h>
 #include <spawn.h>
diff --git a/tools/processstarter/src/main/native/osx/main.mm b/tools/processstarter/src/main/native/osx/main.mm
index 103603ec03..63db75a308 100644
--- a/tools/processstarter/src/main/native/osx/main.mm
+++ b/tools/processstarter/src/main/native/osx/main.mm
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #import <Foundation/Foundation.h>
-#include "main.h"
+#include "main.hpp"
 
 #include <iostream>
 #include <string>
diff --git a/tools/processstarter/src/main/native/windows/main.cpp b/tools/processstarter/src/main/native/windows/main.cpp
index 5bb4c7f136..d01db81ce6 100644
--- a/tools/processstarter/src/main/native/windows/main.cpp
+++ b/tools/processstarter/src/main/native/windows/main.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "main.h"
+#include "main.hpp"
 
 int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
                    LPTSTR pCmdLine, int nCmdShow) {
diff --git a/tools/sysid/src/main/native/cpp/App.cpp b/tools/sysid/src/main/native/cpp/App.cpp
index 178a0f726c..89b63d9e1a 100644
--- a/tools/sysid/src/main/native/cpp/App.cpp
+++ b/tools/sysid/src/main/native/cpp/App.cpp
@@ -12,22 +12,22 @@
 #include <utility>
 #include <string_view>
 
-#include <glass/Context.h>
-#include <glass/MainMenuBar.h>
-#include <glass/Storage.h>
-#include <glass/Window.h>
-#include <glass/WindowManager.h>
-#include <glass/other/Log.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/MainMenuBar.hpp"
+#include "wpi/glass/Storage.hpp"
+#include "wpi/glass/Window.hpp"
+#include "wpi/glass/WindowManager.hpp"
+#include "wpi/glass/other/Log.hpp"
 #include <imgui.h>
-#include <wpi/Logger.h>
-#include <wpi/print.h>
-#include <wpigui.h>
-#include <wpigui_openurl.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_openurl.hpp"
 
-#include "sysid/view/Analyzer.h"
-#include "sysid/view/DataSelector.h"
-#include "sysid/view/LogLoader.h"
-#include "sysid/view/UILayout.h"
+#include "wpi/sysid/view/Analyzer.hpp"
+#include "wpi/sysid/view/DataSelector.hpp"
+#include "wpi/sysid/view/LogLoader.hpp"
+#include "wpi/sysid/view/UILayout.hpp"
 
 namespace gui = wpi::gui;
 
diff --git a/tools/sysid/src/main/native/cpp/Util.cpp b/tools/sysid/src/main/native/cpp/Util.cpp
index 7717e5ad35..538e61194a 100644
--- a/tools/sysid/src/main/native/cpp/Util.cpp
+++ b/tools/sysid/src/main/native/cpp/Util.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/Util.h"
+#include "wpi/sysid/Util.hpp"
 
 #include <filesystem>
 #include <stdexcept>
 
 #include <IconsFontAwesome6.h>
 #include <imgui.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/raw_ostream.hpp"
 
 void sysid::CreateTooltip(const char* text) {
   ImGui::SameLine();
diff --git a/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp b/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
index ba24cb0d38..676df87de2 100644
--- a/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/AnalysisManager.h"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
 
 #include <cmath>
 #include <limits>
@@ -10,13 +10,13 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <units/angle.h>
-#include <wpi/MathExtras.h>
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/StringMap.hpp"
 
-#include "sysid/analysis/FeedforwardAnalysis.h"
-#include "sysid/analysis/FilteringUtils.h"
+#include "wpi/sysid/analysis/FeedforwardAnalysis.hpp"
+#include "wpi/sysid/analysis/FilteringUtils.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp b/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp
index a72f50569d..ad83958aac 100644
--- a/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/ArmSim.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/ArmSim.h"
+#include "wpi/sysid/analysis/ArmSim.hpp"
 
 #include <cmath>
 
-#include <frc/StateSpaceUtil.h>
-#include <frc/system/NumericalIntegration.h>
-#include <wpi/MathExtras.h>
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/util/MathExtras.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp b/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp
index 5cfcabed76..0f452912f0 100644
--- a/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/ElevatorSim.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/ElevatorSim.h"
+#include "wpi/sysid/analysis/ElevatorSim.hpp"
 
-#include <frc/StateSpaceUtil.h>
-#include <frc/system/Discretization.h>
-#include <wpi/MathExtras.h>
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/util/MathExtras.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp b/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
index bd21ab7a1a..3a6648a7c7 100644
--- a/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/FeedbackAnalysis.h"
+#include "wpi/sysid/analysis/FeedbackAnalysis.hpp"
 
 #include <cmath>
 
-#include <frc/controller/LinearQuadraticRegulator.h>
-#include <frc/system/LinearSystem.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <units/acceleration.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
-#include "sysid/analysis/FeedbackControllerPreset.h"
+#include "wpi/sysid/analysis/FeedbackControllerPreset.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp b/tools/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
index e0ece513ed..571b899b4b 100644
--- a/tools/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/FeedforwardAnalysis.h"
+#include "wpi/sysid/analysis/FeedforwardAnalysis.hpp"
 
 #include <array>
 #include <bitset>
@@ -13,10 +13,10 @@
 #include <Eigen/Eigenvalues>
 #include <fmt/format.h>
 #include <fmt/ranges.h>
-#include <units/math.h>
-#include <units/time.h>
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
 
-#include "sysid/analysis/OLS.h"
+#include "wpi/sysid/analysis/OLS.hpp"
 
 namespace sysid {
 
diff --git a/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp b/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
index 94726ad601..2fe401872d 100644
--- a/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/FilteringUtils.h"
+#include "wpi/sysid/analysis/FilteringUtils.hpp"
 
 #include <algorithm>
 #include <functional>
@@ -14,11 +14,11 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <frc/filter/LinearFilter.h>
-#include <frc/filter/MedianFilter.h>
-#include <units/math.h>
-#include <wpi/MathExtras.h>
-#include <wpi/StringExtras.h>
+#include "wpi/math/filter/LinearFilter.hpp"
+#include "wpi/math/filter/MedianFilter.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/analysis/OLS.cpp b/tools/sysid/src/main/native/cpp/analysis/OLS.cpp
index 254898bffb..a04482adad 100644
--- a/tools/sysid/src/main/native/cpp/analysis/OLS.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/OLS.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/OLS.h"
+#include "wpi/sysid/analysis/OLS.hpp"
 
 #include <cassert>
 #include <cmath>
diff --git a/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp b/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp
index 58a8b309d0..39cef13b8f 100644
--- a/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp
+++ b/tools/sysid/src/main/native/cpp/analysis/SimpleMotorSim.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/analysis/SimpleMotorSim.h"
+#include "wpi/sysid/analysis/SimpleMotorSim.hpp"
 
-#include <frc/StateSpaceUtil.h>
-#include <frc/system/Discretization.h>
-#include <wpi/MathExtras.h>
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/util/MathExtras.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/view/Analyzer.cpp b/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
index 726042586d..44b60ddafa 100644
--- a/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
+++ b/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/view/Analyzer.h"
+#include "wpi/sysid/view/Analyzer.hpp"
 
 #include <algorithm>
 #include <exception>
@@ -13,19 +13,19 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <glass/Context.h>
-#include <glass/Storage.h>
+#include "wpi/glass/Context.hpp"
+#include "wpi/glass/Storage.hpp"
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "sysid/Util.h"
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/AnalysisType.h"
-#include "sysid/analysis/FeedbackControllerPreset.h"
-#include "sysid/analysis/FilteringUtils.h"
-#include "sysid/view/UILayout.h"
+#include "wpi/sysid/Util.hpp"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
+#include "wpi/sysid/analysis/FeedbackControllerPreset.hpp"
+#include "wpi/sysid/analysis/FilteringUtils.hpp"
+#include "wpi/sysid/view/UILayout.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp b/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
index bc640d9c7e..b6bcf3b978 100644
--- a/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
+++ b/tools/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/view/AnalyzerPlot.h"
+#include "wpi/sysid/view/AnalyzerPlot.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -12,14 +12,14 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <units/math.h>
+#include "wpi/units/math.hpp"
 
-#include "sysid/Util.h"
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/ArmSim.h"
-#include "sysid/analysis/ElevatorSim.h"
-#include "sysid/analysis/FilteringUtils.h"
-#include "sysid/analysis/SimpleMotorSim.h"
+#include "wpi/sysid/Util.hpp"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
+#include "wpi/sysid/analysis/ArmSim.hpp"
+#include "wpi/sysid/analysis/ElevatorSim.hpp"
+#include "wpi/sysid/analysis/FilteringUtils.hpp"
+#include "wpi/sysid/analysis/SimpleMotorSim.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/view/DataSelector.cpp b/tools/sysid/src/main/native/cpp/view/DataSelector.cpp
index 8f9648dc67..2f39df07ed 100644
--- a/tools/sysid/src/main/native/cpp/view/DataSelector.cpp
+++ b/tools/sysid/src/main/native/cpp/view/DataSelector.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/view/DataSelector.h"
+#include "wpi/sysid/view/DataSelector.hpp"
 
 #include <algorithm>
 #include <string>
@@ -12,14 +12,14 @@
 
 #include <fmt/format.h>
 #include <imgui.h>
-#include <wpi/Logger.h>
-#include <wpi/StringExtras.h>
-#include <wpi/datalog/DataLogReader.h>
-#include <wpi/datalog/DataLogReaderThread.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/datalog/DataLogReader.hpp"
+#include "wpi/datalog/DataLogReaderThread.hpp"
 
-#include "sysid/Util.h"
-#include "sysid/analysis/AnalysisType.h"
-#include "sysid/analysis/Storage.h"
+#include "wpi/sysid/Util.hpp"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
+#include "wpi/sysid/analysis/Storage.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/cpp/view/LogLoader.cpp b/tools/sysid/src/main/native/cpp/view/LogLoader.cpp
index b21bea4615..04a1005e06 100644
--- a/tools/sysid/src/main/native/cpp/view/LogLoader.cpp
+++ b/tools/sysid/src/main/native/cpp/view/LogLoader.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "sysid/view/LogLoader.h"
+#include "wpi/sysid/view/LogLoader.hpp"
 
 #include <algorithm>
 #include <memory>
@@ -14,12 +14,12 @@
 
 #include <imgui.h>
 #include <imgui_stdlib.h>
-#include <portable-file-dialogs.h>
-#include <wpi/SmallVector.h>
-#include <wpi/SpanExtras.h>
-#include <wpi/StringExtras.h>
-#include <wpi/datalog/DataLogReaderThread.h>
-#include <wpi/fs.h>
+#include "wpi/gui/portable-file-dialogs.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/SpanExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/datalog/DataLogReaderThread.hpp"
+#include "wpi/util/fs.hpp"
 
 using namespace sysid;
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp
index 95ed86de8e..0d245cda29 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/AnalysisManager.hpp
@@ -13,16 +13,16 @@
 #include <string_view>
 #include <vector>
 
-#include <units/time.h>
-#include <wpi/Logger.h>
-#include <wpi/StringMap.h>
-#include <wpi/json.h>
+#include "wpi/units/time.hpp"
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/json.hpp"
 
-#include "sysid/analysis/AnalysisType.h"
-#include "sysid/analysis/FeedbackAnalysis.h"
-#include "sysid/analysis/FeedbackControllerPreset.h"
-#include "sysid/analysis/OLS.h"
-#include "sysid/analysis/Storage.h"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
+#include "wpi/sysid/analysis/FeedbackAnalysis.hpp"
+#include "wpi/sysid/analysis/FeedbackControllerPreset.hpp"
+#include "wpi/sysid/analysis/OLS.hpp"
+#include "wpi/sysid/analysis/Storage.hpp"
 
 namespace sysid {
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp
index 1e80b8203a..a7122c01b9 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ArmSim.hpp
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace sysid {
 /**
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp
index 82db2de7ad..545ce56b86 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/ElevatorSim.hpp
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace sysid {
 /**
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp
index 683a8f683d..440d5e3433 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedbackControllerPreset.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
 namespace sysid {
 /**
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedforwardAnalysis.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedforwardAnalysis.hpp
index f67d6faac1..d0e20b64ee 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedforwardAnalysis.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FeedforwardAnalysis.hpp
@@ -7,9 +7,9 @@
 #include <string>
 #include <string_view>
 
-#include "sysid/analysis/AnalysisType.h"
-#include "sysid/analysis/OLS.h"
-#include "sysid/analysis/Storage.h"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
+#include "wpi/sysid/analysis/OLS.hpp"
+#include "wpi/sysid/analysis/Storage.hpp"
 
 namespace sysid {
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp
index d14333800e..658f047f95 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/FilteringUtils.hpp
@@ -14,13 +14,13 @@
 
 #include <fmt/format.h>
 #include <fmt/ranges.h>
-#include <frc/filter/LinearFilter.h>
-#include <units/time.h>
-#include <wpi/StringMap.h>
-#include <wpi/array.h>
+#include "wpi/math/filter/LinearFilter.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/array.hpp"
 
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/Storage.h"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
+#include "wpi/sysid/analysis/Storage.hpp"
 
 namespace sysid {
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp
index 58d9683da8..7fb1d0791b 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/SimpleMotorSim.hpp
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace sysid {
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp
index dad38e7cb5..96a6870b7f 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/Storage.hpp
@@ -7,11 +7,11 @@
 #include <string>
 #include <vector>
 
-#include <units/time.h>
-#include <units/voltage.h>
-#include <wpi/StringMap.h>
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/util/StringMap.hpp"
 
-#include "sysid/analysis/AnalysisType.h"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
 
 namespace sysid {
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp b/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp
index ecc319a180..09b57c0334 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/analysis/TrackwidthAnalysis.hpp
@@ -5,7 +5,7 @@
 #pragma once
 
 #include <gcem.hpp>
-#include <units/angle.h>
+#include "wpi/units/angle.hpp"
 
 namespace sysid {
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp
index 47466b9fc3..e80252b93c 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/Analyzer.hpp
@@ -10,18 +10,18 @@
 #include <thread>
 #include <vector>
 
-#include <glass/View.h>
+#include "wpi/glass/View.hpp"
 #include <implot.h>
-#include <portable-file-dialogs.h>
-#include <units/time.h>
-#include <units/voltage.h>
-#include <wpi/Logger.h>
-#include <wpi/StringMap.h>
+#include "wpi/gui/portable-file-dialogs.h"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/StringMap.hpp"
 
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/FeedbackAnalysis.h"
-#include "sysid/analysis/FeedbackControllerPreset.h"
-#include "sysid/view/AnalyzerPlot.h"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
+#include "wpi/sysid/analysis/FeedbackAnalysis.hpp"
+#include "wpi/sysid/analysis/FeedbackControllerPreset.hpp"
+#include "wpi/sysid/view/AnalyzerPlot.hpp"
 
 struct ImPlotPoint;
 
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp
index 2c234ad7b8..0d754cd0a3 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/AnalyzerPlot.hpp
@@ -13,13 +13,13 @@
 
 #include <imgui.h>
 #include <implot.h>
-#include <units/time.h>
-#include <wpi/Logger.h>
-#include <wpi/spinlock.h>
+#include "wpi/units/time.hpp"
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/spinlock.hpp"
 
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/AnalysisType.h"
-#include "sysid/analysis/Storage.h"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
+#include "wpi/sysid/analysis/Storage.hpp"
 
 namespace sysid {
 /**
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
index 85ed137650..4b6cf65f11 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
@@ -12,11 +12,11 @@
 #include <utility>
 #include <vector>
 
-#include <glass/View.h>
-#include <wpi/StringMap.h>
-#include <wpi/datalog/DataLogReaderThread.h>
+#include "wpi/glass/View.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/datalog/DataLogReaderThread.hpp"
 
-#include "sysid/analysis/Storage.h"
+#include "wpi/sysid/analysis/Storage.hpp"
 
 namespace glass {
 class Storage;
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
index 70931bc8ca..ed59906b0e 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
@@ -9,8 +9,8 @@
 #include <string_view>
 #include <vector>
 
-#include <glass/View.h>
-#include <wpi/Signal.h>
+#include "wpi/glass/View.hpp"
+#include "wpi/util/Signal.h"
 
 namespace glass {
 class Storage;
diff --git a/tools/sysid/src/test/native/cpp/analysis/AnalysisTypeTest.cpp b/tools/sysid/src/test/native/cpp/analysis/AnalysisTypeTest.cpp
index 51d348ccf3..eda266db51 100644
--- a/tools/sysid/src/test/native/cpp/analysis/AnalysisTypeTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/AnalysisTypeTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/AnalysisType.h"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
 
 TEST(AnalysisTypeTest, FromName) {
   EXPECT_EQ(sysid::analysis::kElevator, sysid::analysis::FromName("Elevator"));
diff --git a/tools/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp b/tools/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
index 5ff5a501e4..e2927fca68 100644
--- a/tools/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/FeedbackAnalysis.h"
-#include "sysid/analysis/FeedbackControllerPreset.h"
+#include "wpi/sysid/analysis/FeedbackAnalysis.hpp"
+#include "wpi/sysid/analysis/FeedbackControllerPreset.hpp"
 
 TEST(FeedbackAnalysisTest, VelocitySystem1) {
   auto Kv = 3.060;
diff --git a/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp b/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
index d8cd79eda8..daceacd347 100644
--- a/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
@@ -9,15 +9,15 @@
 #include <span>
 
 #include <gtest/gtest.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/AnalysisType.h"
-#include "sysid/analysis/ArmSim.h"
-#include "sysid/analysis/ElevatorSim.h"
-#include "sysid/analysis/FeedforwardAnalysis.h"
-#include "sysid/analysis/SimpleMotorSim.h"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
+#include "wpi/sysid/analysis/AnalysisType.hpp"
+#include "wpi/sysid/analysis/ArmSim.hpp"
+#include "wpi/sysid/analysis/ElevatorSim.hpp"
+#include "wpi/sysid/analysis/FeedforwardAnalysis.hpp"
+#include "wpi/sysid/analysis/SimpleMotorSim.hpp"
 
 namespace {
 
diff --git a/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp b/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
index 099bebc98a..672d97be68 100644
--- a/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
@@ -8,10 +8,10 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/FeedforwardAnalysis.h"
-#include "sysid/analysis/FilteringUtils.h"
-#include "sysid/analysis/Storage.h"
+#include "wpi/sysid/analysis/AnalysisManager.hpp"
+#include "wpi/sysid/analysis/FeedforwardAnalysis.hpp"
+#include "wpi/sysid/analysis/FilteringUtils.hpp"
+#include "wpi/sysid/analysis/Storage.hpp"
 
 TEST(FilterTest, MedianFilter) {
   std::vector<sysid::PreparedData> testData{
diff --git a/tools/sysid/src/test/native/cpp/analysis/OLSTest.cpp b/tools/sysid/src/test/native/cpp/analysis/OLSTest.cpp
index 380a53d086..09167cf8c9 100644
--- a/tools/sysid/src/test/native/cpp/analysis/OLSTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/OLSTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/OLS.h"
+#include "wpi/sysid/analysis/OLS.hpp"
 
 TEST(OLSTest, TwoVariablesTwoPoints) {
   // (1, 3) and (2, 5). Should produce y = 2x + 1.
diff --git a/tools/sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp b/tools/sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp
index d5e2dc1667..fa8b8d7227 100644
--- a/tools/sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/TrackwidthAnalysis.h"
+#include "wpi/sysid/analysis/TrackwidthAnalysis.hpp"
 
 TEST(TrackwidthAnalysisTest, Calculate) {
   double result = sysid::CalculateTrackwidth(-0.5386, 0.5386, 90_deg);
diff --git a/tools/wpical/src/main/native/cpp/WPIcal.cpp b/tools/wpical/src/main/native/cpp/WPIcal.cpp
index 4f26625bba..50610cae7f 100644
--- a/tools/wpical/src/main/native/cpp/WPIcal.cpp
+++ b/tools/wpical/src/main/native/cpp/WPIcal.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <cameracalibration.h>
-#include <fieldcalibration.h>
-#include <fieldmap.h>
-#include <fmap.h>
+#include "cameracalibration.hpp"
+#include "fieldcalibration.hpp"
+#include "fieldmap.hpp"
+#include "fmap.hpp"
 
 #include <fstream>
 #include <iostream>
@@ -18,11 +18,11 @@
 #include <GLFW/glfw3.h>
 #include <fmt/format.h>
 #include <imgui.h>
-#include <portable-file-dialogs.h>
-#include <wpi/json.h>
-#include <wpigui.h>
+#include "wpi/gui/portable-file-dialogs.h"
+#include "wpi/util/json.hpp"
+#include "wpi/gui/wpigui.hpp"
 
-#include "tagpose.h"
+#include "tagpose.hpp"
 
 namespace gui = wpi::gui;
 
diff --git a/tools/wpical/src/main/native/cpp/cameracalibration.cpp b/tools/wpical/src/main/native/cpp/cameracalibration.cpp
index 270de38af9..9df25cd911 100644
--- a/tools/wpical/src/main/native/cpp/cameracalibration.cpp
+++ b/tools/wpical/src/main/native/cpp/cameracalibration.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "cameracalibration.h"
+#include "cameracalibration.hpp"
 
 #include <fstream>
 #include <iostream>
diff --git a/tools/wpical/src/main/native/cpp/fieldcalibration.cpp b/tools/wpical/src/main/native/cpp/fieldcalibration.cpp
index dec885ecf3..4f1aa749ce 100644
--- a/tools/wpical/src/main/native/cpp/fieldcalibration.cpp
+++ b/tools/wpical/src/main/native/cpp/fieldcalibration.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "fieldcalibration.h"
+#include "fieldcalibration.hpp"
 
 #include <algorithm>
 #include <filesystem>
diff --git a/tools/wpical/src/main/native/cpp/fmap.cpp b/tools/wpical/src/main/native/cpp/fmap.cpp
index 273c9ebe5f..82db1f956b 100644
--- a/tools/wpical/src/main/native/cpp/fmap.cpp
+++ b/tools/wpical/src/main/native/cpp/fmap.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "fmap.h"
+#include "fmap.hpp"
 
 #include <string>
 #include <vector>
diff --git a/tools/wpical/src/main/native/cpp/tagpose.cpp b/tools/wpical/src/main/native/cpp/tagpose.cpp
index 9a78479655..5208ad6244 100644
--- a/tools/wpical/src/main/native/cpp/tagpose.cpp
+++ b/tools/wpical/src/main/native/cpp/tagpose.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "tagpose.h"
+#include "tagpose.hpp"
 
-#include <wpi/deprecated.h>
+#include "wpi/util/deprecated.hpp"
 
 WPI_IGNORE_DEPRECATED
 namespace tag {
diff --git a/tools/wpical/src/main/native/include/cameracalibration.hpp b/tools/wpical/src/main/native/include/cameracalibration.hpp
index bd2744d565..8d3f9357ca 100644
--- a/tools/wpical/src/main/native/include/cameracalibration.hpp
+++ b/tools/wpical/src/main/native/include/cameracalibration.hpp
@@ -9,7 +9,7 @@
 #include <vector>
 
 #include <Eigen/Core>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 namespace cameracalibration {
 struct CameraModel {
diff --git a/tools/wpical/src/main/native/include/fieldcalibration.hpp b/tools/wpical/src/main/native/include/fieldcalibration.hpp
index ac8475666d..ef9cd6151c 100644
--- a/tools/wpical/src/main/native/include/fieldcalibration.hpp
+++ b/tools/wpical/src/main/native/include/fieldcalibration.hpp
@@ -6,9 +6,9 @@
 
 #include <string>
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "cameracalibration.h"
+#include "cameracalibration.hpp"
 
 namespace fieldcalibration {
 int calibrate(std::string input_dir_path, wpi::json& output_json,
diff --git a/tools/wpical/src/main/native/include/fieldmap.hpp b/tools/wpical/src/main/native/include/fieldmap.hpp
index 4008bb0f96..13717e1909 100644
--- a/tools/wpical/src/main/native/include/fieldmap.hpp
+++ b/tools/wpical/src/main/native/include/fieldmap.hpp
@@ -7,9 +7,9 @@
 #include <cmath>
 #include <map>
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "tagpose.h"
+#include "tagpose.hpp"
 
 class Fieldmap {
  public:
diff --git a/tools/wpical/src/main/native/include/fmap.hpp b/tools/wpical/src/main/native/include/fmap.hpp
index 38a3127e9a..221d3c9934 100644
--- a/tools/wpical/src/main/native/include/fmap.hpp
+++ b/tools/wpical/src/main/native/include/fmap.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "fieldmap.h"
-#include "tagpose.h"
+#include "fieldmap.hpp"
+#include "tagpose.hpp"
 
 namespace fmap {
 wpi::json singleTag(int tag, const tag::Pose& tagpose);
diff --git a/tools/wpical/src/main/native/include/tagpose.hpp b/tools/wpical/src/main/native/include/tagpose.hpp
index aeb06a426c..5ec998d784 100644
--- a/tools/wpical/src/main/native/include/tagpose.hpp
+++ b/tools/wpical/src/main/native/include/tagpose.hpp
@@ -6,7 +6,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 namespace tag {
 class Pose {
diff --git a/tools/wpical/src/test/native/cpp/test_calibrate.cpp b/tools/wpical/src/test/native/cpp/test_calibrate.cpp
index d82fdb57d7..4b3c4e9332 100644
--- a/tools/wpical/src/test/native/cpp/test_calibrate.cpp
+++ b/tools/wpical/src/test/native/cpp/test_calibrate.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <cameracalibration.h>
-#include <fieldcalibration.h>
+#include "cameracalibration.hpp"
+#include "fieldcalibration.hpp"
 
 #include <string>
 
 #include <gtest/gtest.h>
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
-#include "path_lookup.h"
+#include "path_lookup.hpp"
 
 const std::string projectRootPath = PROJECT_ROOT_PATH;
 
diff --git a/tools/wpical/src/test/native/cpp/test_result_is_exact.cpp b/tools/wpical/src/test/native/cpp/test_result_is_exact.cpp
index 4945ee69a5..444ab7a79b 100644
--- a/tools/wpical/src/test/native/cpp/test_result_is_exact.cpp
+++ b/tools/wpical/src/test/native/cpp/test_result_is_exact.cpp
@@ -13,7 +13,7 @@
 #include <gtest/gtest.h>
 #include <mrcal_wrapper.h>
 
-#include "path_lookup.h"
+#include "path_lookup.hpp"
 
 using namespace cv;
 
diff --git a/wpigui/src/dev/native/cpp/main.cpp b/wpigui/src/dev/native/cpp/main.cpp
index b8464ddf9b..f345bda6f9 100644
--- a/wpigui/src/dev/native/cpp/main.cpp
+++ b/wpigui/src/dev/native/cpp/main.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpigui.h"
+#include "wpi/gui/wpigui.hpp"
 
 int main() {
   wpi::gui::CreateContext();
diff --git a/wpigui/src/main/native/cpp/portable-file-dialogs.cpp b/wpigui/src/main/native/cpp/portable-file-dialogs.cpp
index c4afb0b00e..51f894920d 100644
--- a/wpigui/src/main/native/cpp/portable-file-dialogs.cpp
+++ b/wpigui/src/main/native/cpp/portable-file-dialogs.cpp
@@ -14,7 +14,7 @@
 //  See http://www.wtfpl.net/ for more details.
 //
 
-#include "portable-file-dialogs.h"
+#include "wpi/gui/portable-file-dialogs.h"
 
 #if _WIN32
 #ifndef WIN32_LEAN_AND_MEAN
diff --git a/wpigui/src/main/native/cpp/wpigui.cpp b/wpigui/src/main/native/cpp/wpigui.cpp
index 71e6ab5700..5e59a0beae 100644
--- a/wpigui/src/main/native/cpp/wpigui.cpp
+++ b/wpigui/src/main/native/cpp/wpigui.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpigui.h"
+#include "wpi/gui/wpigui.hpp"
 
 #include <stdint.h>
 
@@ -32,7 +32,7 @@
 #include <implot.h>
 #include <stb_image.h>
 
-#include "wpigui_internal.h"
+#include "wpi/gui/wpigui_internal.hpp"
 
 using namespace wpi::gui;
 
diff --git a/wpigui/src/main/native/cpp/wpigui_openurl.cpp b/wpigui/src/main/native/cpp/wpigui_openurl.cpp
index 0a071b1791..24b4323ffb 100644
--- a/wpigui/src/main/native/cpp/wpigui_openurl.cpp
+++ b/wpigui/src/main/native/cpp/wpigui_openurl.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpigui_openurl.h"
+#include "wpi/gui/wpigui_openurl.hpp"
 
 #if _WIN32
 #ifndef WIN32_LEAN_AND_MEAN
diff --git a/wpigui/src/main/native/directx11/wpigui_directx11.cpp b/wpigui/src/main/native/directx11/wpigui_directx11.cpp
index 0ef2485e8f..4943f69500 100644
--- a/wpigui/src/main/native/directx11/wpigui_directx11.cpp
+++ b/wpigui/src/main/native/directx11/wpigui_directx11.cpp
@@ -13,8 +13,8 @@
 #include <imgui_impl_glfw.h>
 #include <imgui_impl_dx11.h>
 
-#include "wpigui.h"
-#include "wpigui_internal.h"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_internal.hpp"
 
 #pragma comment(lib, "d3d11.lib")
 
diff --git a/wpigui/src/main/native/metal/wpigui_metal.mm b/wpigui/src/main/native/metal/wpigui_metal.mm
index a1024ed7a6..971fae0ec9 100644
--- a/wpigui/src/main/native/metal/wpigui_metal.mm
+++ b/wpigui/src/main/native/metal/wpigui_metal.mm
@@ -14,8 +14,8 @@
 #include <imgui_impl_glfw.h>
 #include <imgui_impl_metal.h>
 
-#include "wpigui.h"
-#include "wpigui_internal.h"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_internal.hpp"
 
 using namespace wpi::gui;
 
diff --git a/wpigui/src/main/native/opengl2/wpigui_opengl2.cpp b/wpigui/src/main/native/opengl2/wpigui_opengl2.cpp
index afc9fea5db..1547373f13 100644
--- a/wpigui/src/main/native/opengl2/wpigui_opengl2.cpp
+++ b/wpigui/src/main/native/opengl2/wpigui_opengl2.cpp
@@ -9,8 +9,8 @@
 #include <imgui_impl_glfw.h>
 #include <imgui_impl_opengl2.h>
 
-#include "wpigui.h"
-#include "wpigui_internal.h"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_internal.hpp"
 
 using namespace wpi::gui;
 
diff --git a/wpigui/src/main/native/opengl3/wpigui_opengl3.cpp b/wpigui/src/main/native/opengl3/wpigui_opengl3.cpp
index 2f7592922c..2f5ddd2dfd 100644
--- a/wpigui/src/main/native/opengl3/wpigui_opengl3.cpp
+++ b/wpigui/src/main/native/opengl3/wpigui_opengl3.cpp
@@ -10,8 +10,8 @@
 #include <imgui_impl_glfw.h>
 #include <imgui_impl_opengl3.h>
 
-#include "wpigui.h"
-#include "wpigui_internal.h"
+#include "wpi/gui/wpigui.hpp"
+#include "wpi/gui/wpigui_internal.hpp"
 
 using namespace wpi::gui;
 
diff --git a/wpilibc/src/dev/native/cpp/main.cpp b/wpilibc/src/dev/native/cpp/main.cpp
index 0ffa1eb6de..6647f530b6 100644
--- a/wpilibc/src/dev/native/cpp/main.cpp
+++ b/wpilibc/src/dev/native/cpp/main.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <hal/HALBase.h>
-#include <wpi/print.h>
+#include "wpi/hal/HALBase.h"
+#include "wpi/util/print.hpp"
 
-#include "WPILibVersion.h"
+#include "wpi/system/WPILibVersion.hpp"
 
 int main() {
   wpi::print("Hello World\n");
diff --git a/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja b/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja
index e8972f1c9d..5b4803c0d3 100644
--- a/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/hid.cpp.jinja
@@ -8,10 +8,10 @@
 {%- endmacro %}
 #include "frc/{{ ConsoleName }}Controller.h"
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja b/wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja
index 7ec4e16ce5..55f9f7e2eb 100644
--- a/wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja
+++ b/wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja
@@ -6,7 +6,7 @@
 
 #include "frc/motorcontrol/{{ name }}.h"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
index af6d46d36c..f7350e50ea 100644
--- a/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
+++ b/wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
@@ -8,10 +8,10 @@
 {%- endmacro %}
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja
index d1daa25d60..251d2e49ce 100644
--- a/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja
+++ b/wpilibc/src/generate/main/native/include/wpi/hardware/motor/pwm_motor_controller.hpp.jinja
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja b/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
index 7afa873b01..e29724a06a 100644
--- a/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
+++ b/wpilibc/src/generate/main/native/include/wpi/simulation/hidsim.hpp.jinja
@@ -8,7 +8,7 @@
 {%- endmacro %}
 #pragma once
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
index ffb052ce9d..306652ca19 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/PS4Controller.cpp
@@ -4,12 +4,12 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/PS4Controller.h"
+#include "wpi/driverstation/PS4Controller.hpp"
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
index 2c43468c38..fee3efc689 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/PS5Controller.cpp
@@ -4,12 +4,12 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/PS5Controller.h"
+#include "wpi/driverstation/PS5Controller.hpp"
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
index 51a25c3b88..d4cafa249a 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/StadiaController.cpp
@@ -4,12 +4,12 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/StadiaController.h"
+#include "wpi/driverstation/StadiaController.hpp"
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp b/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
index 9fdcc29e4e..c529a70b44 100644
--- a/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
+++ b/wpilibc/src/generated/main/native/cpp/driverstation/XboxController.cpp
@@ -4,12 +4,12 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/XboxController.h"
+#include "wpi/driverstation/XboxController.hpp"
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
index 6732f13662..ab643aaccc 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/Koors40.h"
+#include "wpi/hardware/motor/Koors40.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
index 0ed34fd7ee..a7d23e7a99 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/PWMSparkFlex.h"
+#include "wpi/hardware/motor/PWMSparkFlex.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
index e96d9adf45..1958e078d0 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/PWMSparkMax.h"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
index 8d3172e4a4..23557bc9bf 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/PWMTalonFX.h"
+#include "wpi/hardware/motor/PWMTalonFX.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
index 2bea9c2d2e..b0b6821bad 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/PWMTalonSRX.h"
+#include "wpi/hardware/motor/PWMTalonSRX.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
index d32dce39b5..df931ca0f6 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/PWMVenom.h"
+#include "wpi/hardware/motor/PWMVenom.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
index 223a2184b6..d2328ef142 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/PWMVictorSPX.h"
+#include "wpi/hardware/motor/PWMVictorSPX.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
index 95f21f7c97..20783d33dd 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/Spark.h"
+#include "wpi/hardware/motor/Spark.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
index 06a296f195..a61314f7ca 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/SparkMini.h"
+#include "wpi/hardware/motor/SparkMini.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
index 121df0e4f5..ca83bb34c8 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/Talon.h"
+#include "wpi/hardware/motor/Talon.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp b/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
index 9f9c4853f2..9d96bee5cc 100644
--- a/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
+++ b/wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
 
-#include "frc/motorcontrol/VictorSP.h"
+#include "wpi/hardware/motor/VictorSP.hpp"
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
index 61ee94da07..8ddcaafb85 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/PS4ControllerSim.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/simulation/PS4ControllerSim.h"
+#include "wpi/simulation/PS4ControllerSim.hpp"
 
-#include "frc/PS4Controller.h"
+#include "wpi/driverstation/PS4Controller.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
index 6ab901d6fe..833ae3be6d 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/PS5ControllerSim.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/simulation/PS5ControllerSim.h"
+#include "wpi/simulation/PS5ControllerSim.hpp"
 
-#include "frc/PS5Controller.h"
+#include "wpi/driverstation/PS5Controller.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
index 969ac07be6..64051708a4 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/StadiaControllerSim.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/simulation/StadiaControllerSim.h"
+#include "wpi/simulation/StadiaControllerSim.hpp"
 
-#include "frc/StadiaController.h"
+#include "wpi/driverstation/StadiaController.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp b/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
index fda0e5b87c..10448c42d9 100644
--- a/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
+++ b/wpilibc/src/generated/main/native/cpp/simulation/XboxControllerSim.cpp
@@ -4,9 +4,9 @@
 
 // THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
 
-#include "frc/simulation/XboxControllerSim.h"
+#include "wpi/simulation/XboxControllerSim.hpp"
 
-#include "frc/XboxController.h"
+#include "wpi/driverstation/XboxController.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
index 71f34687a1..370a20c42e 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS4Controller.hpp
@@ -6,10 +6,10 @@
 
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
index e9048bb49b..ac1bdda0f3 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/PS5Controller.hpp
@@ -6,10 +6,10 @@
 
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
index b159c35279..7dbcf6593f 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/StadiaController.hpp
@@ -6,10 +6,10 @@
 
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp b/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
index 1880e01f2d..c7bb8575cd 100644
--- a/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/driverstation/XboxController.hpp
@@ -6,10 +6,10 @@
 
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp
index 7beb7366c3..40dced4cf7 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Koors40.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp
index 18e79bb4bd..4842546131 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkFlex.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp
index cf67454728..2c0c08c045 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMSparkMax.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp
index aee21022bc..6cbab7df1f 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonFX.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp
index d848121ec8..4e22ed39ec 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMTalonSRX.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp
index 77abffdfdc..b50ecd3797 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVenom.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp
index b6db49b9a6..8ae5be3950 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/PWMVictorSPX.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp
index 4aa9b44dec..85933346b9 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Spark.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp
index 8498586ac6..ca3db6e28e 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/SparkMini.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp
index a7db150a41..22f365cc27 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/Talon.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp
index d1a74d60a2..d532dfade5 100644
--- a/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/hardware/motor/VictorSP.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
index a3acbc2467..46359ca83a 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/PS4ControllerSim.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
index 0b2f371523..ed8313f68b 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/PS5ControllerSim.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
index 532328ab62..4a135cd946 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/StadiaControllerSim.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp b/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
index 293a7b87bd..42f7222204 100644
--- a/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
+++ b/wpilibc/src/generated/main/native/include/wpi/simulation/XboxControllerSim.hpp
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/cpp/ExpansionHub.cpp b/wpilibc/src/main/native/cpp/ExpansionHub.cpp
index ac8ad0d9cb..51dba94fc0 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHub.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHub.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/ExpansionHub.h"
+#include "wpi/ExpansionHub.hpp"
 
 #include <memory>
 
-#include <hal/UsageReporting.h>
-#include <networktables/BooleanTopic.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/nt/BooleanTopic.hpp"
 
-#include "frc/Errors.h"
-#include "frc/ExpansionHubMotor.h"
-#include "frc/ExpansionHubServo.h"
-#include "frc/SystemServer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/ExpansionHubMotor.hpp"
+#include "wpi/ExpansionHubServo.hpp"
+#include "wpi/system/SystemServer.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp b/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
index 2ab5cd26ff..29223ce295 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/ExpansionHubMotor.h"
+#include "wpi/ExpansionHubMotor.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SystemServer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/SystemServer.hpp"
 
 static constexpr int kPercentageMode = 0;
 static constexpr int kVoltageMode = 1;
diff --git a/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp b/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp
index d02aace52f..15d91f4758 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHubPidConstants.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/ExpansionHubPidConstants.h"
+#include "wpi/ExpansionHubPidConstants.hpp"
 
 #include <string>
 
-#include "frc/Errors.h"
-#include "frc/SystemServer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/SystemServer.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp b/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
index 42499bc91b..e84809d444 100644
--- a/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
+++ b/wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/ExpansionHubServo.h"
+#include "wpi/ExpansionHubServo.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SystemServer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/SystemServer.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/counter/Tachometer.cpp b/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
index f7dbbb8bd4..3efa031925 100644
--- a/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
+++ b/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/counter/Tachometer.h"
+#include "wpi/counter/Tachometer.hpp"
 
 #include <string>
 
-#include <hal/Counter.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/Counter.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp b/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
index 6ce13b65b0..cd290625fc 100644
--- a/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
+++ b/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/counter/UpDownCounter.h"
+#include "wpi/counter/UpDownCounter.hpp"
 
 #include <memory>
 #include <string>
 
-#include <hal/Counter.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/Counter.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index e576a74171..0d096186ca 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/drive/DifferentialDrive.h"
+#include "wpi/drive/DifferentialDrive.hpp"
 
 #include <algorithm>
 #include <cmath>
 #include <string>
 #include <utility>
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/MathUtil.h"
-#include "frc/motorcontrol/MotorController.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/hardware/motor/MotorController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index ded91cb0c4..749ea14e08 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/drive/MecanumDrive.h"
+#include "wpi/drive/MecanumDrive.hpp"
 
 #include <algorithm>
 #include <string>
 #include <utility>
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/MathUtil.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/motorcontrol/MotorController.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/hardware/motor/MotorController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
index c5992e7394..982b4687cc 100644
--- a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
+++ b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/drive/RobotDriveBase.h"
+#include "wpi/drive/RobotDriveBase.hpp"
 
 #include <algorithm>
 #include <cmath>
 #include <cstddef>
 
-#include "frc/motorcontrol/MotorController.h"
+#include "wpi/hardware/motor/MotorController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp b/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp
index 15d209aca4..cf9d9f5c4d 100644
--- a/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/DSControlWord.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DSControlWord.h"
+#include "wpi/driverstation/DSControlWord.hpp"
 
-#include <hal/DriverStation.h>
+#include "wpi/hal/DriverStation.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp b/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
index 1d03210bd9..f7b86fd243 100644
--- a/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DriverStation.h"
+#include "wpi/driverstation/DriverStation.hpp"
 
 #include <stdint.h>
 
@@ -14,24 +14,24 @@
 #include <string_view>
 
 #include <fmt/format.h>
-#include <hal/DriverStation.h>
-#include <hal/DriverStationTypes.h>
-#include <hal/HALBase.h>
-#include <hal/Power.h>
-#include <networktables/BooleanTopic.h>
-#include <networktables/IntegerTopic.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
-#include <wpi/EventVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/datalog/DataLog.h>
-#include <wpi/json.h>
-#include <wpi/mutex.h>
-#include <wpi/timestamp.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/DriverStationTypes.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Power.h"
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/util/EventVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/datalog/DataLog.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/Errors.h"
-#include "frc/Timer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Timer.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp b/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
index 897f712995..7e94ced954 100644
--- a/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Gamepad.h"
+#include "wpi/driverstation/Gamepad.hpp"
 
-#include <hal/UsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp b/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
index 57914bd973..7614e04c52 100644
--- a/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 #include <string>
 
-#include <hal/DriverStation.h>
+#include "wpi/hal/DriverStation.h"
 
-#include "frc/DriverStation.h"
-#include "frc/Errors.h"
-#include "frc/event/BooleanEvent.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp b/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp
index 4e98b3861c..d0f48cc8bc 100644
--- a/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp
+++ b/wpilibc/src/main/native/cpp/driverstation/Joystick.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Joystick.h"
+#include "wpi/driverstation/Joystick.hpp"
 
 #include <cmath>
 
-#include <hal/UsageReporting.h>
+#include "wpi/hal/UsageReporting.h"
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
index d108a0fd14..8d85a34429 100644
--- a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/event/BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 #include <memory>
 #include <utility>
diff --git a/wpilibc/src/main/native/cpp/event/EventLoop.cpp b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
index cf2b3f3d7c..f3c445eaae 100644
--- a/wpilibc/src/main/native/cpp/event/EventLoop.cpp
+++ b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/event/EventLoop.h"
+#include "wpi/event/EventLoop.hpp"
 
 #include <utility>
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
index 0f8576d8ff..47b6129648 100644
--- a/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/event/NetworkBooleanEvent.h"
+#include "wpi/event/NetworkBooleanEvent.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp b/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
index 38fa4b71f8..41fa7b3f83 100644
--- a/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/ADXL345_I2C.h"
+#include "wpi/hardware/accelerometer/ADXL345_I2C.hpp"
 
-#include <hal/UsageReporting.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NTSendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NTSendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp b/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp
index 1df5e31270..9d99799c09 100644
--- a/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/AnalogAccelerometer.h"
+#include "wpi/hardware/accelerometer/AnalogAccelerometer.hpp"
 
-#include <hal/UsageReporting.h>
-#include <wpi/NullDeleter.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp b/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
index 3e57370d38..2bdbe4597e 100644
--- a/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/CAN.h"
+#include "wpi/hardware/bus/CAN.hpp"
 
 #include <utility>
 
-#include <hal/CAN.h>
-#include <hal/CANAPI.h>
-#include <hal/Errors.h>
-#include <hal/UsageReporting.h>
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/CANAPI.h"
+#include "wpi/hal/Errors.h"
+#include "wpi/hal/UsageReporting.h"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp b/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp
index 976d6e893f..6afe3e0297 100644
--- a/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/I2C.h"
+#include "wpi/hardware/bus/I2C.hpp"
 
 #include <algorithm>
 
-#include <hal/I2C.h>
-#include <hal/UsageReporting.h>
+#include "wpi/hal/I2C.h"
+#include "wpi/hal/UsageReporting.h"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp b/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp
index 36dad45ad8..61784a7ef9 100644
--- a/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/SerialPort.h"
+#include "wpi/hardware/bus/SerialPort.hpp"
 
 #include <string>
 
-#include <hal/SerialPort.h>
-#include <hal/UsageReporting.h>
+#include "wpi/hal/SerialPort.h"
+#include "wpi/hal/UsageReporting.h"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp
index f5cf8a05f6..ef99469a77 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/AnalogInput.h"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 #include <string>
 
-#include <hal/AnalogInput.h>
-#include <hal/HALBase.h>
-#include <hal/Ports.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/AnalogInput.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
-#include "frc/Timer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
+#include "wpi/system/Timer.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp
index fdcfc4393c..00964b3625 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DigitalInput.h"
+#include "wpi/hardware/discrete/DigitalInput.hpp"
 
 #include <string>
 
-#include <hal/DIO.h>
-#include <hal/HALBase.h>
-#include <hal/Ports.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp
index 4bf0198463..ce695e546e 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DigitalOutput.h"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
 
 #include <string>
 
-#include <hal/DIO.h>
-#include <hal/HALBase.h>
-#include <hal/Ports.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp b/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
index cb92a191e5..2620284fbf 100644
--- a/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PWM.h"
+#include "wpi/hardware/discrete/PWM.hpp"
 
 #include <utility>
 
-#include <hal/HALBase.h>
-#include <hal/PWM.h>
-#include <hal/Ports.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp b/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
index 37f77d3636..e2bb8369fb 100644
--- a/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/OnboardIMU.h"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
 
-#include <hal/IMU.h>
+#include "wpi/hal/IMU.h"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp b/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp
index f626ef89c4..99ff7b99ba 100644
--- a/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/AddressableLED.h"
+#include "wpi/hardware/led/AddressableLED.hpp"
 
 #include <algorithm>
 
-#include <hal/AddressableLED.h>
-#include <hal/HALBase.h>
-#include <hal/PWM.h>
-#include <hal/Ports.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
+#include "wpi/hal/AddressableLED.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp b/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
index 363bd545fe..b675bf4ff2 100644
--- a/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/LEDPattern.h"
+#include "wpi/hardware/led/LEDPattern.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -11,10 +11,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MathExtras.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/MathUtil.h"
+#include "wpi/math/util/MathUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp b/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
index f6434b965c..0d3ffe5683 100644
--- a/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/MotorSafety.h"
+#include "wpi/hardware/motor/MotorSafety.hpp"
 
 #include <algorithm>
 #include <utility>
 
-#include <hal/DriverStation.h>
-#include <wpi/SafeThread.h>
-#include <wpi/SmallPtrSet.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/SmallPtrSet.hpp"
 
-#include "frc/DriverStation.h"
-#include "frc/Errors.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
index c5b9d1d909..2de547475a 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Compressor.h"
+#include "wpi/hardware/pneumatic/Compressor.hpp"
 
-#include <frc/PneumaticHub.h>
+#include "wpi/hardware/pneumatic/PneumaticHub.hpp"
 
-#include <hal/Ports.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
index e03e408810..3b7891bf03 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DoubleSolenoid.h"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
 
 #include <utility>
 
-#include <hal/Ports.h>
-#include <wpi/NullDeleter.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
index 2bdd10e22e..e6d2fe87cd 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PneumaticHub.h"
+#include "wpi/hardware/pneumatic/PneumaticHub.hpp"
 
 #include <array>
 #include <cstdio>
@@ -10,18 +10,18 @@
 #include <string>
 
 #include <fmt/format.h>
-#include <hal/Ports.h>
-#include <hal/REVPH.h>
-#include <hal/UsageReporting.h>
-#include <wpi/NullDeleter.h>
-#include <wpi/StackTrace.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/REVPH.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/StackTrace.hpp"
 
-#include "frc/Compressor.h"
-#include "frc/DoubleSolenoid.h"
-#include "frc/Errors.h"
-#include "frc/RobotBase.h"
-#include "frc/SensorUtil.h"
-#include "frc/Solenoid.h"
+#include "wpi/hardware/pneumatic/Compressor.hpp"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/opmode/RobotBase.hpp"
+#include "wpi/util/SensorUtil.hpp"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
index 9c024f4a33..8b045b28b8 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PneumaticsBase.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
 
 #include <memory>
 
-#include <hal/REVPH.h>
+#include "wpi/hal/REVPH.h"
 
-#include "frc/Errors.h"
-#include "frc/PneumaticHub.h"
-#include "frc/PneumaticsControlModule.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/hardware/pneumatic/PneumaticHub.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
index f7dd7ea264..f6d2e8d679 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
@@ -2,23 +2,23 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PneumaticsControlModule.h"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 
 #include <memory>
 #include <string>
 
 #include <fmt/format.h>
-#include <hal/CTREPCM.h>
-#include <hal/Ports.h>
-#include <hal/UsageReporting.h>
-#include <wpi/NullDeleter.h>
-#include <wpi/StackTrace.h>
+#include "wpi/hal/CTREPCM.h"
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/StackTrace.hpp"
 
-#include "frc/Compressor.h"
-#include "frc/DoubleSolenoid.h"
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
-#include "frc/Solenoid.h"
+#include "wpi/hardware/pneumatic/Compressor.hpp"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp
index 660d56a403..5de73cf33a 100644
--- a/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Solenoid.h"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
 
 #include <utility>
 
-#include <wpi/NullDeleter.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp b/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp
index 28c08eb91b..314005cf58 100644
--- a/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PowerDistribution.h"
+#include "wpi/hardware/power/PowerDistribution.hpp"
 
 #include <vector>
 
 #include <fmt/format.h>
-#include <hal/Ports.h>
-#include <hal/PowerDistribution.h>
-#include <hal/UsageReporting.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/Ports.h"
+#include "wpi/hal/PowerDistribution.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 static_assert(static_cast<HAL_PowerDistributionType>(
                   frc::PowerDistribution::ModuleType::kCTRE) ==
diff --git a/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp b/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
index 6d1b562016..bb02dd6098 100644
--- a/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/SharpIR.h"
+#include "wpi/hardware/range/SharpIR.hpp"
 
 #include <algorithm>
 
-#include <hal/UsageReporting.h>
-#include <units/length.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/units/length.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/AnalogInput.h"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp
index f9263b0826..77dca5ba8f 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/AnalogEncoder.h"
+#include "wpi/hardware/rotation/AnalogEncoder.hpp"
 
 #include <utility>
 
-#include <hal/UsageReporting.h>
-#include <wpi/NullDeleter.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/AnalogInput.h"
-#include "frc/MathUtil.h"
-#include "frc/RobotController.h"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/system/RobotController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp
index 71242ea4e8..143e1b6e3c 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogPotentiometer.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/AnalogPotentiometer.h"
+#include "wpi/hardware/rotation/AnalogPotentiometer.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <wpi/NullDeleter.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/RobotController.h"
+#include "wpi/system/RobotController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp
index 09608b98f9..9913a9c80c 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DutyCycle.h"
+#include "wpi/hardware/rotation/DutyCycle.hpp"
 
 #include <string>
 #include <utility>
 
-#include <hal/DutyCycle.h>
-#include <hal/HALBase.h>
-#include <hal/UsageReporting.h>
-#include <wpi/NullDeleter.h>
-#include <wpi/StackTrace.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/hal/DutyCycle.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/Errors.h"
-#include "frc/SensorUtil.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp
index f9e89d9fb1..4427ec6fd4 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DutyCycleEncoder.h"
+#include "wpi/hardware/rotation/DutyCycleEncoder.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <wpi/NullDeleter.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/DigitalInput.h"
-#include "frc/DutyCycle.h"
-#include "frc/MathUtil.h"
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/rotation/DutyCycle.hpp"
+#include "wpi/math/util/MathUtil.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
index f0fad00e48..d26b8c153b 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Encoder.h"
+#include "wpi/hardware/rotation/Encoder.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <hal/Encoder.h>
-#include <hal/UsageReporting.h>
-#include <wpi/NullDeleter.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/Encoder.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/util/NullDeleter.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/DigitalInput.h"
-#include "frc/Errors.h"
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp b/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
index 78d580e36c..d31f414624 100644
--- a/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
+++ b/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/internal/DriverStationModeThread.h"
+#include "wpi/internal/DriverStationModeThread.hpp"
 
-#include <hal/DriverStation.h>
-#include <wpi/Synchronization.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/util/Synchronization.h"
 
-#include "frc/DriverStation.h"
+#include "wpi/driverstation/DriverStation.hpp"
 
 using namespace frc::internal;
 
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
index 2b64da27a2..68ef44e54b 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/motorcontrol/MotorController.h"
+#include "wpi/hardware/motor/MotorController.hpp"
 
-#include <frc/RobotController.h>
+#include "wpi/system/RobotController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
index 5c0266b054..9bbef758c0 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/motorcontrol/MotorControllerGroup.h"
+#include "wpi/hardware/motor/MotorControllerGroup.hpp"
 
 #include <utility>
 #include <vector>
 
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
index 3f971fd880..0481587f81 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/RobotController.h"
+#include "wpi/system/RobotController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
index 0d4c7c31ba..83b19a6ff8 100644
--- a/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/IterativeRobotBase.h"
+#include "wpi/opmode/IterativeRobotBase.hpp"
 
-#include <frc/DriverStation.h>
+#include "wpi/driverstation/DriverStation.hpp"
 
-#include <hal/DriverStation.h>
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/print.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/util/print.hpp"
 
-#include "frc/DSControlWord.h"
-#include "frc/Errors.h"
-#include "frc/smartdashboard/SmartDashboard.h"
+#include "wpi/driverstation/DSControlWord.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/opmode/RobotState.cpp b/wpilibc/src/main/native/cpp/opmode/RobotState.cpp
index ede314c394..9155e7af30 100644
--- a/wpilibc/src/main/native/cpp/opmode/RobotState.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/RobotState.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/RobotState.h"
+#include "wpi/opmode/RobotState.hpp"
 
-#include "frc/DriverStation.h"
+#include "wpi/driverstation/DriverStation.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp b/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
index a1d7e1870a..067df15d42 100644
--- a/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/TimedRobot.h"
+#include "wpi/opmode/TimedRobot.hpp"
 
 #include <stdint.h>
 
 #include <cstdio>
 #include <utility>
 
-#include <hal/DriverStation.h>
-#include <hal/Notifier.h>
-#include <hal/UsageReporting.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Notifier.h"
+#include "wpi/hal/UsageReporting.h"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp b/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
index b817aa97f2..8dc82edc2a 100644
--- a/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
+++ b/wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/TimesliceRobot.h"
+#include "wpi/opmode/TimesliceRobot.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp b/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp
index f56570156f..aa00c2b68a 100644
--- a/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/ADXL345Sim.h"
+#include "wpi/simulation/ADXL345Sim.hpp"
 
-#include "frc/ADXL345_I2C.h"
-#include "frc/simulation/SimDeviceSim.h"
+#include "wpi/hardware/accelerometer/ADXL345_I2C.hpp"
+#include "wpi/simulation/SimDeviceSim.hpp"
 
 using namespace frc::sim;
 
diff --git a/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp b/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
index 434eac5488..d95d7da381 100644
--- a/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AddressableLEDSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/AddressableLEDSim.h"
+#include "wpi/simulation/AddressableLEDSim.hpp"
 
 #include <memory>
 #include <stdexcept>
 
-#include <hal/simulation/AddressableLEDData.h>
+#include "wpi/hal/simulation/AddressableLEDData.h"
 
-#include "frc/AddressableLED.h"
+#include "wpi/hardware/led/AddressableLED.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
index 7bc58bd514..c952f45398 100644
--- a/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/AnalogEncoderSim.h"
+#include "wpi/simulation/AnalogEncoderSim.hpp"
 
-#include "frc/AnalogEncoder.h"
-#include "frc/simulation/SimDeviceSim.h"
+#include "wpi/hardware/rotation/AnalogEncoder.hpp"
+#include "wpi/simulation/SimDeviceSim.hpp"
 
 using namespace frc::sim;
 
diff --git a/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp b/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
index bff8cefc23..af205fc78d 100644
--- a/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/AnalogInputSim.h"
+#include "wpi/simulation/AnalogInputSim.hpp"
 
 #include <memory>
 
-#include <hal/simulation/AnalogInData.h>
+#include "wpi/hal/simulation/AnalogInData.h"
 
-#include "frc/AnalogInput.h"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp b/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
index c9645d51a4..5b1261ea10 100644
--- a/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/CTREPCMSim.h"
+#include "wpi/simulation/CTREPCMSim.hpp"
 
 #include <memory>
 
-#include <hal/simulation/CTREPCMData.h>
+#include "wpi/hal/simulation/CTREPCMData.h"
 
-#include "frc/SensorUtil.h"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp b/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp
index be071e94e2..0d18b0c325 100644
--- a/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/CallbackStore.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 #include <utility>
 
diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
index ff8fb1fa76..59bb1b00c8 100644
--- a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DCMotorSim.h"
+#include "wpi/simulation/DCMotorSim.hpp"
 
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/RobotController.h"
+#include "wpi/system/RobotController.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp b/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
index 52f6899546..98d2bf304d 100644
--- a/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DIOSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DIOSim.h"
+#include "wpi/simulation/DIOSim.hpp"
 
 #include <memory>
 
-#include <hal/simulation/DIOData.h>
+#include "wpi/hal/simulation/DIOData.h"
 
-#include "frc/DigitalInput.h"
-#include "frc/DigitalOutput.h"
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index b61b6ad6c9..6d06a4f24d 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DifferentialDrivetrainSim.h"
+#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
 
-#include <frc/system/plant/LinearSystemId.h>
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 #include <utility>
 
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/RobotController.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/system/NumericalIntegration.h"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp b/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
index 567637e82f..563cb1f7af 100644
--- a/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DigitalPWMSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DigitalPWMSim.h"
+#include "wpi/simulation/DigitalPWMSim.hpp"
 
 #include <memory>
 #include <stdexcept>
 
-#include <hal/simulation/DigitalPWMData.h>
+#include "wpi/hal/simulation/DigitalPWMData.h"
 
-#include "frc/DigitalOutput.h"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp b/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
index c6a8d55e59..5501dc3db2 100644
--- a/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DoubleSolenoidSim.h"
+#include "wpi/simulation/DoubleSolenoidSim.hpp"
 
 #include <memory>
 #include <utility>
 
-#include "frc/PneumaticsBase.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp b/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
index c6bd193769..6797f6b6ae 100644
--- a/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DriverStationSim.h"
+#include "wpi/simulation/DriverStationSim.hpp"
 
 #include <memory>
 
-#include <hal/DriverStation.h>
-#include <hal/simulation/DriverStationData.h>
-#include <hal/simulation/MockHooks.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/simulation/DriverStationData.h"
+#include "wpi/hal/simulation/MockHooks.h"
 
-#include "frc/DriverStation.h"
+#include "wpi/driverstation/DriverStation.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
index 8d5292ad8c..7c7fb9b852 100644
--- a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DutyCycleEncoderSim.h"
+#include "wpi/simulation/DutyCycleEncoderSim.hpp"
 
-#include "frc/DutyCycleEncoder.h"
-#include "frc/simulation/SimDeviceSim.h"
+#include "wpi/hardware/rotation/DutyCycleEncoder.hpp"
+#include "wpi/simulation/SimDeviceSim.hpp"
 
 using namespace frc::sim;
 
diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
index 0e447e7f10..bb463028ba 100644
--- a/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DutyCycleSim.h"
+#include "wpi/simulation/DutyCycleSim.hpp"
 
 #include <memory>
 #include <stdexcept>
 
-#include <hal/simulation/DutyCycleData.h>
+#include "wpi/hal/simulation/DutyCycleData.h"
 
-#include "frc/DutyCycle.h"
+#include "wpi/hardware/rotation/DutyCycle.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
index 4553dc4d0a..1ad942366c 100644
--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/ElevatorSim.h"
+#include "wpi/simulation/ElevatorSim.hpp"
 
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/RobotController.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/plant/LinearSystemId.h"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
index b5a09e1f60..c634b7c2dd 100644
--- a/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/EncoderSim.h"
+#include "wpi/simulation/EncoderSim.hpp"
 
 #include <memory>
 #include <stdexcept>
 
-#include <hal/simulation/EncoderData.h>
+#include "wpi/hal/simulation/EncoderData.h"
 
-#include "frc/Encoder.h"
+#include "wpi/hardware/rotation/Encoder.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
index b285f1f2b4..7832655d83 100644
--- a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/FlywheelSim.h"
+#include "wpi/simulation/FlywheelSim.hpp"
 
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/RobotController.h"
+#include "wpi/system/RobotController.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp b/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
index 8d993b05c0..fda9b4f3a3 100644
--- a/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/GamepadSim.h"
+#include "wpi/simulation/GamepadSim.hpp"
 
-#include "frc/Gamepad.h"
+#include "wpi/driverstation/Gamepad.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp b/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp
index 8ffcd26083..c18b73548a 100644
--- a/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
-#include "frc/DriverStation.h"
-#include "frc/GenericHID.h"
-#include "frc/simulation/DriverStationSim.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp b/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp
index 2019eff81d..f6fc95ea75 100644
--- a/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/JoystickSim.h"
+#include "wpi/simulation/JoystickSim.hpp"
 
-#include "frc/Joystick.h"
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
index b0bea287c3..d4e706eb4a 100644
--- a/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/PWMMotorControllerSim.h"
+#include "wpi/simulation/PWMMotorControllerSim.hpp"
 
-#include <hal/SimDevice.h>
-#include <units/length.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/length.hpp"
 
-#include "frc/simulation/SimDeviceSim.h"
+#include "wpi/simulation/SimDeviceSim.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
index ab5e27f70d..03be762b5d 100644
--- a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/PWMSim.h"
+#include "wpi/simulation/PWMSim.hpp"
 
 #include <memory>
 
-#include <hal/simulation/PWMData.h>
+#include "wpi/hal/simulation/PWMData.h"
 
-#include "frc/PWM.h"
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/discrete/PWM.hpp"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
index 88fed27277..c002137539 100644
--- a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/PneumaticsBaseSim.h"
+#include "wpi/simulation/PneumaticsBaseSim.hpp"
 
 #include <memory>
 
-#include "frc/Errors.h"
-#include "frc/PneumaticsModuleType.h"
-#include "frc/simulation/CTREPCMSim.h"
-#include "frc/simulation/REVPHSim.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
+#include "wpi/simulation/CTREPCMSim.hpp"
+#include "wpi/simulation/REVPHSim.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp b/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
index 4c03f22db6..39f303eb53 100644
--- a/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PowerDistributionSim.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/PowerDistributionSim.h"
+#include "wpi/simulation/PowerDistributionSim.hpp"
 
 #include <memory>
 
-#include <hal/simulation/PowerDistributionData.h>
+#include "wpi/hal/simulation/PowerDistributionData.h"
 
-#include "frc/PowerDistribution.h"
+#include "wpi/hardware/power/PowerDistribution.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp b/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
index 1f176bf93b..d2280a002d 100644
--- a/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/REVPHSim.h"
+#include "wpi/simulation/REVPHSim.hpp"
 
 #include <memory>
 
-#include <hal/simulation/REVPHData.h>
+#include "wpi/hal/simulation/REVPHData.h"
 
-#include "frc/SensorUtil.h"
+#include "wpi/util/SensorUtil.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
index c7fa8ded79..87c98e0598 100644
--- a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/RoboRioSim.h"
+#include "wpi/simulation/RoboRioSim.hpp"
 
 #include <memory>
 #include <string>
 
-#include <hal/simulation/RoboRioData.h>
+#include "wpi/hal/simulation/RoboRioData.h"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp b/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp
index 0b15b878e3..89b42c14a6 100644
--- a/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/SendableChooserSim.h"
+#include "wpi/simulation/SendableChooserSim.hpp"
 
 using namespace frc::sim;
 
diff --git a/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp b/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
index d5abf6cc42..164635e337 100644
--- a/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/SharpIRSim.h"
+#include "wpi/simulation/SharpIRSim.hpp"
 
-#include <hal/SimDevice.h>
-#include <units/length.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/length.hpp"
 
-#include "frc/simulation/SimDeviceSim.h"
+#include "wpi/simulation/SimDeviceSim.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp b/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
index 70e43e72dd..62df5419e9 100644
--- a/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/SimDeviceSim.h"
+#include "wpi/simulation/SimDeviceSim.hpp"
 
 #include <string>
 #include <vector>
 
 #include <fmt/format.h>
-#include <hal/SimDevice.h>
-#include <hal/simulation/SimDeviceData.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
index fe1cc65380..c7d5a36d22 100644
--- a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/SimHooks.h"
+#include "wpi/simulation/SimHooks.hpp"
 
-#include <hal/simulation/MockHooks.h>
+#include "wpi/hal/simulation/MockHooks.h"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
index f318d08300..ef2a97787b 100644
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/SingleJointedArmSim.h"
+#include "wpi/simulation/SingleJointedArmSim.hpp"
 
 #include <cmath>
 
-#include <units/voltage.h>
-#include <wpi/MathExtras.h>
+#include "wpi/units/voltage.hpp"
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/RobotController.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/plant/LinearSystemId.h"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp b/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
index 5ad5c20a34..e0fa8c12e4 100644
--- a/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/SolenoidSim.h"
+#include "wpi/simulation/SolenoidSim.hpp"
 
 #include <memory>
 #include <utility>
 
-#include "frc/PneumaticsBase.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
index 5decef99e2..e9426ad730 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/Field2d.h"
+#include "wpi/smartdashboard/Field2d.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <networktables/DoubleArrayTopic.h>
-#include <networktables/NTSendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/NTSendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
index 10a027024e..9ead0c0440 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/FieldObject2d.h"
+#include "wpi/smartdashboard/FieldObject2d.hpp"
 
 #include <utility>
 #include <vector>
 
-#include "frc/trajectory/Trajectory.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp b/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
index 0e19026b47..3c603d11d0 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/ListenerExecutor.h"
+#include "wpi/smartdashboard/ListenerExecutor.hpp"
 
 #include <utility>
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
index bb17180364..d9fa636b4d 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/Mechanism2d.h"
+#include "wpi/smartdashboard/Mechanism2d.hpp"
 
 #include <memory>
 #include <string_view>
 
-#include <networktables/NTSendableBuilder.h>
+#include "wpi/nt/NTSendableBuilder.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
index bd44a723e3..2757058048 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/MechanismLigament2d.h"
+#include "wpi/smartdashboard/MechanismLigament2d.hpp"
 
 #include <cstdio>
 #include <memory>
 
-#include <wpi/StringExtras.h>
-#include <wpi/json.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/json.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
index 136c619d0f..139bd65fab 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/MechanismObject2d.h"
+#include "wpi/smartdashboard/MechanismObject2d.hpp"
 
 #include <string>
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
index a40f5ee661..f2553f1a65 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/MechanismRoot2d.h"
+#include "wpi/smartdashboard/MechanismRoot2d.hpp"
 
-#include "frc/util/Color8Bit.h"
+#include "wpi/util/Color8Bit.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
index ff42ea5cc8..7d7d652d43 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
@@ -2,25 +2,25 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/SendableBuilderImpl.h"
+#include "wpi/smartdashboard/SendableBuilderImpl.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
-#include <networktables/BooleanArrayTopic.h>
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleArrayTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/FloatArrayTopic.h>
-#include <networktables/FloatTopic.h>
-#include <networktables/IntegerArrayTopic.h>
-#include <networktables/IntegerTopic.h>
-#include <networktables/RawTopic.h>
-#include <networktables/StringArrayTopic.h>
-#include <ntcore_cpp.h>
-#include <wpi/SmallVector.h>
-#include <wpi/json.h>
+#include "wpi/nt/BooleanArrayTopic.hpp"
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/FloatArrayTopic.hpp"
+#include "wpi/nt/FloatTopic.hpp"
+#include "wpi/nt/IntegerArrayTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/nt/RawTopic.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
+#include "wpi/nt/ntcore_cpp.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/json.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
index 5375346321..f7881ad9f1 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/SendableChooserBase.h"
+#include "wpi/smartdashboard/SendableChooserBase.hpp"
 
 #include <utility>
 
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
index 3cd1208f94..59fd6caf79 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -2,23 +2,23 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/smartdashboard/SmartDashboard.h"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include <hal/UsageReporting.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/StringMap.h>
-#include <wpi/mutex.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/smartdashboard/ListenerExecutor.h"
-#include "frc/smartdashboard/SendableBuilderImpl.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/smartdashboard/ListenerExecutor.hpp"
+#include "wpi/smartdashboard/SendableBuilderImpl.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
index 594aeb76c7..5ab7facf20 100644
--- a/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
+++ b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/sysid/SysIdRoutineLog.h"
+#include "wpi/sysid/SysIdRoutineLog.hpp"
 
 #include <string>
 
 #include <fmt/format.h>
 
-#include "frc/DataLogManager.h"
+#include "wpi/system/DataLogManager.hpp"
 
 using namespace frc::sysid;
 
diff --git a/wpilibc/src/main/native/cpp/system/DataLogManager.cpp b/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
index 040a298bab..d51f2f63a6 100644
--- a/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
+++ b/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DataLogManager.h"
+#include "wpi/system/DataLogManager.hpp"
 
-#include <frc/Errors.h>
+#include "wpi/system/Errors.hpp"
 
 #include <algorithm>
 #include <ctime>
@@ -13,21 +13,21 @@
 #include <vector>
 
 #include <fmt/chrono.h>
-#include <hal/UsageReporting.h>
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/SafeThread.h>
-#include <wpi/StringExtras.h>
-#include <wpi/datalog/DataLog.h>
-#include <wpi/datalog/DataLogBackgroundWriter.h>
-#include <wpi/datalog/FileLogger.h>
-#include <wpi/fs.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/datalog/DataLog.hpp"
+#include "wpi/datalog/DataLogBackgroundWriter.hpp"
+#include "wpi/datalog/FileLogger.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/DriverStation.h"
-#include "frc/Filesystem.h"
-#include "frc/RobotBase.h"
-#include "frc/RobotController.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/system/Filesystem.hpp"
+#include "wpi/opmode/RobotBase.hpp"
+#include "wpi/system/RobotController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/system/Errors.cpp b/wpilibc/src/main/native/cpp/system/Errors.cpp
index f29a420e4a..083e457967 100644
--- a/wpilibc/src/main/native/cpp/system/Errors.cpp
+++ b/wpilibc/src/main/native/cpp/system/Errors.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 #include <string>
 #include <utility>
 
-#include <hal/DriverStation.h>
-#include <hal/HALBase.h>
-#include <wpi/StackTrace.h>
-#include <wpi/fs.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/fs.hpp"
 
 using namespace frc;
 
@@ -41,12 +41,12 @@ const char* frc::GetErrorMessage(int32_t* code) {
 #define S(label, offset, message) \
   case err::label:                \
     return message;
-#include "frc/WPIErrors.mac"
+#include "wpi/system/WPIErrors.mac"
 #undef S
 #define S(label, offset, message) \
   case warn::label:               \
     return message;
-#include "frc/WPIWarnings.mac"
+#include "wpi/system/WPIWarnings.mac"
 #undef S
     default:
       return HAL_GetLastError(code);
diff --git a/wpilibc/src/main/native/cpp/system/Filesystem.cpp b/wpilibc/src/main/native/cpp/system/Filesystem.cpp
index 421bba3443..9157892bcc 100644
--- a/wpilibc/src/main/native/cpp/system/Filesystem.cpp
+++ b/wpilibc/src/main/native/cpp/system/Filesystem.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Filesystem.h"
+#include "wpi/system/Filesystem.hpp"
 
 #include <string>
 
-#include <wpi/fs.h>
+#include "wpi/util/fs.hpp"
 
-#include "frc/RobotBase.h"
+#include "wpi/opmode/RobotBase.hpp"
 
 std::string frc::filesystem::GetLaunchDirectory() {
   return fs::current_path().string();
diff --git a/wpilibc/src/main/native/cpp/system/Notifier.cpp b/wpilibc/src/main/native/cpp/system/Notifier.cpp
index fa2ee034a7..74702cc96e 100644
--- a/wpilibc/src/main/native/cpp/system/Notifier.cpp
+++ b/wpilibc/src/main/native/cpp/system/Notifier.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Notifier.h"
+#include "wpi/system/Notifier.hpp"
 
 #include <utility>
 
 #include <fmt/format.h>
-#include <hal/DriverStation.h>
-#include <hal/Notifier.h>
-#include <hal/Threads.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/Notifier.h"
+#include "wpi/hal/Threads.h"
 
-#include "frc/Errors.h"
-#include "frc/Timer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Timer.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/system/Resource.cpp b/wpilibc/src/main/native/cpp/system/Resource.cpp
index 34aeba5861..76517f99e9 100644
--- a/wpilibc/src/main/native/cpp/system/Resource.cpp
+++ b/wpilibc/src/main/native/cpp/system/Resource.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Resource.h"
+#include "wpi/system/Resource.hpp"
 
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>
 
-#include <wpi/deprecated.h>
+#include "wpi/util/deprecated.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 WPI_IGNORE_DEPRECATED
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/system/RobotController.cpp b/wpilibc/src/main/native/cpp/system/RobotController.cpp
index 3844d04c1b..2944287ef9 100644
--- a/wpilibc/src/main/native/cpp/system/RobotController.cpp
+++ b/wpilibc/src/main/native/cpp/system/RobotController.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/RobotController.h"
+#include "wpi/system/RobotController.hpp"
 
 #include <functional>
 #include <string>
 
-#include <hal/CAN.h>
-#include <hal/HALBase.h>
-#include <hal/Power.h>
+#include "wpi/hal/CAN.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Power.h"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp b/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp
index 3c8fc80745..b8bd88c2db 100644
--- a/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp
+++ b/wpilibc/src/main/native/cpp/system/ScopedTracer.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/ScopedTracer.h"
+#include "wpi/system/ScopedTracer.hpp"
 
-#include <wpi/raw_ostream.h>
+#include "wpi/util/raw_ostream.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/system/SystemServer.cpp b/wpilibc/src/main/native/cpp/system/SystemServer.cpp
index 0e914f7c38..ed25a4e461 100644
--- a/wpilibc/src/main/native/cpp/system/SystemServer.cpp
+++ b/wpilibc/src/main/native/cpp/system/SystemServer.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/SystemServer.h"
+#include "wpi/system/SystemServer.hpp"
 
-#include <hal/SystemServer.h>
+#include "wpi/hal/SystemServer.h"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/cpp/system/Threads.cpp b/wpilibc/src/main/native/cpp/system/Threads.cpp
index db240f6385..b3dd529ef9 100644
--- a/wpilibc/src/main/native/cpp/system/Threads.cpp
+++ b/wpilibc/src/main/native/cpp/system/Threads.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Threads.h"
+#include "wpi/system/Threads.hpp"
 
-#include <hal/Threads.h>
+#include "wpi/hal/Threads.h"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/cpp/system/Timer.cpp b/wpilibc/src/main/native/cpp/system/Timer.cpp
index 912db0a603..b7d20e8668 100644
--- a/wpilibc/src/main/native/cpp/system/Timer.cpp
+++ b/wpilibc/src/main/native/cpp/system/Timer.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Timer.h"
+#include "wpi/system/Timer.hpp"
 
 #include <chrono>
 #include <thread>
 
-#include "frc/DriverStation.h"
-#include "frc/RobotController.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/system/RobotController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/cpp/system/Tracer.cpp b/wpilibc/src/main/native/cpp/system/Tracer.cpp
index 018abde3eb..4579603931 100644
--- a/wpilibc/src/main/native/cpp/system/Tracer.cpp
+++ b/wpilibc/src/main/native/cpp/system/Tracer.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Tracer.h"
+#include "wpi/system/Tracer.hpp"
 
 #include <fmt/format.h>
-#include <wpi/SmallString.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/system/Watchdog.cpp b/wpilibc/src/main/native/cpp/system/Watchdog.cpp
index 063ed5a09b..399a451d20 100644
--- a/wpilibc/src/main/native/cpp/system/Watchdog.cpp
+++ b/wpilibc/src/main/native/cpp/system/Watchdog.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Watchdog.h"
+#include "wpi/system/Watchdog.hpp"
 
 #include <atomic>
 #include <thread>
@@ -10,12 +10,12 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <hal/Notifier.h>
-#include <wpi/mutex.h>
-#include <wpi/priority_queue.h>
+#include "wpi/hal/Notifier.h"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/priority_queue.hpp"
 
-#include "frc/Errors.h"
-#include "frc/Timer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Timer.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/util/Alert.cpp b/wpilibc/src/main/native/cpp/util/Alert.cpp
index 7cce523377..eb6daed2f4 100644
--- a/wpilibc/src/main/native/cpp/util/Alert.cpp
+++ b/wpilibc/src/main/native/cpp/util/Alert.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Alert.h"
+#include "wpi/util/Alert.hpp"
 
 #include <set>
 #include <string>
@@ -10,15 +10,15 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <networktables/NTSendable.h>
-#include <networktables/NTSendableBuilder.h>
-#include <wpi/StringMap.h>
-#include <wpi/sendable/SendableHelper.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/nt/NTSendable.hpp"
+#include "wpi/nt/NTSendableBuilder.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/Errors.h"
-#include "frc/RobotController.h"
-#include "frc/smartdashboard/SmartDashboard.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/util/Preferences.cpp b/wpilibc/src/main/native/cpp/util/Preferences.cpp
index 7c95c8a7b8..d0979bf438 100644
--- a/wpilibc/src/main/native/cpp/util/Preferences.cpp
+++ b/wpilibc/src/main/native/cpp/util/Preferences.cpp
@@ -2,20 +2,20 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Preferences.h"
+#include "wpi/util/Preferences.hpp"
 
 #include <memory>
 #include <string>
 #include <vector>
 
 #include <fmt/format.h>
-#include <hal/UsageReporting.h>
-#include <networktables/MultiSubscriber.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/NetworkTableListener.h>
-#include <networktables/StringTopic.h>
-#include <wpi/json.h>
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/nt/MultiSubscriber.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/NetworkTableListener.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/util/json.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/util/SensorUtil.cpp b/wpilibc/src/main/native/cpp/util/SensorUtil.cpp
index f17c5f7e9b..67ffe9d039 100644
--- a/wpilibc/src/main/native/cpp/util/SensorUtil.cpp
+++ b/wpilibc/src/main/native/cpp/util/SensorUtil.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/SensorUtil.h"
+#include "wpi/util/SensorUtil.hpp"
 
-#include <hal/AnalogInput.h>
-#include <hal/DIO.h>
-#include <hal/PWM.h>
-#include <hal/Ports.h>
+#include "wpi/hal/AnalogInput.h"
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/Ports.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index 99f4baba26..25019eb710 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/RobotBase.h"
+#include "wpi/opmode/RobotBase.hpp"
 
 #ifdef __FRC_SYSTEMCORE__
 #include <dlfcn.h>
@@ -13,20 +13,20 @@
 #include <string>
 #include <utility>
 
-#include <cameraserver/CameraServerShared.h>
-#include <hal/HALBase.h>
-#include <hal/UsageReporting.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
-#include <wpimath/MathShared.h>
+#include "wpi/cameraserver/CameraServerShared.hpp"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/UsageReporting.h"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
+#include "wpi/math/util/MathShared.hpp"
 
-#include "WPILibVersion.h"
-#include "frc/DriverStation.h"
-#include "frc/Errors.h"
-#include "frc/Notifier.h"
-#include "frc/smartdashboard/SmartDashboard.h"
+#include "wpi/system/WPILibVersion.hpp"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Notifier.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 static_assert(frc::RuntimeType::kRoboRIO ==
               static_cast<frc::RuntimeType>(HAL_Runtime_RoboRIO));
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp
index 5e479cf6c1..37a245e32c 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHub.hpp
@@ -7,7 +7,7 @@
 #include <memory>
 #include <string_view>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 namespace frc {
 class ExpansionHubServo;
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp
index 329462a189..525b85a509 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHubMotor.hpp
@@ -6,16 +6,16 @@
 
 #include <memory>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/IntegerTopic.h>
-#include <units/angle.h>
-#include <units/current.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/current.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
-#include "frc/ExpansionHub.h"
-#include "frc/ExpansionHubPidConstants.h"
+#include "wpi/ExpansionHub.hpp"
+#include "wpi/ExpansionHubPidConstants.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp
index 4d9db27a87..4873619fa9 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHubPidConstants.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/IntegerTopic.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
 
 namespace frc {
 class ExpansionHubMotor;
diff --git a/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp b/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp
index a3b138f968..8b2d091f3d 100644
--- a/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp
+++ b/wpilibc/src/main/native/include/wpi/ExpansionHubServo.hpp
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/IntegerTopic.h>
-#include <units/angle.h>
-#include <units/time.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/IntegerTopic.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/time.hpp"
 
-#include "frc/ExpansionHub.h"
+#include "wpi/ExpansionHub.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp b/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp
index e22defd666..851d0bf228 100644
--- a/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp
+++ b/wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp
@@ -6,15 +6,15 @@
 
 #include <memory>
 
-#include <hal/Counter.h>
-#include <hal/Types.h>
-#include <units/angular_velocity.h>
-#include <units/frequency.h>
-#include <units/time.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/Counter.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "EdgeConfiguration.h"
+#include "EdgeConfiguration.hpp"
 
 namespace frc {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp b/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp
index 4509c50fe3..dd8c9351bc 100644
--- a/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp
+++ b/wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <hal/Counter.h>
-#include <hal/Types.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/Counter.h"
+#include "wpi/hal/Types.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "EdgeConfiguration.h"
+#include "EdgeConfiguration.hpp"
 
 namespace frc {
 /** Up Down Counter.
diff --git a/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp b/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
index 2baa49effa..a838e7eaec 100644
--- a/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
@@ -7,11 +7,11 @@
 #include <functional>
 #include <string>
 
-#include <wpi/deprecated.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/deprecated.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/drive/RobotDriveBase.h"
+#include "wpi/drive/RobotDriveBase.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp b/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
index 575a14a2a4..d17b8747c8 100644
--- a/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/MecanumDrive.hpp
@@ -8,13 +8,13 @@
 #include <memory>
 #include <string>
 
-#include <units/angle.h>
-#include <wpi/deprecated.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/util/deprecated.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/drive/RobotDriveBase.h"
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/drive/RobotDriveBase.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
index 2a746434e4..f3790e1c2a 100644
--- a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
@@ -8,7 +8,7 @@
 #include <span>
 #include <string>
 
-#include "frc/MotorSafety.h"
+#include "wpi/hardware/motor/MotorSafety.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp b/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp
index fb0709f342..799e6116dc 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/DSControlWord.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <hal/DriverStationTypes.h>
+#include "wpi/hal/DriverStationTypes.h"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp b/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
index 36eca4ad46..51b7cfdfad 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <frc/geometry/Rotation2d.h>
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 #include <optional>
 #include <string>
 
-#include <hal/DriverStationTypes.h>
-#include <units/time.h>
-#include <wpi/Synchronization.h>
+#include "wpi/hal/DriverStationTypes.h"
+#include "wpi/units/time.hpp"
+#include "wpi/util/Synchronization.h"
 
 namespace wpi::log {
 class DataLog;
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp b/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
index 94b88a0e66..c40d9b7004 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp b/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
index 0f89a59714..a3896716e0 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
@@ -8,7 +8,7 @@
 
 #include <string>
 
-#include "frc/DriverStation.h"
+#include "wpi/driverstation/DriverStation.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp b/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp
index 399a304d84..e4dc88101e 100644
--- a/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp
+++ b/wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp
@@ -6,9 +6,9 @@
 
 #include <array>
 
-#include <units/angle.h>
+#include "wpi/units/angle.hpp"
 
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp b/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp
index c17c89c8f4..9519bc7c2e 100644
--- a/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp
+++ b/wpilibc/src/main/native/include/wpi/event/BooleanEvent.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <frc/filter/Debouncer.h>
+#include "wpi/math/filter/Debouncer.hpp"
 
 #include <functional>
 #include <memory>
 
-#include <units/time.h>
-#include <wpi/FunctionExtras.h>
+#include "wpi/units/time.hpp"
+#include "wpi/util/FunctionExtras.hpp"
 
-#include "EventLoop.h"
+#include "EventLoop.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp b/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp
index dca61220a5..3f5f2aca27 100644
--- a/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp
+++ b/wpilibc/src/main/native/include/wpi/event/EventLoop.hpp
@@ -7,7 +7,7 @@
 #include <functional>
 #include <vector>
 
-#include <wpi/FunctionExtras.h>
+#include "wpi/util/FunctionExtras.hpp"
 
 namespace frc {
 /** A declarative way to bind a set of actions to a loop and execute them when
diff --git a/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp b/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
index 85f7039175..ac3b5e1f99 100644
--- a/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
+++ b/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
@@ -7,7 +7,7 @@
 #include <memory>
 #include <string_view>
 
-#include "BooleanEvent.h"
+#include "wpi/event/BooleanEvent.hpp"
 
 namespace nt {
 class BooleanSubscriber;
diff --git a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp
index 924fbb110d..c06cb37d01 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/ADXL345_I2C.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
-#include <networktables/NTSendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/nt/NTSendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/I2C.h"
+#include "wpi/hardware/bus/I2C.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp
index cd4c04bc35..a7f08bd468 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/accelerometer/AnalogAccelerometer.hpp
@@ -6,10 +6,10 @@
 
 #include <memory>
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/AnalogInput.h"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp b/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp
index f3029e3eb2..78cf6ebb11 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <hal/CANAPI.h>
+#include "wpi/hal/CANAPI.h"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp b/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp
index 6b8decedb9..ca8acb942e 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp
@@ -6,8 +6,8 @@
 
 #include <stdint.h>
 
-#include <hal/I2C.h>
-#include <hal/I2CTypes.h>
+#include "wpi/hal/I2C.h"
+#include "wpi/hal/I2CTypes.h"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp b/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp
index 35e075a92c..0bd8ee2183 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp
@@ -7,9 +7,9 @@
 #include <string>
 #include <string_view>
 
-#include <hal/SerialPort.h>
-#include <hal/Types.h>
-#include <units/time.h>
+#include "wpi/hal/SerialPort.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp
index a7e2834585..01196dec25 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp
@@ -6,10 +6,10 @@
 
 #include <stdint.h>
 
-#include <hal/AnalogInput.h>
-#include <hal/Types.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/AnalogInput.h"
+#include "wpi/hal/Types.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
index 33febbf65e..4cee9ad4e0 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp
index 2df396ab1f..96727924d2 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <hal/DIO.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/DIO.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp
index 225e69b282..1294d678ac 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <hal/DIO.h>
-#include <hal/Types.h>
-#include <units/time.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/DIO.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/time.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp
index bed2c6120b..710b09bf57 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp
@@ -6,11 +6,11 @@
 
 #include <stdint.h>
 
-#include <hal/PWM.h>
-#include <hal/Types.h>
-#include <units/time.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/PWM.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/time.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 class AddressableLED;
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 067fbf8c32..dc15e79b94 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #pragma once
-#include <frc/geometry/Quaternion.h>
-#include <frc/geometry/Rotation2d.h>
-#include <frc/geometry/Rotation3d.h>
+#include "wpi/math/geometry/Quaternion.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
-#include <units/acceleration.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp b/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp
index db54d108b5..b32a63a0b4 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp
@@ -7,13 +7,13 @@
 #include <initializer_list>
 #include <span>
 
-#include <hal/AddressableLED.h>
-#include <hal/AddressableLEDTypes.h>
-#include <hal/Types.h>
-#include <units/time.h>
+#include "wpi/hal/AddressableLED.h"
+#include "wpi/hal/AddressableLEDTypes.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/time.hpp"
 
-#include "util/Color.h"
-#include "util/Color8Bit.h"
+#include "wpi/util/Color.hpp"
+#include "wpi/util/Color8Bit.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp b/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp
index 0b8cfcbd0b..b5143fa49b 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp
@@ -8,13 +8,13 @@
 #include <span>
 #include <utility>
 
-#include <units/frequency.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/velocity.h>
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
-#include "frc/AddressableLED.h"
-#include "util/Color.h"
+#include "wpi/hardware/led/AddressableLED.hpp"
+#include "wpi/util/Color.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
index 24e1b17955..bae338ef9f 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorController.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <units/voltage.h>
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
index 532fecde7f..b4510b70ce 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
@@ -7,11 +7,11 @@
 #include <functional>
 #include <vector>
 
-#include <wpi/deprecated.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/deprecated.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/motorcontrol/MotorController.h"
+#include "wpi/hardware/motor/MotorController.hpp"
 
 WPI_IGNORE_DEPRECATED
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp
index efe7806a95..ca5844318f 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorSafety.hpp
@@ -6,10 +6,10 @@
 
 #include <string>
 
-#include <units/time.h>
-#include <wpi/mutex.h>
+#include "wpi/units/time.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "frc/Timer.h"
+#include "wpi/system/Timer.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
index 793d297317..a25cbb4566 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/motor/PWMMotorController.hpp
@@ -12,15 +12,15 @@
 #include <utility>
 #include <vector>
 
-#include <hal/SimDevice.h>
-#include <units/voltage.h>
-#include <wpi/deprecated.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/voltage.hpp"
+#include "wpi/util/deprecated.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/MotorSafety.h"
-#include "frc/PWM.h"
-#include "frc/motorcontrol/MotorController.h"
+#include "wpi/hardware/motor/MotorSafety.hpp"
+#include "wpi/hardware/discrete/PWM.hpp"
+#include "wpi/hardware/motor/MotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp
index 08dac7fc49..dad6ffbb8a 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Compressor.hpp
@@ -6,14 +6,14 @@
 
 #include <memory>
 
-#include <hal/Types.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/Types.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/CompressorConfigType.h"
-#include "frc/PneumaticsBase.h"
-#include "frc/PneumaticsModuleType.h"
-#include "frc/SensorUtil.h"
+#include "wpi/hardware/pneumatic/CompressorConfigType.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
+#include "wpi/util/SensorUtil.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp
index 8fa5ad72ba..e07f35eb4c 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <hal/Types.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/Types.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/PneumaticsBase.h"
-#include "frc/PneumaticsModuleType.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp
index 2facb3f9ff..a2f2553403 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticHub.hpp
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <hal/Types.h>
-#include <units/pressure.h>
-#include <wpi/DenseMap.h>
-#include <wpi/mutex.h>
+#include "wpi/hal/Types.h"
+#include "wpi/units/pressure.hpp"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "PneumaticsBase.h"
+#include "PneumaticsBase.hpp"
 
 namespace frc {
 /** Module class for controlling a REV Robotics Pneumatic Hub. */
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp
index f28c6bea28..b184c8c71f 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsBase.hpp
@@ -7,13 +7,13 @@
 #include <memory>
 #include <string_view>
 
-#include <units/current.h>
-#include <units/pressure.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/current.hpp"
+#include "wpi/units/pressure.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
-#include "frc/CompressorConfigType.h"
-#include "frc/PneumaticsModuleType.h"
+#include "wpi/hardware/pneumatic/CompressorConfigType.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
 
 namespace frc {
 class Solenoid;
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp
index b048721bfc..42f246575b 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsControlModule.hpp
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <hal/Types.h>
-#include <wpi/DenseMap.h>
-#include <wpi/mutex.h>
+#include "wpi/hal/Types.h"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "PneumaticsBase.h"
+#include "PneumaticsBase.hpp"
 
 namespace frc {
 /** Module class for controlling a Cross The Road Electronics Pneumatics Control
diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp
index 0c8e7e9836..eb63a5c682 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/Solenoid.hpp
@@ -6,13 +6,13 @@
 
 #include <memory>
 
-#include <hal/Types.h>
-#include <units/time.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/Types.h"
+#include "wpi/units/time.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/PneumaticsBase.h"
-#include "frc/PneumaticsModuleType.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp b/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp
index fbcfe765c6..df86fd227e 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp
@@ -6,10 +6,10 @@
 
 #include <vector>
 
-#include <hal/PowerDistribution.h>
-#include <hal/Types.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/PowerDistribution.h"
+#include "wpi/hal/Types.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp b/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp
index df637a4dd9..aa343afcb5 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/range/SharpIR.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
-#include <units/length.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/length.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/AnalogInput.h"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp
index 8baf491013..323f28323e 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogEncoder.hpp
@@ -6,10 +6,10 @@
 
 #include <memory>
 
-#include <hal/SimDevice.h>
-#include <hal/Types.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/Types.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 class AnalogInput;
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp
index 10c61c8d69..96f5ec674f 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/AnalogPotentiometer.hpp
@@ -6,10 +6,10 @@
 
 #include <memory>
 
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/AnalogInput.h"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
index 493989f8a2..6191a3cccb 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <hal/DutyCycle.h>
-#include <hal/Types.h>
-#include <units/frequency.h>
-#include <units/time.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/DutyCycle.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp
index 3b3329eeed..9b99273f3a 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycleEncoder.hpp
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <hal/SimDevice.h>
-#include <hal/Types.h>
-#include <units/frequency.h>
-#include <units/time.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 class DutyCycle;
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
index dd23ba4942..2a54aa8250 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
@@ -6,12 +6,12 @@
 
 #include <memory>
 
-#include <hal/Encoder.h>
-#include <hal/Types.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/hal/Encoder.h"
+#include "wpi/hal/Types.h"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/CounterBase.h"
+#include "wpi/hardware/discrete/CounterBase.hpp"
 
 namespace frc {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp b/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp
index 74914ad018..ba467bf76b 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
-#include "frc/RobotBase.h"
-#include "frc/Watchdog.h"
+#include "wpi/opmode/RobotBase.hpp"
+#include "wpi/system/Watchdog.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp b/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp
index d388b98dc8..f46bacbf4d 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp
@@ -7,17 +7,17 @@
 #include <chrono>
 #include <thread>
 
-#include <hal/DriverStation.h>
-#include <hal/HALBase.h>
-#include <hal/Main.h>
-#include <networktables/NetworkTable.h>
-#include <wpi/RuntimeCheck.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
-#include <wpi/string.h>
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/HALBase.h"
+#include "wpi/hal/Main.h"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/util/RuntimeCheck.h"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/string.h"
 
-#include "frc/Errors.h"
-#include "frc/RuntimeType.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/RuntimeType.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp b/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp
index 9d1e8ca1a1..6db14012fa 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp
@@ -9,15 +9,15 @@
 #include <utility>
 #include <vector>
 
-#include <hal/Notifier.h>
-#include <hal/Types.h>
-#include <units/frequency.h>
-#include <units/math.h>
-#include <units/time.h>
-#include <wpi/priority_queue.h>
+#include "wpi/hal/Notifier.h"
+#include "wpi/hal/Types.h"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/priority_queue.hpp"
 
-#include "frc/IterativeRobotBase.h"
-#include "frc/RobotController.h"
+#include "wpi/opmode/IterativeRobotBase.hpp"
+#include "wpi/system/RobotController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp b/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp
index bc045d58b6..1567ad9854 100644
--- a/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp
+++ b/wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp
@@ -6,9 +6,9 @@
 
 #include <functional>
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
-#include "frc/TimedRobot.h"
+#include "wpi/opmode/TimedRobot.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp b/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp
index ea9f6f8656..6fd529a2f3 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/ADXL345Sim.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
+#include "wpi/hal/SimDevice.h"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp
index 18fbe9b874..320e93d0c3 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/AddressableLEDSim.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 struct HAL_AddressableLEDData;
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp
index 3cd8f22306..0b6fa0944a 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/AnalogEncoderSim.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
-#include <units/angle.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/angle.hpp"
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp
index 75e8092d95..50af588306 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp b/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp
index d50ff22480..62c6722b54 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp
@@ -8,9 +8,9 @@
 #include <numeric>
 #include <span>
 
-#include <units/current.h>
-#include <units/impedance.h>
-#include <units/voltage.h>
+#include "wpi/units/current.hpp"
+#include "wpi/units/impedance.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp
index 37113db141..0eceb19d82 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp
@@ -6,9 +6,9 @@
 
 #include <memory>
 
-#include "frc/PneumaticsBase.h"
-#include "frc/simulation/CallbackStore.h"
-#include "frc/simulation/PneumaticsBaseSim.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
+#include "wpi/simulation/CallbackStore.hpp"
+#include "wpi/simulation/PneumaticsBaseSim.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp b/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp
index 61cc6b291b..1b572ad7b6 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/CallbackStore.hpp
@@ -7,7 +7,7 @@
 #include <functional>
 #include <string_view>
 
-#include <hal/Value.h>
+#include "wpi/hal/Value.h"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp
index 3473938f62..915b601e50 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <units/angle.h>
-#include <units/angular_acceleration.h>
-#include <units/angular_velocity.h>
-#include <units/moment_of_inertia.h>
-#include <units/torque.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
+#include "wpi/units/torque.hpp"
 
-#include "frc/simulation/LinearSystemSim.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/simulation/LinearSystemSim.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
 namespace frc::sim {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp
index 5264c02302..8266f43530 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DIOSim.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
index b6bf76076f..d58a21a6f3 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <frc/EigenCore.h>
-#include <frc/kinematics/DifferentialDriveKinematics.h>
-#include <frc/system/LinearSystem.h>
-#include <frc/system/plant/DCMotor.h>
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
-#include <units/length.h>
-#include <units/moment_of_inertia.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/length.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp
index f9b974d36b..e9c517a77a 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp
index eaa697f679..969e8ec1e3 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DoubleSolenoidSim.hpp
@@ -6,9 +6,9 @@
 
 #include <memory>
 
-#include "frc/DoubleSolenoid.h"
-#include "frc/PneumaticsModuleType.h"
-#include "frc/simulation/PneumaticsBaseSim.h"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
+#include "wpi/simulation/PneumaticsBaseSim.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
index 29c1490933..8ed8f11d38 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
@@ -6,10 +6,10 @@
 
 #include <memory>
 
-#include <hal/DriverStationTypes.h>
+#include "wpi/hal/DriverStationTypes.h"
 
-#include "frc/DriverStation.h"
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp
index e5d84f12fd..f4e3fd35cc 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleEncoderSim.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
-#include <units/angle.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/angle.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp
index c93cccb75f..8c16146f7c 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/DutyCycleSim.hpp
@@ -6,9 +6,9 @@
 
 #include <memory>
 
-#include <units/frequency.h>
+#include "wpi/units/frequency.hpp"
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
index 03cc070cee..b501792457 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
@@ -6,12 +6,12 @@
 
 #include <array>
 
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/velocity.h>
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/velocity.hpp"
 
-#include "frc/simulation/LinearSystemSim.h"
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/simulation/LinearSystemSim.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
 namespace frc::sim {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp
index 80ad146324..72875ec262 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/EncoderSim.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp
index 13ca5a4081..f44156e5be 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp
@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <units/angular_acceleration.h>
-#include <units/angular_velocity.h>
-#include <units/moment_of_inertia.h>
-#include <units/torque.h>
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
+#include "wpi/units/torque.hpp"
 
-#include "frc/simulation/LinearSystemSim.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/simulation/LinearSystemSim.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
 namespace frc::sim {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
index 0c9eaa115d..fac63aaff9 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/GamepadSim.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp
index 207217bd66..55ada4a477 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp
@@ -6,8 +6,8 @@
 
 #include <stdint.h>
 
-#include "frc/DriverStation.h"
-#include "frc/GenericHID.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/GenericHID.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp
index db573ad396..c92e086016 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/JoystickSim.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "frc/simulation/GenericHIDSim.h"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp
index 8747a0d18c..b56cca6635 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp
@@ -6,12 +6,12 @@
 
 #include <array>
 
-#include <units/current.h>
-#include <units/time.h>
+#include "wpi/units/current.hpp"
+#include "wpi/units/time.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/system/LinearSystem.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
 
 namespace frc::sim {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
index e5f43abf94..3acc230fb7 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PWMMotorControllerSim.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
-#include <units/length.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/length.hpp"
 
-#include "frc/motorcontrol/PWMMotorController.h"
+#include "wpi/hardware/motor/PWMMotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp
index 2c1bbc7fc8..3059ce9355 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PWMSim.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp
index f3000f4a3e..653bce1eb6 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PneumaticsBaseSim.hpp
@@ -6,9 +6,9 @@
 
 #include <memory>
 
-#include "frc/PneumaticsBase.h"
-#include "frc/PneumaticsModuleType.h"
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp
index 76fa7ba97a..9336d7c94a 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/PowerDistributionSim.hpp
@@ -6,7 +6,7 @@
 
 #include <memory>
 
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp
index 917eb1f4c6..769c90db6e 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/REVPHSim.hpp
@@ -6,9 +6,9 @@
 
 #include <memory>
 
-#include "frc/PneumaticsBase.h"
-#include "frc/simulation/CallbackStore.h"
-#include "frc/simulation/PneumaticsBaseSim.h"
+#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
+#include "wpi/simulation/CallbackStore.hpp"
+#include "wpi/simulation/PneumaticsBaseSim.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp
index 341b2f0c10..08c8bbb3d3 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/RoboRioSim.hpp
@@ -7,12 +7,12 @@
 #include <memory>
 #include <string>
 
-#include <units/current.h>
-#include <units/temperature.h>
-#include <units/voltage.h>
+#include "wpi/units/current.hpp"
+#include "wpi/units/temperature.hpp"
+#include "wpi/units/voltage.hpp"
 
-#include "frc/RobotController.h"
-#include "frc/simulation/CallbackStore.h"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/simulation/CallbackStore.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp
index 6d4b605332..ddfa4ca9a0 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp
@@ -6,10 +6,10 @@
 
 #include <string_view>
 
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
-#include "frc/RobotBase.h"
+#include "wpi/opmode/RobotBase.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp
index e4c98b03c6..87486c7088 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SharpIRSim.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <hal/SimDevice.h>
-#include <units/length.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/length.hpp"
 
-#include "frc/SharpIR.h"
+#include "wpi/hardware/range/SharpIR.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp
index 6e16116e1d..a5c0822779 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp
@@ -8,8 +8,8 @@
 #include <string>
 #include <vector>
 
-#include <hal/SimDevice.h>
-#include <hal/simulation/SimDeviceData.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/hal/simulation/SimDeviceData.h"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp b/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
index 5d8a6b4c72..ff2951457f 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
@@ -6,8 +6,8 @@
 
 #include <stdint.h>
 
-#include <hal/HALBase.h>
-#include <units/time.h>
+#include "wpi/hal/HALBase.h"
+#include "wpi/units/time.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
index 36924f8d0f..bf022e7d0a 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
@@ -6,13 +6,13 @@
 
 #include <array>
 
-#include <units/angle.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/moment_of_inertia.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
-#include "frc/simulation/LinearSystemSim.h"
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/simulation/LinearSystemSim.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
 namespace frc::sim {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp b/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp
index 0bb471a093..8cb158bfc5 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SolenoidSim.hpp
@@ -6,8 +6,8 @@
 
 #include <memory>
 
-#include "frc/PneumaticsModuleType.h"
-#include "frc/simulation/PneumaticsBaseSim.h"
+#include "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
+#include "wpi/simulation/PneumaticsBaseSim.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp
index 61d7a7207b..89e3949c5b 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/Field2d.hpp
@@ -8,16 +8,16 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/NTSendable.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableEntry.h>
-#include <units/length.h>
-#include <wpi/mutex.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/nt/NTSendable.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/NetworkTableEntry.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/smartdashboard/FieldObject2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/smartdashboard/FieldObject2d.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
index 776e521645..187a0ffe5c 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
@@ -10,13 +10,13 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/DoubleArrayTopic.h>
-#include <units/length.h>
-#include <wpi/SmallVector.h>
-#include <wpi/mutex.h>
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp
index cdfdafdcea..da2f022615 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/ListenerExecutor.hpp
@@ -7,7 +7,7 @@
 #include <functional>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 namespace frc::detail {
 /**
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp
index f20f2deb96..396089efcf 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp
@@ -7,16 +7,16 @@
 #include <memory>
 #include <string>
 
-#include <networktables/DoubleArrayTopic.h>
-#include <networktables/NTSendable.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/StringTopic.h>
-#include <wpi/StringMap.h>
-#include <wpi/mutex.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/NTSendable.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/smartdashboard/MechanismRoot2d.h"
-#include "frc/util/Color8Bit.h"
+#include "wpi/smartdashboard/MechanismRoot2d.hpp"
+#include "wpi/util/Color8Bit.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp
index f9c86fc23e..ba462768f2 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp
@@ -7,12 +7,12 @@
 #include <memory>
 #include <string_view>
 
-#include <networktables/DoubleTopic.h>
-#include <networktables/StringTopic.h>
-#include <units/angle.h>
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/units/angle.hpp"
 
-#include "frc/smartdashboard/MechanismObject2d.h"
-#include "frc/util/Color8Bit.h"
+#include "wpi/smartdashboard/MechanismObject2d.hpp"
+#include "wpi/util/Color8Bit.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp
index 81cbc97664..ba7c0b31ee 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp
@@ -11,10 +11,10 @@
 #include <string_view>
 #include <utility>
 
-#include <networktables/NetworkTable.h>
-#include <wpi/StringMap.h>
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/util/StringMap.hpp"
 
-#include "frc/Errors.h"
+#include "wpi/system/Errors.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp
index 37e0f7bd8e..6b038f37ef 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/MechanismRoot2d.hpp
@@ -7,9 +7,9 @@
 #include <memory>
 #include <string_view>
 
-#include <networktables/DoubleTopic.h>
+#include "wpi/nt/DoubleTopic.hpp"
 
-#include "MechanismObject2d.h"
+#include "wpi/smartdashboard/MechanismObject2d.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp
index 026c77ba0c..bfd50bd4a6 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableBuilderImpl.hpp
@@ -12,12 +12,12 @@
 #include <utility>
 #include <vector>
 
-#include <networktables/BooleanTopic.h>
-#include <networktables/NTSendableBuilder.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/StringTopic.h>
-#include <wpi/FunctionExtras.h>
-#include <wpi/SmallVector.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NTSendableBuilder.hpp"
+#include "wpi/nt/NetworkTable.hpp"
+#include "wpi/nt/StringTopic.hpp"
+#include "wpi/util/FunctionExtras.hpp"
+#include "wpi/util/SmallVector.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp
index 23bb6d9cab..33113bd6b8 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooser.hpp
@@ -13,10 +13,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/StringMap.h>
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
-#include "frc/smartdashboard/SendableChooserBase.h"
+#include "wpi/smartdashboard/SendableChooserBase.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp
index 3263f92f6b..23657f6283 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SendableChooserBase.hpp
@@ -7,9 +7,9 @@
 #include <atomic>
 #include <string>
 
-#include <wpi/mutex.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
index af76205ab3..b965522cf2 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
@@ -11,8 +11,8 @@
 #include <string_view>
 #include <vector>
 
-#include <networktables/NetworkTableEntry.h>
-#include <networktables/NetworkTableValue.h>
+#include "wpi/nt/NetworkTableEntry.hpp"
+#include "wpi/nt/NetworkTableValue.hpp"
 
 namespace wpi {
 class Sendable;
diff --git a/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp b/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp
index 9d53847e6b..eaedaed982 100644
--- a/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp
+++ b/wpilibc/src/main/native/include/wpi/sysid/SysIdRoutineLog.hpp
@@ -7,15 +7,15 @@
 #include <string>
 #include <string_view>
 
-#include <units/acceleration.h>
-#include <units/angle.h>
-#include <units/angular_acceleration.h>
-#include <units/angular_velocity.h>
-#include <units/current.h>
-#include <units/length.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
-#include <wpi/datalog/DataLog.h>
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/current.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/datalog/DataLog.hpp"
 
 namespace frc::sysid {
 
diff --git a/wpilibc/src/main/native/include/wpi/system/Errors.hpp b/wpilibc/src/main/native/include/wpi/system/Errors.hpp
index 3aae3e446d..d3febda277 100644
--- a/wpilibc/src/main/native/include/wpi/system/Errors.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Errors.hpp
@@ -111,13 +111,13 @@ inline RuntimeError MakeError(int32_t status, const char* fileName,
 
 namespace err {
 #define S(label, offset, message) inline constexpr int label = offset;
-#include "frc/WPIErrors.mac"
+#include "wpi/system/WPIErrors.mac"
 #undef S
 }  // namespace err
 
 namespace warn {
 #define S(label, offset, message) inline constexpr int label = offset;
-#include "frc/WPIWarnings.mac"
+#include "wpi/system/WPIWarnings.mac"
 #undef S
 }  // namespace warn
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/wpi/system/Notifier.hpp b/wpilibc/src/main/native/include/wpi/system/Notifier.hpp
index ea5b67fd58..e5e6caf5b6 100644
--- a/wpilibc/src/main/native/include/wpi/system/Notifier.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Notifier.hpp
@@ -13,10 +13,10 @@
 #include <thread>
 #include <utility>
 
-#include <hal/Types.h>
-#include <units/frequency.h>
-#include <units/time.h>
-#include <wpi/mutex.h>
+#include "wpi/hal/Types.h"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/mutex.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/system/Resource.hpp b/wpilibc/src/main/native/include/wpi/system/Resource.hpp
index ecc5bca589..6421c3c985 100644
--- a/wpilibc/src/main/native/include/wpi/system/Resource.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Resource.hpp
@@ -10,7 +10,7 @@
 #include <string>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/system/RobotController.hpp b/wpilibc/src/main/native/include/wpi/system/RobotController.hpp
index 3081a52806..4dab91ace4 100644
--- a/wpilibc/src/main/native/include/wpi/system/RobotController.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/RobotController.hpp
@@ -9,8 +9,8 @@
 #include <functional>
 #include <string>
 
-#include <units/temperature.h>
-#include <units/voltage.h>
+#include "wpi/units/temperature.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp b/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp
index e7006161ee..ec6670b60a 100644
--- a/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/ScopedTracer.hpp
@@ -7,7 +7,7 @@
 #include <string>
 #include <string_view>
 
-#include "frc/Tracer.h"
+#include "wpi/system/Tracer.hpp"
 
 namespace wpi {
 class raw_ostream;
diff --git a/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp b/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp
index eda65595f2..0d07b80c58 100644
--- a/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/SystemServer.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/system/Timer.hpp b/wpilibc/src/main/native/include/wpi/system/Timer.hpp
index b3bbfd3539..a4ce3e8c65 100644
--- a/wpilibc/src/main/native/include/wpi/system/Timer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Timer.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/system/Tracer.hpp b/wpilibc/src/main/native/include/wpi/system/Tracer.hpp
index 2acb017cb3..2601e52e05 100644
--- a/wpilibc/src/main/native/include/wpi/system/Tracer.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Tracer.hpp
@@ -7,8 +7,8 @@
 #include <chrono>
 #include <string_view>
 
-#include <hal/cpp/fpga_clock.h>
-#include <wpi/StringMap.h>
+#include "wpi/hal/cpp/fpga_clock.h"
+#include "wpi/util/StringMap.hpp"
 
 namespace wpi {
 class raw_ostream;
diff --git a/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp b/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp
index d85674d8c6..4b03e23a84 100644
--- a/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp
+++ b/wpilibc/src/main/native/include/wpi/system/Watchdog.hpp
@@ -8,9 +8,9 @@
 #include <string_view>
 #include <utility>
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
-#include "frc/Tracer.h"
+#include "wpi/system/Tracer.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/util/Color.hpp b/wpilibc/src/main/native/include/wpi/util/Color.hpp
index 48ccf929ed..204cc04627 100644
--- a/wpilibc/src/main/native/include/wpi/util/Color.hpp
+++ b/wpilibc/src/main/native/include/wpi/util/Color.hpp
@@ -11,8 +11,8 @@
 
 #include <fmt/format.h>
 #include <gcem.hpp>
-#include <wpi/StringExtras.h>
-#include <wpi/ct_string.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/ct_string.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp b/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp
index dcb6a3147f..c43bd6aba1 100644
--- a/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp
+++ b/wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp
@@ -10,10 +10,10 @@
 #include <string_view>
 
 #include <fmt/format.h>
-#include <wpi/StringExtras.h>
-#include <wpi/ct_string.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/ct_string.hpp"
 
-#include "Color.h"
+#include "wpi/util/Color.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/python/pyproject.toml b/wpilibc/src/main/python/pyproject.toml
index 7f4ab0c7c4..252172fee4 100644
--- a/wpilibc/src/main/python/pyproject.toml
+++ b/wpilibc/src/main/python/pyproject.toml
@@ -58,19 +58,19 @@ update_init = [
     "wpilib.sysid wpilib._wpilib.sysid",
 ]
 scan_headers_ignore = [
-    "WPILibVersion.h",
+    "wpi/system/WPILibVersion.hpp",
 
     # needs a python wrapper
     "frc/AsynchronousInterrupt.h",
 
-    "frc/Filesystem.h",
-    "frc/Notifier.h", # wrapped separately
-    "frc/Resource.h",
-    "frc/ScopedTracer.h", # not useful for python
+    "wpi/system/Filesystem.hpp",
+    "wpi/system/Notifier.hpp", # wrapped separately
+    "wpi/system/Resource.hpp",
+    "wpi/system/ScopedTracer.hpp", # not useful for python
 
-    "frc/motorcontrol/MotorControllerGroup.h", # wrapped separately
+    "wpi/hardware/motor/MotorControllerGroup.hpp", # wrapped separately
 
-    "frc/smartdashboard/ListenerExecutor.h",    # internal detail
+    "wpi/smartdashboard/ListenerExecutor.hpp",    # internal detail
 
     # Internals
     "rpy/ControlWord.h",
@@ -92,102 +92,102 @@ DYNAMIC_CAMERA_SERVER = 1
 
 [tool.semiwrap.extension_modules."wpilib._wpilib".headers]
 # frc
-ADXL345_I2C = "frc/ADXL345_I2C.h"
-AddressableLED = "frc/AddressableLED.h"
-Alert = "frc/Alert.h"
-AnalogAccelerometer = "frc/AnalogAccelerometer.h"
-AnalogEncoder = "frc/AnalogEncoder.h"
-AnalogInput = "frc/AnalogInput.h"
-AnalogPotentiometer = "frc/AnalogPotentiometer.h"
-CAN = "frc/CAN.h"
-Compressor = "frc/Compressor.h"
-CompressorConfigType = "frc/CompressorConfigType.h"
-DataLogManager = "frc/DataLogManager.h"
-DSControlWord = "frc/DSControlWord.h"
-DigitalInput = "frc/DigitalInput.h"
-DigitalOutput = "frc/DigitalOutput.h"
-DoubleSolenoid = "frc/DoubleSolenoid.h"
-DriverStation = "frc/DriverStation.h"
-DutyCycle = "frc/DutyCycle.h"
-DutyCycleEncoder = "frc/DutyCycleEncoder.h"
-Encoder = "frc/Encoder.h"
-Errors = "frc/Errors.h"
+ADXL345_I2C = "wpi/hardware/accelerometer/ADXL345_I2C.hpp"
+AddressableLED = "wpi/hardware/led/AddressableLED.hpp"
+Alert = "wpi/util/Alert.hpp"
+AnalogAccelerometer = "wpi/hardware/accelerometer/AnalogAccelerometer.hpp"
+AnalogEncoder = "wpi/hardware/rotation/AnalogEncoder.hpp"
+AnalogInput = "wpi/hardware/discrete/AnalogInput.hpp"
+AnalogPotentiometer = "wpi/hardware/rotation/AnalogPotentiometer.hpp"
+CAN = "wpi/hardware/bus/CAN.hpp"
+Compressor = "wpi/hardware/pneumatic/Compressor.hpp"
+CompressorConfigType = "wpi/hardware/pneumatic/CompressorConfigType.hpp"
+DataLogManager = "wpi/system/DataLogManager.hpp"
+DSControlWord = "wpi/driverstation/DSControlWord.hpp"
+DigitalInput = "wpi/hardware/discrete/DigitalInput.hpp"
+DigitalOutput = "wpi/hardware/discrete/DigitalOutput.hpp"
+DoubleSolenoid = "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+DriverStation = "wpi/driverstation/DriverStation.hpp"
+DutyCycle = "wpi/hardware/rotation/DutyCycle.hpp"
+DutyCycleEncoder = "wpi/hardware/rotation/DutyCycleEncoder.hpp"
+Encoder = "wpi/hardware/rotation/Encoder.hpp"
+Errors = "wpi/system/Errors.hpp"
 Filesystem = "rpy/Filesystem.h"
-I2C = "frc/I2C.h"
-IterativeRobotBase = "frc/IterativeRobotBase.h"
-Joystick = "frc/Joystick.h"
-LEDPattern = "frc/LEDPattern.h"
-MotorSafety = "frc/MotorSafety.h"
+I2C = "wpi/hardware/bus/I2C.hpp"
+IterativeRobotBase = "wpi/opmode/IterativeRobotBase.hpp"
+Joystick = "wpi/driverstation/Joystick.hpp"
+LEDPattern = "wpi/hardware/led/LEDPattern.hpp"
+MotorSafety = "wpi/hardware/motor/MotorSafety.hpp"
 Notifier = "rpy/Notifier.h"
-OnboardIMU = "frc/OnboardIMU.h"
-PS4Controller = "frc/PS4Controller.h"
-PS5Controller = "frc/PS5Controller.h"
-PWM = "frc/PWM.h"
-PneumaticHub = "frc/PneumaticHub.h"
-PneumaticsBase = "frc/PneumaticsBase.h"
-PneumaticsControlModule = "frc/PneumaticsControlModule.h"
-PneumaticsModuleType = "frc/PneumaticsModuleType.h"
-PowerDistribution = "frc/PowerDistribution.h"
-Preferences = "frc/Preferences.h"
-RobotBase = "frc/RobotBase.h"
-RobotController = "frc/RobotController.h"
-RobotState = "frc/RobotState.h"
-RuntimeType = "frc/RuntimeType.h"
-SensorUtil = "frc/SensorUtil.h"
-SerialPort = "frc/SerialPort.h"
-SharpIR = "frc/SharpIR.h"
-Solenoid = "frc/Solenoid.h"
-StadiaController = "frc/StadiaController.h"
-SystemServer = "frc/SystemServer.h"
-Threads = "frc/Threads.h"
-TimedRobot = "frc/TimedRobot.h"
-Timer = "frc/Timer.h"
-TimesliceRobot = "frc/TimesliceRobot.h"
-Tracer = "frc/Tracer.h"
-Watchdog = "frc/Watchdog.h"
-XboxController = "frc/XboxController.h"
+OnboardIMU = "wpi/hardware/imu/OnboardIMU.hpp"
+PS4Controller = "wpi/driverstation/PS4Controller.hpp"
+PS5Controller = "wpi/driverstation/PS5Controller.hpp"
+PWM = "wpi/hardware/discrete/PWM.hpp"
+PneumaticHub = "wpi/hardware/pneumatic/PneumaticHub.hpp"
+PneumaticsBase = "wpi/hardware/pneumatic/PneumaticsBase.hpp"
+PneumaticsControlModule = "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+PneumaticsModuleType = "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
+PowerDistribution = "wpi/hardware/power/PowerDistribution.hpp"
+Preferences = "wpi/util/Preferences.hpp"
+RobotBase = "wpi/opmode/RobotBase.hpp"
+RobotController = "wpi/system/RobotController.hpp"
+RobotState = "wpi/opmode/RobotState.hpp"
+RuntimeType = "wpi/system/RuntimeType.hpp"
+SensorUtil = "wpi/util/SensorUtil.hpp"
+SerialPort = "wpi/hardware/bus/SerialPort.hpp"
+SharpIR = "wpi/hardware/range/SharpIR.hpp"
+Solenoid = "wpi/hardware/pneumatic/Solenoid.hpp"
+StadiaController = "wpi/driverstation/StadiaController.hpp"
+SystemServer = "wpi/system/SystemServer.hpp"
+Threads = "wpi/system/Threads.hpp"
+TimedRobot = "wpi/opmode/TimedRobot.hpp"
+Timer = "wpi/system/Timer.hpp"
+TimesliceRobot = "wpi/opmode/TimesliceRobot.hpp"
+Tracer = "wpi/system/Tracer.hpp"
+Watchdog = "wpi/system/Watchdog.hpp"
+XboxController = "wpi/driverstation/XboxController.hpp"
 
 # frc (interfaces)
-CounterBase = "frc/CounterBase.h"
-GenericHID = "frc/GenericHID.h"
-MotorController = "frc/motorcontrol/MotorController.h"
+CounterBase = "wpi/hardware/discrete/CounterBase.hpp"
+GenericHID = "wpi/driverstation/GenericHID.hpp"
+MotorController = "wpi/hardware/motor/MotorController.hpp"
 
 # frc/internal
-DriverStationModeThread = "frc/internal/DriverStationModeThread.h"
+DriverStationModeThread = "wpi/internal/DriverStationModeThread.hpp"
 
 # frc/motorcontrol
-Koors40 = "frc/motorcontrol/Koors40.h"
+Koors40 = "wpi/hardware/motor/Koors40.hpp"
 MotorControllerGroup = "rpy/MotorControllerGroup.h"
-PWMMotorController = "frc/motorcontrol/PWMMotorController.h"
-PWMSparkFlex = "frc/motorcontrol/PWMSparkFlex.h"
-PWMSparkMax = "frc/motorcontrol/PWMSparkMax.h"
-PWMTalonFX = "frc/motorcontrol/PWMTalonFX.h"
-PWMTalonSRX = "frc/motorcontrol/PWMTalonSRX.h"
-PWMVenom = "frc/motorcontrol/PWMVenom.h"
-PWMVictorSPX = "frc/motorcontrol/PWMVictorSPX.h"
-Spark = "frc/motorcontrol/Spark.h"
-SparkMini = "frc/motorcontrol/SparkMini.h"
-Talon = "frc/motorcontrol/Talon.h"
-VictorSP = "frc/motorcontrol/VictorSP.h"
+PWMMotorController = "wpi/hardware/motor/PWMMotorController.hpp"
+PWMSparkFlex = "wpi/hardware/motor/PWMSparkFlex.hpp"
+PWMSparkMax = "wpi/hardware/motor/PWMSparkMax.hpp"
+PWMTalonFX = "wpi/hardware/motor/PWMTalonFX.hpp"
+PWMTalonSRX = "wpi/hardware/motor/PWMTalonSRX.hpp"
+PWMVenom = "wpi/hardware/motor/PWMVenom.hpp"
+PWMVictorSPX = "wpi/hardware/motor/PWMVictorSPX.hpp"
+Spark = "wpi/hardware/motor/Spark.hpp"
+SparkMini = "wpi/hardware/motor/SparkMini.hpp"
+Talon = "wpi/hardware/motor/Talon.hpp"
+VictorSP = "wpi/hardware/motor/VictorSP.hpp"
 
 # frc/smartdashboard
-Field2d = "frc/smartdashboard/Field2d.h"
-FieldObject2d = "frc/smartdashboard/FieldObject2d.h"
-Mechanism2d = "frc/smartdashboard/Mechanism2d.h"
-MechanismLigament2d = "frc/smartdashboard/MechanismLigament2d.h"
-MechanismObject2d = "frc/smartdashboard/MechanismObject2d.h"
-MechanismRoot2d = "frc/smartdashboard/MechanismRoot2d.h"
-SendableBuilderImpl = "frc/smartdashboard/SendableBuilderImpl.h"
-SendableChooser = "frc/smartdashboard/SendableChooser.h"
-SendableChooserBase = "frc/smartdashboard/SendableChooserBase.h"
-SmartDashboard = "frc/smartdashboard/SmartDashboard.h"
+Field2d = "wpi/smartdashboard/Field2d.hpp"
+FieldObject2d = "wpi/smartdashboard/FieldObject2d.hpp"
+Mechanism2d = "wpi/smartdashboard/Mechanism2d.hpp"
+MechanismLigament2d = "wpi/smartdashboard/MechanismLigament2d.hpp"
+MechanismObject2d = "wpi/smartdashboard/MechanismObject2d.hpp"
+MechanismRoot2d = "wpi/smartdashboard/MechanismRoot2d.hpp"
+SendableBuilderImpl = "wpi/smartdashboard/SendableBuilderImpl.hpp"
+SendableChooser = "wpi/smartdashboard/SendableChooser.hpp"
+SendableChooserBase = "wpi/smartdashboard/SendableChooserBase.hpp"
+SmartDashboard = "wpi/smartdashboard/SmartDashboard.hpp"
 
 # frc/sysid
-SysIdRoutineLog = "frc/sysid/SysIdRoutineLog.h"
+SysIdRoutineLog = "wpi/sysid/SysIdRoutineLog.hpp"
 
 # frc/util
-Color = "frc/util/Color.h"
-Color8Bit = "frc/util/Color8Bit.h"
+Color = "wpi/util/Color.hpp"
+Color8Bit = "wpi/util/Color8Bit.hpp"
 
 
 [tool.semiwrap.extension_modules."wpilib.counter._counter"]
@@ -198,9 +198,9 @@ yaml_path = "semiwrap/counter"
 
 [tool.semiwrap.extension_modules."wpilib.counter._counter".headers]
 # frc/counter
-EdgeConfiguration = "frc/counter/EdgeConfiguration.h"
-Tachometer = "frc/counter/Tachometer.h"
-UpDownCounter = "frc/counter/UpDownCounter.h"
+EdgeConfiguration = "wpi/counter/EdgeConfiguration.hpp"
+Tachometer = "wpi/counter/Tachometer.hpp"
+UpDownCounter = "wpi/counter/UpDownCounter.hpp"
 
 
 [tool.semiwrap.extension_modules."wpilib.drive._drive"]
@@ -211,9 +211,9 @@ yaml_path = "semiwrap/drive"
 
 [tool.semiwrap.extension_modules."wpilib.drive._drive".headers]
 # frc/drive
-DifferentialDrive = "frc/drive/DifferentialDrive.h"
-MecanumDrive = "frc/drive/MecanumDrive.h"
-RobotDriveBase = "frc/drive/RobotDriveBase.h"
+DifferentialDrive = "wpi/drive/DifferentialDrive.hpp"
+MecanumDrive = "wpi/drive/MecanumDrive.hpp"
+RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
 
 
 [tool.semiwrap.extension_modules."wpilib.event._event"]
@@ -225,9 +225,9 @@ yaml_path = "semiwrap/event"
 
 [tool.semiwrap.extension_modules."wpilib.event._event".headers]
 # frc/event
-BooleanEvent = "frc/event/BooleanEvent.h"
-EventLoop = "frc/event/EventLoop.h"
-NetworkBooleanEvent = "frc/event/NetworkBooleanEvent.h"
+BooleanEvent = "wpi/event/BooleanEvent.hpp"
+EventLoop = "wpi/event/EventLoop.hpp"
+NetworkBooleanEvent = "wpi/event/NetworkBooleanEvent.hpp"
 
 
 [tool.semiwrap.extension_modules."wpilib.simulation._simulation"]
@@ -238,40 +238,40 @@ yaml_path = "semiwrap/simulation"
 
 [tool.semiwrap.extension_modules."wpilib.simulation._simulation".headers]
 # frc/simulation
-ADXL345Sim = "frc/simulation/ADXL345Sim.h"
-AddressableLEDSim = "frc/simulation/AddressableLEDSim.h"
-AnalogEncoderSim = "frc/simulation/AnalogEncoderSim.h"
-AnalogInputSim = "frc/simulation/AnalogInputSim.h"
-BatterySim = "frc/simulation/BatterySim.h"
-CTREPCMSim = "frc/simulation/CTREPCMSim.h"
-CallbackStore = "frc/simulation/CallbackStore.h"
-DCMotorSim = "frc/simulation/DCMotorSim.h"
-DIOSim = "frc/simulation/DIOSim.h"
-DifferentialDrivetrainSim = "frc/simulation/DifferentialDrivetrainSim.h"
-DigitalPWMSim = "frc/simulation/DigitalPWMSim.h"
-DoubleSolenoidSim = "frc/simulation/DoubleSolenoidSim.h"
-DriverStationSim = "frc/simulation/DriverStationSim.h"
-DutyCycleEncoderSim = "frc/simulation/DutyCycleEncoderSim.h"
-DutyCycleSim = "frc/simulation/DutyCycleSim.h"
-ElevatorSim = "frc/simulation/ElevatorSim.h"
-EncoderSim = "frc/simulation/EncoderSim.h"
-FlywheelSim = "frc/simulation/FlywheelSim.h"
-GenericHIDSim = "frc/simulation/GenericHIDSim.h"
-JoystickSim = "frc/simulation/JoystickSim.h"
-LinearSystemSim = "frc/simulation/LinearSystemSim.h"
-PS4ControllerSim = "frc/simulation/PS4ControllerSim.h"
-PS5ControllerSim = "frc/simulation/PS5ControllerSim.h"
-PWMSim = "frc/simulation/PWMSim.h"
-PneumaticsBaseSim = "frc/simulation/PneumaticsBaseSim.h"
-PowerDistributionSim = "frc/simulation/PowerDistributionSim.h"
-PWMMotorControllerSim = "frc/simulation/PWMMotorControllerSim.h"
-REVPHSim = "frc/simulation/REVPHSim.h"
-RoboRioSim = "frc/simulation/RoboRioSim.h"
-SendableChooserSim = "frc/simulation/SendableChooserSim.h"
-SharpIRSim = "frc/simulation/SharpIRSim.h"
-SimDeviceSim = "frc/simulation/SimDeviceSim.h"
-SimHooks = "frc/simulation/SimHooks.h"
-SingleJointedArmSim = "frc/simulation/SingleJointedArmSim.h"
-SolenoidSim = "frc/simulation/SolenoidSim.h"
-StadiaControllerSim = "frc/simulation/StadiaControllerSim.h"
-XboxControllerSim = "frc/simulation/XboxControllerSim.h"
+ADXL345Sim = "wpi/simulation/ADXL345Sim.hpp"
+AddressableLEDSim = "wpi/simulation/AddressableLEDSim.hpp"
+AnalogEncoderSim = "wpi/simulation/AnalogEncoderSim.hpp"
+AnalogInputSim = "wpi/simulation/AnalogInputSim.hpp"
+BatterySim = "wpi/simulation/BatterySim.hpp"
+CTREPCMSim = "wpi/simulation/CTREPCMSim.hpp"
+CallbackStore = "wpi/simulation/CallbackStore.hpp"
+DCMotorSim = "wpi/simulation/DCMotorSim.hpp"
+DIOSim = "wpi/simulation/DIOSim.hpp"
+DifferentialDrivetrainSim = "wpi/simulation/DifferentialDrivetrainSim.hpp"
+DigitalPWMSim = "wpi/simulation/DigitalPWMSim.hpp"
+DoubleSolenoidSim = "wpi/simulation/DoubleSolenoidSim.hpp"
+DriverStationSim = "wpi/simulation/DriverStationSim.hpp"
+DutyCycleEncoderSim = "wpi/simulation/DutyCycleEncoderSim.hpp"
+DutyCycleSim = "wpi/simulation/DutyCycleSim.hpp"
+ElevatorSim = "wpi/simulation/ElevatorSim.hpp"
+EncoderSim = "wpi/simulation/EncoderSim.hpp"
+FlywheelSim = "wpi/simulation/FlywheelSim.hpp"
+GenericHIDSim = "wpi/simulation/GenericHIDSim.hpp"
+JoystickSim = "wpi/simulation/JoystickSim.hpp"
+LinearSystemSim = "wpi/simulation/LinearSystemSim.hpp"
+PS4ControllerSim = "wpi/simulation/PS4ControllerSim.hpp"
+PS5ControllerSim = "wpi/simulation/PS5ControllerSim.hpp"
+PWMSim = "wpi/simulation/PWMSim.hpp"
+PneumaticsBaseSim = "wpi/simulation/PneumaticsBaseSim.hpp"
+PowerDistributionSim = "wpi/simulation/PowerDistributionSim.hpp"
+PWMMotorControllerSim = "wpi/simulation/PWMMotorControllerSim.hpp"
+REVPHSim = "wpi/simulation/REVPHSim.hpp"
+RoboRioSim = "wpi/simulation/RoboRioSim.hpp"
+SendableChooserSim = "wpi/simulation/SendableChooserSim.hpp"
+SharpIRSim = "wpi/simulation/SharpIRSim.hpp"
+SimDeviceSim = "wpi/simulation/SimDeviceSim.hpp"
+SimHooks = "wpi/simulation/SimHooks.hpp"
+SingleJointedArmSim = "wpi/simulation/SingleJointedArmSim.hpp"
+SolenoidSim = "wpi/simulation/SolenoidSim.hpp"
+StadiaControllerSim = "wpi/simulation/StadiaControllerSim.hpp"
+XboxControllerSim = "wpi/simulation/XboxControllerSim.hpp"
diff --git a/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml b/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml
index b15ef94b4a..6491ce6acc 100644
--- a/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml
+++ b/wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- networktables/NTSendableBuilder.h
+- wpi/nt/NTSendableBuilder.hpp
 
 classes:
   frc::ADXL345_I2C:
diff --git a/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml b/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml
index 880c3d9818..0832def3c2 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::AnalogAccelerometer:
diff --git a/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml b/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml
index c232227c4c..bd18b0bd65 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogEncoder.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/AnalogInput.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/discrete/AnalogInput.hpp
 
 classes:
   frc::AnalogEncoder:
diff --git a/wpilibc/src/main/python/semiwrap/AnalogInput.yml b/wpilibc/src/main/python/semiwrap/AnalogInput.yml
index fe5a4112a5..4e7c266b5d 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogInput.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogInput.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::AnalogInput:
diff --git a/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml b/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml
index 620d21047e..fb4f801393 100644
--- a/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml
+++ b/wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::AnalogPotentiometer:
diff --git a/wpilibc/src/main/python/semiwrap/Compressor.yml b/wpilibc/src/main/python/semiwrap/Compressor.yml
index 5a2fab0e66..49037a62c6 100644
--- a/wpilibc/src/main/python/semiwrap/Compressor.yml
+++ b/wpilibc/src/main/python/semiwrap/Compressor.yml
@@ -1,8 +1,8 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/Compressor.h
-- frc/Solenoid.h
-- frc/DoubleSolenoid.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/pneumatic/Compressor.hpp
+- wpi/hardware/pneumatic/Solenoid.hpp
+- wpi/hardware/pneumatic/DoubleSolenoid.hpp
 
 classes:
   frc::Compressor:
diff --git a/wpilibc/src/main/python/semiwrap/DataLogManager.yml b/wpilibc/src/main/python/semiwrap/DataLogManager.yml
index 3987d7fc8f..68751068cd 100644
--- a/wpilibc/src/main/python/semiwrap/DataLogManager.yml
+++ b/wpilibc/src/main/python/semiwrap/DataLogManager.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/datalog/DataLog.h
+- wpi/datalog/DataLog.hpp
 
 classes:
   frc::DataLogManager:
diff --git a/wpilibc/src/main/python/semiwrap/DigitalInput.yml b/wpilibc/src/main/python/semiwrap/DigitalInput.yml
index 9d789fc405..582a0d0a9e 100644
--- a/wpilibc/src/main/python/semiwrap/DigitalInput.yml
+++ b/wpilibc/src/main/python/semiwrap/DigitalInput.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::DigitalInput:
diff --git a/wpilibc/src/main/python/semiwrap/DigitalOutput.yml b/wpilibc/src/main/python/semiwrap/DigitalOutput.yml
index 4a69d8ff5c..ae5245e920 100644
--- a/wpilibc/src/main/python/semiwrap/DigitalOutput.yml
+++ b/wpilibc/src/main/python/semiwrap/DigitalOutput.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::DigitalOutput:
diff --git a/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml b/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml
index 07a2b608a9..17de2050e2 100644
--- a/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml
+++ b/wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::DoubleSolenoid:
diff --git a/wpilibc/src/main/python/semiwrap/DriverStation.yml b/wpilibc/src/main/python/semiwrap/DriverStation.yml
index 27a9091085..446b1b0c91 100644
--- a/wpilibc/src/main/python/semiwrap/DriverStation.yml
+++ b/wpilibc/src/main/python/semiwrap/DriverStation.yml
@@ -1,6 +1,6 @@
 extra_includes:
 - rpy/ControlWord.h
-- wpi/datalog/DataLog.h
+- wpi/datalog/DataLog.hpp
 
 classes:
   frc::DriverStation:
diff --git a/wpilibc/src/main/python/semiwrap/DutyCycle.yml b/wpilibc/src/main/python/semiwrap/DutyCycle.yml
index 7150d4fdcb..5fac451d20 100644
--- a/wpilibc/src/main/python/semiwrap/DutyCycle.yml
+++ b/wpilibc/src/main/python/semiwrap/DutyCycle.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::DutyCycle:
diff --git a/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml b/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml
index 149985d8d3..0429a9d6b5 100644
--- a/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml
+++ b/wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/DutyCycle.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/rotation/DutyCycle.hpp
 
 classes:
   frc::DutyCycleEncoder:
diff --git a/wpilibc/src/main/python/semiwrap/Encoder.yml b/wpilibc/src/main/python/semiwrap/Encoder.yml
index efce99290b..6ac1340b13 100644
--- a/wpilibc/src/main/python/semiwrap/Encoder.yml
+++ b/wpilibc/src/main/python/semiwrap/Encoder.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::Encoder:
diff --git a/wpilibc/src/main/python/semiwrap/Field2d.yml b/wpilibc/src/main/python/semiwrap/Field2d.yml
index 51ef19b862..e4aea9cb6d 100644
--- a/wpilibc/src/main/python/semiwrap/Field2d.yml
+++ b/wpilibc/src/main/python/semiwrap/Field2d.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- networktables/NTSendableBuilder.h
+- wpi/nt/NTSendableBuilder.hpp
 
 classes:
   frc::Field2d:
diff --git a/wpilibc/src/main/python/semiwrap/FieldObject2d.yml b/wpilibc/src/main/python/semiwrap/FieldObject2d.yml
index 1bf734ef9f..48a2334eb3 100644
--- a/wpilibc/src/main/python/semiwrap/FieldObject2d.yml
+++ b/wpilibc/src/main/python/semiwrap/FieldObject2d.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/trajectory/Trajectory.h
+- wpi/math/trajectory/Trajectory.hpp
 
 classes:
   frc::FieldObject2d:
diff --git a/wpilibc/src/main/python/semiwrap/GenericHID.yml b/wpilibc/src/main/python/semiwrap/GenericHID.yml
index a5dd696697..04ea37fd39 100644
--- a/wpilibc/src/main/python/semiwrap/GenericHID.yml
+++ b/wpilibc/src/main/python/semiwrap/GenericHID.yml
@@ -2,8 +2,8 @@ defaults:
   subpackage: interfaces
 
 extra_includes:
-- frc/DriverStation.h
-- frc/event/BooleanEvent.h
+- wpi/driverstation/DriverStation.hpp
+- wpi/event/BooleanEvent.hpp
 
 classes:
   frc::GenericHID:
diff --git a/wpilibc/src/main/python/semiwrap/Joystick.yml b/wpilibc/src/main/python/semiwrap/Joystick.yml
index f4d586d49f..2637bb5ea4 100644
--- a/wpilibc/src/main/python/semiwrap/Joystick.yml
+++ b/wpilibc/src/main/python/semiwrap/Joystick.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/DriverStation.h
+- wpi/driverstation/DriverStation.hpp
 
 classes:
   frc::Joystick:
diff --git a/wpilibc/src/main/python/semiwrap/Mechanism2d.yml b/wpilibc/src/main/python/semiwrap/Mechanism2d.yml
index fc6268e177..6c122b8191 100644
--- a/wpilibc/src/main/python/semiwrap/Mechanism2d.yml
+++ b/wpilibc/src/main/python/semiwrap/Mechanism2d.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::Mechanism2d:
diff --git a/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml b/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml
index a6b01a0ee3..51e04abe97 100644
--- a/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml
+++ b/wpilibc/src/main/python/semiwrap/MechanismObject2d.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/smartdashboard/MechanismLigament2d.h
+- wpi/smartdashboard/MechanismLigament2d.hpp
 
 classes:
   frc::MechanismObject2d:
diff --git a/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml b/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml
index 29c5f68996..ad6a1ac39f 100644
--- a/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml
+++ b/wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/smartdashboard/MechanismLigament2d.h
+- wpi/smartdashboard/MechanismLigament2d.hpp
 
 classes:
   frc::MechanismRoot2d:
diff --git a/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml b/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
index 5bf1971c58..21bb9519e7 100644
--- a/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
+++ b/wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 - pybind11/stl.h
 
 classes:
diff --git a/wpilibc/src/main/python/semiwrap/MotorSafety.yml b/wpilibc/src/main/python/semiwrap/MotorSafety.yml
index 4b4ec84d50..67a3501b0f 100644
--- a/wpilibc/src/main/python/semiwrap/MotorSafety.yml
+++ b/wpilibc/src/main/python/semiwrap/MotorSafety.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/SmallString.h
+- wpi/util/SmallString.hpp
 
 classes:
   frc::MotorSafety:
diff --git a/wpilibc/src/main/python/semiwrap/PS4Controller.yml b/wpilibc/src/main/python/semiwrap/PS4Controller.yml
index c116a26af3..6a0b5dc33b 100644
--- a/wpilibc/src/main/python/semiwrap/PS4Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/PS4Controller.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/event/BooleanEvent.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/event/BooleanEvent.hpp
 
 classes:
   frc::PS4Controller:
diff --git a/wpilibc/src/main/python/semiwrap/PS5Controller.yml b/wpilibc/src/main/python/semiwrap/PS5Controller.yml
index 1ae505b01a..f18b7d8ee9 100644
--- a/wpilibc/src/main/python/semiwrap/PS5Controller.yml
+++ b/wpilibc/src/main/python/semiwrap/PS5Controller.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PS5Controller:
diff --git a/wpilibc/src/main/python/semiwrap/PWM.yml b/wpilibc/src/main/python/semiwrap/PWM.yml
index f176b66779..62287d38bb 100644
--- a/wpilibc/src/main/python/semiwrap/PWM.yml
+++ b/wpilibc/src/main/python/semiwrap/PWM.yml
@@ -1,7 +1,7 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/AddressableLED.h
-- wpi/SmallString.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/led/AddressableLED.hpp
+- wpi/util/SmallString.hpp
 
 classes:
   frc::PWM:
diff --git a/wpilibc/src/main/python/semiwrap/PWMMotorController.yml b/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
index 47b0f9e6fd..5078b7da93 100644
--- a/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMMotorController.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PWMMotorController:
diff --git a/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml b/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml
index 3c13a9d36a..2133741ed0 100644
--- a/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMSparkMax.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PWMSparkMax:
diff --git a/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml b/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml
index 3c05e86f81..1e52875d9d 100644
--- a/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMTalonFX.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PWMTalonFX:
diff --git a/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml b/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml
index 6e979fd273..e94d9b616d 100644
--- a/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PWMTalonSRX:
diff --git a/wpilibc/src/main/python/semiwrap/PWMVenom.yml b/wpilibc/src/main/python/semiwrap/PWMVenom.yml
index 522f244565..cc65942e6b 100644
--- a/wpilibc/src/main/python/semiwrap/PWMVenom.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMVenom.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PWMVenom:
diff --git a/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml b/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml
index f7bcedd1dc..66d922322b 100644
--- a/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml
+++ b/wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PWMVictorSPX:
diff --git a/wpilibc/src/main/python/semiwrap/PneumaticHub.yml b/wpilibc/src/main/python/semiwrap/PneumaticHub.yml
index 00c7848f75..fa00e3631d 100644
--- a/wpilibc/src/main/python/semiwrap/PneumaticHub.yml
+++ b/wpilibc/src/main/python/semiwrap/PneumaticHub.yml
@@ -1,8 +1,8 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/Compressor.h
-- frc/Solenoid.h
-- frc/DoubleSolenoid.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/pneumatic/Compressor.hpp
+- wpi/hardware/pneumatic/Solenoid.hpp
+- wpi/hardware/pneumatic/DoubleSolenoid.hpp
 
 classes:
   frc::PneumaticHub:
diff --git a/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml b/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml
index 747ab959f2..d9aba5bf79 100644
--- a/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml
+++ b/wpilibc/src/main/python/semiwrap/PneumaticsBase.yml
@@ -1,8 +1,8 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/Compressor.h
-- frc/Solenoid.h
-- frc/DoubleSolenoid.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/pneumatic/Compressor.hpp
+- wpi/hardware/pneumatic/Solenoid.hpp
+- wpi/hardware/pneumatic/DoubleSolenoid.hpp
 
 
 classes:
diff --git a/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml b/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml
index 1d4edc1d30..2a519bfe77 100644
--- a/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml
+++ b/wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml
@@ -1,8 +1,8 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/Compressor.h
-- frc/Solenoid.h
-- frc/DoubleSolenoid.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/pneumatic/Compressor.hpp
+- wpi/hardware/pneumatic/Solenoid.hpp
+- wpi/hardware/pneumatic/DoubleSolenoid.hpp
 
 classes:
   frc::PneumaticsControlModule:
diff --git a/wpilibc/src/main/python/semiwrap/PowerDistribution.yml b/wpilibc/src/main/python/semiwrap/PowerDistribution.yml
index e4773df8ed..e415fc8fdf 100644
--- a/wpilibc/src/main/python/semiwrap/PowerDistribution.yml
+++ b/wpilibc/src/main/python/semiwrap/PowerDistribution.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::PowerDistribution:
diff --git a/wpilibc/src/main/python/semiwrap/RobotBase.yml b/wpilibc/src/main/python/semiwrap/RobotBase.yml
index 07c5470541..683769a484 100644
--- a/wpilibc/src/main/python/semiwrap/RobotBase.yml
+++ b/wpilibc/src/main/python/semiwrap/RobotBase.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/DriverStation.h
+- wpi/driverstation/DriverStation.hpp
 - rpy/ControlWord.h
 
 functions:
diff --git a/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml b/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml
index e02ba1659d..e4764ab316 100644
--- a/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml
+++ b/wpilibc/src/main/python/semiwrap/SendableChooserBase.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::SendableChooserBase:
diff --git a/wpilibc/src/main/python/semiwrap/SharpIR.yml b/wpilibc/src/main/python/semiwrap/SharpIR.yml
index 68c7990772..b460021e83 100644
--- a/wpilibc/src/main/python/semiwrap/SharpIR.yml
+++ b/wpilibc/src/main/python/semiwrap/SharpIR.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::SharpIR:
diff --git a/wpilibc/src/main/python/semiwrap/SmartDashboard.yml b/wpilibc/src/main/python/semiwrap/SmartDashboard.yml
index 568d4df1a3..54452f8319 100644
--- a/wpilibc/src/main/python/semiwrap/SmartDashboard.yml
+++ b/wpilibc/src/main/python/semiwrap/SmartDashboard.yml
@@ -1,7 +1,7 @@
 extra_includes:
 - src/rpy/SmartDashboardData.h
-- frc/Errors.h
-- wpi/sendable/SendableRegistry.h
+- wpi/system/Errors.hpp
+- wpi/util/sendable/SendableRegistry.hpp
 
 classes:
   frc::SmartDashboard:
diff --git a/wpilibc/src/main/python/semiwrap/Solenoid.yml b/wpilibc/src/main/python/semiwrap/Solenoid.yml
index 8155ba4d99..29a05579ef 100644
--- a/wpilibc/src/main/python/semiwrap/Solenoid.yml
+++ b/wpilibc/src/main/python/semiwrap/Solenoid.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::Solenoid:
diff --git a/wpilibc/src/main/python/semiwrap/Spark.yml b/wpilibc/src/main/python/semiwrap/Spark.yml
index 6e8dd2d5be..87f3143e18 100644
--- a/wpilibc/src/main/python/semiwrap/Spark.yml
+++ b/wpilibc/src/main/python/semiwrap/Spark.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::Spark:
diff --git a/wpilibc/src/main/python/semiwrap/StadiaController.yml b/wpilibc/src/main/python/semiwrap/StadiaController.yml
index 00222d78e9..7a03fafb40 100644
--- a/wpilibc/src/main/python/semiwrap/StadiaController.yml
+++ b/wpilibc/src/main/python/semiwrap/StadiaController.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::StadiaController:
diff --git a/wpilibc/src/main/python/semiwrap/Talon.yml b/wpilibc/src/main/python/semiwrap/Talon.yml
index 85558634ec..4af53569f0 100644
--- a/wpilibc/src/main/python/semiwrap/Talon.yml
+++ b/wpilibc/src/main/python/semiwrap/Talon.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::Talon:
diff --git a/wpilibc/src/main/python/semiwrap/Tracer.yml b/wpilibc/src/main/python/semiwrap/Tracer.yml
index e3c60eff8c..0f7284e2ea 100644
--- a/wpilibc/src/main/python/semiwrap/Tracer.yml
+++ b/wpilibc/src/main/python/semiwrap/Tracer.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- wpi/SmallString.h
-- wpi/raw_ostream.h
+- wpi/util/SmallString.hpp
+- wpi/util/raw_ostream.hpp
 
 classes:
   frc::Tracer:
diff --git a/wpilibc/src/main/python/semiwrap/VictorSP.yml b/wpilibc/src/main/python/semiwrap/VictorSP.yml
index 19a8129cf4..cdf9b95be2 100644
--- a/wpilibc/src/main/python/semiwrap/VictorSP.yml
+++ b/wpilibc/src/main/python/semiwrap/VictorSP.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   frc::VictorSP:
diff --git a/wpilibc/src/main/python/semiwrap/XboxController.yml b/wpilibc/src/main/python/semiwrap/XboxController.yml
index 389d70398a..0fac38d8b8 100644
--- a/wpilibc/src/main/python/semiwrap/XboxController.yml
+++ b/wpilibc/src/main/python/semiwrap/XboxController.yml
@@ -1,7 +1,7 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/DriverStation.h
-- frc/event/BooleanEvent.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/driverstation/DriverStation.hpp
+- wpi/event/BooleanEvent.hpp
 
 classes:
   frc::XboxController:
diff --git a/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml b/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml
index 62dab560bc..dcbfe1771e 100644
--- a/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml
+++ b/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/motorcontrol/MotorController.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/motor/MotorController.hpp
 
 classes:
   frc::DifferentialDrive:
diff --git a/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml b/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml
index 5396d11f52..7ec40ff6d6 100644
--- a/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml
+++ b/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
-- frc/motorcontrol/MotorController.h
+- wpi/util/sendable/SendableBuilder.hpp
+- wpi/hardware/motor/MotorController.hpp
 
 classes:
   frc::MecanumDrive:
diff --git a/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml b/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml
index 83ce25c6e3..47e6a9315e 100644
--- a/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml
+++ b/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- frc/motorcontrol/MotorController.h
-- wpi/SmallString.h
+- wpi/hardware/motor/MotorController.hpp
+- wpi/util/SmallString.hpp
 
 classes:
   frc::RobotDriveBase:
diff --git a/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml b/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml
index 2fbbcdce9d..05ebc9736a 100644
--- a/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml
+++ b/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml
@@ -1,7 +1,7 @@
 extra_includes:
-- networktables/BooleanTopic.h
-- networktables/NetworkTable.h
-- networktables/NetworkTableInstance.h
+- wpi/nt/BooleanTopic.hpp
+- wpi/nt/NetworkTable.hpp
+- wpi/nt/NetworkTableInstance.hpp
 
 classes:
   frc::NetworkBooleanEvent:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml b/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml
index aa232e08de..59dff03910 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/ADXL345_I2C.h
+- wpi/hardware/accelerometer/ADXL345_I2C.hpp
 
 classes:
   frc::sim::ADXL345Sim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml b/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml
index b4a71044e8..c0dbc08dd2 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/AddressableLED.h
+- wpi/hardware/led/AddressableLED.hpp
 
 classes:
   frc::sim::AddressableLEDSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml b/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml
index e5f63fcb4f..10352621a2 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/AnalogEncoder.h
+- wpi/hardware/rotation/AnalogEncoder.hpp
 
 classes:
   frc::sim::AnalogEncoderSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml b/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml
index 7996713c22..fff6a8603f 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/AnalogInput.h
+- wpi/hardware/discrete/AnalogInput.hpp
 
 classes:
   frc::sim::AnalogInputSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml b/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml
index 43a511218b..60f8e7b585 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/Compressor.h
+- wpi/hardware/pneumatic/Compressor.hpp
 
 classes:
   frc::sim::CTREPCMSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml
index 12fd33aa6e..a231bcf38e 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- frc/DigitalInput.h
-- frc/DigitalOutput.h
+- wpi/hardware/discrete/DigitalInput.hpp
+- wpi/hardware/discrete/DigitalOutput.hpp
 
 classes:
   frc::sim::DIOSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml
index e770d5c519..b705c370b5 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/DigitalOutput.h
+- wpi/hardware/discrete/DigitalOutput.hpp
 
 classes:
   frc::sim::DigitalPWMSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml
index e2a74fd9f7..8eaba60d6e 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/DutyCycleEncoder.h
+- wpi/hardware/rotation/DutyCycleEncoder.hpp
 
 classes:
   frc::sim::DutyCycleEncoderSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml
index ca5f62a711..c76b86186f 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/DutyCycle.h
+- wpi/hardware/rotation/DutyCycle.hpp
 
 classes:
   frc::sim::DutyCycleSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml b/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml
index 1bc697ff59..92d0dc91ed 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/Encoder.h
+- wpi/hardware/rotation/Encoder.hpp
 
 classes:
   frc::sim::EncoderSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml b/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml
index a4b9680b5c..e17e514312 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/Joystick.h
+- wpi/driverstation/Joystick.hpp
 
 classes:
   frc::sim::JoystickSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
index 1bfe801e5f..6196e21854 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/PS4Controller.h
+- wpi/driverstation/PS4Controller.hpp
 
 classes:
   frc::sim::PS4ControllerSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
index 7b9314359a..3f71bb8533 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/PS5Controller.h
+- wpi/driverstation/PS5Controller.hpp
 
 classes:
   frc::sim::PS5ControllerSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml
index e1d05a1f7b..8c35569bc1 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- frc/PWM.h
-- frc/motorcontrol/PWMMotorController.h
+- wpi/hardware/discrete/PWM.hpp
+- wpi/hardware/motor/PWMMotorController.hpp
 
 classes:
   frc::sim::PWMSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml b/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml
index 7a1a1bc40a..d9e0eadec0 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/PowerDistribution.h
+- wpi/hardware/power/PowerDistribution.hpp
 
 classes:
   frc::sim::PowerDistributionSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml b/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml
index e7f148d53c..a7d63adb7a 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/Compressor.h
+- wpi/hardware/pneumatic/Compressor.hpp
 
 classes:
   frc::sim::REVPHSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
index 41acf5b15c..7b3a5a03c4 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/StadiaController.h
+- wpi/driverstation/StadiaController.hpp
 
 classes:
   frc::sim::StadiaControllerSim:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml b/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
index 815c61c1cd..540ecd9c9c 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/XboxController.h
+- wpi/driverstation/XboxController.hpp
 
 classes:
   frc::sim::XboxControllerSim:
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/ControlWord.cpp b/wpilibc/src/main/python/wpilib/src/rpy/ControlWord.cpp
index 2ca92921cb..08e1fc0809 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/ControlWord.cpp
+++ b/wpilibc/src/main/python/wpilib/src/rpy/ControlWord.cpp
@@ -1,6 +1,6 @@
 #include "rpy/ControlWord.h"
 
-#include <hal/DriverStation.h>
+#include "wpi/hal/DriverStation.h"
 
 namespace rpy {
 
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.h b/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.h
index d26d2117d8..95dc59f595 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.h
@@ -1,7 +1,7 @@
 
 #pragma once
 
-#include <wpi/fs.h>
+#include "wpi/util/fs.hpp"
 
 namespace robotpy::filesystem {
 
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
index 7fe0239113..5e39962b2f 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp
@@ -4,7 +4,7 @@
 
 #include "MotorControllerGroup.h"
 
-#include "wpi/sendable/SendableBuilder.h"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
index a34ada9449..54d4043de1 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h
@@ -9,9 +9,9 @@
 #include <memory>
 
 
-#include "frc/motorcontrol/MotorController.h"
-#include "wpi/sendable/Sendable.h"
-#include "wpi/sendable/SendableHelper.h"
+#include "wpi/hardware/motor/MotorController.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
index 2e3ced010d..62ab763c1d 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
+++ b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
@@ -7,11 +7,11 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <hal/Notifier.h>
-#include <hal/Threads.h>
+#include "wpi/hal/Notifier.h"
+#include "wpi/hal/Threads.h"
 
-#include "frc/Errors.h"
-#include "frc/Timer.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Timer.hpp"
 
 #include <pybind11/functional.h>
 #include <gilsafe_object.h>
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h
index 0e48165dc9..8ef024c0cb 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/Notifier.h
@@ -13,9 +13,9 @@
 #include <type_traits>
 #include <utility>
 
-#include <hal/Types.h>
-#include <units/time.h>
-#include <wpi/mutex.h>
+#include "wpi/hal/Types.h"
+#include "wpi/units/time.hpp"
+#include "wpi/util/mutex.hpp"
 
 #include <semiwrap.h>
 
diff --git a/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h b/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h
index 8323ebd112..3d341e34c2 100644
--- a/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h
+++ b/wpilibc/src/main/python/wpilib/src/rpy/SmartDashboardData.h
@@ -1,7 +1,7 @@
 
 #pragma once
 
-#include <wpi/sendable/Sendable.h>
+#include "wpi/util/sendable/Sendable.hpp"
 #include <semiwrap.h>
 
 namespace rpy {
diff --git a/wpilibc/src/test/native/c/test.c b/wpilibc/src/test/native/c/test.c
index 36d4f56df4..c6689111dd 100644
--- a/wpilibc/src/test/native/c/test.c
+++ b/wpilibc/src/test/native/c/test.c
@@ -2,6 +2,6 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <cscore.h>
-#include <hal/HAL.h>
-#include <ntcore.h>
+#include "wpi/cs/cscore.h"
+#include "wpi/hal/HAL.h"
+#include "wpi/nt/ntcore.h"
diff --git a/wpilibc/src/test/native/cpp/AlertTest.cpp b/wpilibc/src/test/native/cpp/AlertTest.cpp
index 5f233e3342..1453716759 100644
--- a/wpilibc/src/test/native/cpp/AlertTest.cpp
+++ b/wpilibc/src/test/native/cpp/AlertTest.cpp
@@ -11,12 +11,12 @@
 
 #include <fmt/format.h>
 #include <gtest/gtest.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringArrayTopic.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringArrayTopic.hpp"
 
-#include "frc/Alert.h"
-#include "frc/simulation/SimHooks.h"
-#include "frc/smartdashboard/SmartDashboard.h"
+#include "wpi/util/Alert.hpp"
+#include "wpi/simulation/SimHooks.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 using namespace frc;
 using enum Alert::AlertType;
diff --git a/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp b/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp
index b42425f206..d5d79d2763 100644
--- a/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp
+++ b/wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "frc/AnalogPotentiometer.h"
-#include "frc/simulation/AnalogInputSim.h"
-#include "frc/simulation/RoboRioSim.h"
+#include "wpi/hardware/rotation/AnalogPotentiometer.hpp"
+#include "wpi/simulation/AnalogInputSim.hpp"
+#include "wpi/simulation/RoboRioSim.hpp"
 
 namespace frc {
 using namespace frc::sim;
diff --git a/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp b/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
index ea5eb94ee9..44645bb6fb 100644
--- a/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
+++ b/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "frc/DoubleSolenoid.h"
-#include "frc/PneumaticsControlModule.h"
-#include "frc/Solenoid.h"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp b/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
index 94b269d1bf..7c20ddafad 100644
--- a/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
+++ b/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "frc/DoubleSolenoid.h"
-#include "frc/PneumaticsControlModule.h"
-#include "frc/Solenoid.h"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/test/native/cpp/DriverStationTest.cpp b/wpilibc/src/test/native/cpp/DriverStationTest.cpp
index cee8553622..1f70ac3ce4 100644
--- a/wpilibc/src/test/native/cpp/DriverStationTest.cpp
+++ b/wpilibc/src/test/native/cpp/DriverStationTest.cpp
@@ -7,10 +7,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/DriverStation.h"
-#include "frc/Joystick.h"
-#include "frc/simulation/DriverStationSim.h"
-#include "frc/simulation/SimHooks.h"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 
 class IsJoystickConnectedParametersTest
     : public ::testing::TestWithParam<std::tuple<int, int, int, bool>> {};
diff --git a/wpilibc/src/test/native/cpp/GenericHIDTest.cpp b/wpilibc/src/test/native/cpp/GenericHIDTest.cpp
index 0d5d6a6304..fbddee94a3 100644
--- a/wpilibc/src/test/native/cpp/GenericHIDTest.cpp
+++ b/wpilibc/src/test/native/cpp/GenericHIDTest.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/GenericHID.h>
-#include <frc/simulation/GenericHIDSim.h>
+#include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/simulation/GenericHIDSim.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/wpilibc/src/test/native/cpp/JoystickTest.cpp b/wpilibc/src/test/native/cpp/JoystickTest.cpp
index 6aa75ec49b..4454d5da81 100644
--- a/wpilibc/src/test/native/cpp/JoystickTest.cpp
+++ b/wpilibc/src/test/native/cpp/JoystickTest.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Joystick.h"  // NOLINT(build/include_order)
+#include "wpi/driverstation/Joystick.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "JoystickTestMacros.h"
-#include "frc/simulation/JoystickSim.h"
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/JoystickSim.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/LEDPatternTest.cpp b/wpilibc/src/test/native/cpp/LEDPatternTest.cpp
index 8dc6d68cae..cc863fc331 100644
--- a/wpilibc/src/test/native/cpp/LEDPatternTest.cpp
+++ b/wpilibc/src/test/native/cpp/LEDPatternTest.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/MathExtras.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/LEDPattern.h"
-#include "frc/MathUtil.h"
+#include "wpi/hardware/led/LEDPattern.hpp"
+#include "wpi/math/util/MathUtil.hpp"
 
 namespace frc {
 
diff --git a/wpilibc/src/test/native/cpp/NotifierTest.cpp b/wpilibc/src/test/native/cpp/NotifierTest.cpp
index 46e292bc7f..28792a3454 100644
--- a/wpilibc/src/test/native/cpp/NotifierTest.cpp
+++ b/wpilibc/src/test/native/cpp/NotifierTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/Notifier.h"
-#include "frc/simulation/SimHooks.h"
+#include "wpi/system/Notifier.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp b/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
index 42d2b9dd52..09dc06517a 100644
--- a/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/PS4ControllerTest.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PS4Controller.h"  // NOLINT(build/include_order)
+#include "wpi/driverstation/PS4Controller.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "JoystickTestMacros.h"
-#include "frc/simulation/PS4ControllerSim.h"
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/PS4ControllerSim.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp b/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
index 13ae7709ef..11b6fd59f3 100644
--- a/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/PS5ControllerTest.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PS5Controller.h"  // NOLINT(build/include_order)
+#include "wpi/driverstation/PS5Controller.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "JoystickTestMacros.h"
-#include "frc/simulation/PS5ControllerSim.h"
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/PS5ControllerSim.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp b/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
index 4899a4a63d..9a770347d5 100644
--- a/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
+++ b/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
@@ -5,12 +5,12 @@
 #include <string_view>
 
 #include <gtest/gtest.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "frc/ScopedTracer.h"
-#include "frc/simulation/SimHooks.h"
+#include "wpi/system/ScopedTracer.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 
 TEST(ScopedTracerTest, Timing) {
   wpi::SmallString<128> buf;
diff --git a/wpilibc/src/test/native/cpp/SharpIRTest.cpp b/wpilibc/src/test/native/cpp/SharpIRTest.cpp
index 8456a565e3..84074a08d9 100644
--- a/wpilibc/src/test/native/cpp/SharpIRTest.cpp
+++ b/wpilibc/src/test/native/cpp/SharpIRTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/SharpIR.h"
-#include "frc/simulation/SharpIRSim.h"
+#include "wpi/hardware/range/SharpIR.hpp"
+#include "wpi/simulation/SharpIRSim.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp b/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
index 7faf31b097..a9675e574e 100644
--- a/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
+++ b/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "frc/DoubleSolenoid.h"
-#include "frc/PneumaticsControlModule.h"
-#include "frc/Solenoid.h"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
 
 namespace frc {
 TEST(SolenoidCTRETest, ValidInitialization) {
diff --git a/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp b/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp
index c7462314ef..b1ac5b7eec 100644
--- a/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp
+++ b/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "frc/DoubleSolenoid.h"
-#include "frc/PneumaticsControlModule.h"
-#include "frc/Solenoid.h"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
 
 namespace frc {
 TEST(SolenoidREVTest, ValidInitialization) {
diff --git a/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp b/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
index 99bd0fde8e..f639adc5e8 100644
--- a/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
+++ b/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "callback_helpers/TestCallbackHelpers.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
 
 #include <fmt/format.h>
 
diff --git a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
index 6a634b60b8..967604be45 100644
--- a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/TimedRobot.h"  // NOLINT(build/include_order)
+#include "wpi/opmode/TimedRobot.hpp"  // NOLINT(build/include_order)
 
 #include <stdint.h>
 
@@ -11,8 +11,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/simulation/DriverStationSim.h"
-#include "frc/simulation/SimHooks.h"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/TimerTest.cpp b/wpilibc/src/test/native/cpp/TimerTest.cpp
index badeacbca9..120aaf2504 100644
--- a/wpilibc/src/test/native/cpp/TimerTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimerTest.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Timer.h"  // NOLINT(build/include_order)
+#include "wpi/system/Timer.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "frc/simulation/SimHooks.h"
+#include "wpi/simulation/SimHooks.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp b/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
index 5ff9e1a6cc..ae52e53bed 100644
--- a/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/TimesliceRobot.h"  // NOLINT(build/include_order)
+#include "wpi/opmode/TimesliceRobot.hpp"  // NOLINT(build/include_order)
 
 #include <stdint.h>
 
@@ -11,8 +11,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/simulation/DriverStationSim.h"
-#include "frc/simulation/SimHooks.h"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp b/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp
index 9b6d10eb20..593cbf65e3 100644
--- a/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp
+++ b/wpilibc/src/test/native/cpp/UnitNetworkTablesTest.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <networktables/DoubleTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/UnitTopic.h>
-#include <units/length.h>
+#include "wpi/nt/DoubleTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/UnitTopic.hpp"
+#include "wpi/units/length.hpp"
 
 class UnitNetworkTablesTest : public ::testing::Test {
  public:
diff --git a/wpilibc/src/test/native/cpp/WatchdogTest.cpp b/wpilibc/src/test/native/cpp/WatchdogTest.cpp
index 55031d3dee..4adab69f0e 100644
--- a/wpilibc/src/test/native/cpp/WatchdogTest.cpp
+++ b/wpilibc/src/test/native/cpp/WatchdogTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Watchdog.h"  // NOLINT(build/include_order)
+#include "wpi/system/Watchdog.hpp"  // NOLINT(build/include_order)
 
 #include <stdint.h>
 
 #include <gtest/gtest.h>
 
-#include "frc/simulation/SimHooks.h"
+#include "wpi/simulation/SimHooks.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/XboxControllerTest.cpp b/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
index fdc9866d72..f68405de65 100644
--- a/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/XboxControllerTest.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/XboxController.h"  // NOLINT(build/include_order)
+#include "wpi/driverstation/XboxController.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "JoystickTestMacros.h"
-#include "frc/simulation/XboxControllerSim.h"
+#include "JoystickTestMacros.hpp"
+#include "wpi/simulation/XboxControllerSim.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp b/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
index 9a22987ee0..670ee76972 100644
--- a/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
+++ b/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/drive/DifferentialDrive.h"
-#include "motorcontrol/MockPWMMotorController.h"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "motorcontrol/MockPWMMotorController.hpp"
 
 TEST(DifferentialDriveTest, ArcadeDriveIK) {
   // Forward
diff --git a/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp b/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
index b32b03c824..68ba42863a 100644
--- a/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
+++ b/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/drive/MecanumDrive.h"
-#include "motorcontrol/MockPWMMotorController.h"
+#include "wpi/drive/MecanumDrive.hpp"
+#include "motorcontrol/MockPWMMotorController.hpp"
 
 TEST(MecanumDriveTest, CartesianIK) {
   // Forward
diff --git a/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
index 28209b4e7f..08a16c6fbd 100644
--- a/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
+++ b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/event/BooleanEvent.h"
-#include "frc/event/EventLoop.h"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/event/EventLoop.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp b/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp
index c903e0f8cd..b19a305c80 100644
--- a/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp
+++ b/wpilibc/src/test/native/cpp/event/EventLoopTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/Errors.h"
-#include "frc/event/EventLoop.h"
+#include "wpi/system/Errors.hpp"
+#include "wpi/event/EventLoop.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp b/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp
index 0d4ce49759..52520b8b9e 100644
--- a/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp
+++ b/wpilibc/src/test/native/cpp/event/NetworkBooleanEventTest.cpp
@@ -3,11 +3,11 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/nt/BooleanTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 
-#include "frc/event/EventLoop.h"
-#include "frc/event/NetworkBooleanEvent.h"
+#include "wpi/event/EventLoop.hpp"
+#include "wpi/event/NetworkBooleanEvent.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/main.cpp b/wpilibc/src/test/native/cpp/main.cpp
index 97d307444b..5d490ed343 100644
--- a/wpilibc/src/test/native/cpp/main.cpp
+++ b/wpilibc/src/test/native/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 #ifndef __FRC_SYSTEMCORE__
 namespace frc::impl {
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
index e0c9ee94dd..868c199494 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MockMotorController.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "motorcontrol/MockMotorController.h"
+#include "motorcontrol/MockMotorController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
index 7a51f33b9a..8cb6aa3723 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MockPWMMotorController.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "motorcontrol/MockPWMMotorController.h"
+#include "motorcontrol/MockPWMMotorController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
index 740c46fe1a..ecb3e9ada0 100644
--- a/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
+++ b/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/motorcontrol/MotorControllerGroup.h"  // NOLINT(build/include_order)
+#include "wpi/hardware/motor/MotorControllerGroup.hpp"  // NOLINT(build/include_order)
 
 #include <memory>
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/deprecated.h>
+#include "wpi/util/deprecated.hpp"
 
-#include "motorcontrol/MockMotorController.h"
+#include "motorcontrol/MockMotorController.hpp"
 
 using namespace frc;
 
diff --git a/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
index 8a56e935a8..bd4aa6e5d3 100644
--- a/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AddressableLEDSimTest.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/AddressableLEDSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/AddressableLEDSim.hpp"  // NOLINT(build/include_order)
 
 #include <array>
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/AddressableLED.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/led/AddressableLED.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
index fdfd5cec64..a05e8cc896 100644
--- a/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AnalogEncoderSimTest.cpp
@@ -5,12 +5,12 @@
 #include <numbers>
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
-#include <units/math.h>
+#include "wpi/hal/HAL.h"
+#include "wpi/units/math.hpp"
 
-#include "frc/AnalogEncoder.h"
-#include "frc/AnalogInput.h"
-#include "frc/simulation/AnalogEncoderSim.h"
+#include "wpi/hardware/rotation/AnalogEncoder.hpp"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
+#include "wpi/simulation/AnalogEncoderSim.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)
diff --git a/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp
index 42faf7efe2..9c3be4292d 100644
--- a/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/AnalogInputSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/AnalogInputSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/AnalogInput.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
index c77cef4ee7..fcaf5eac08 100644
--- a/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/CTREPCMSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/CTREPCMSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/DoubleSolenoid.h"
-#include "frc/PneumaticsControlModule.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
index caa152a927..3013129911 100644
--- a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
@@ -4,15 +4,15 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/Encoder.h"
-#include "frc/RobotController.h"
-#include "frc/controller/PIDController.h"
-#include "frc/motorcontrol/PWMVictorSPX.h"
-#include "frc/simulation/BatterySim.h"
-#include "frc/simulation/DCMotorSim.h"
-#include "frc/simulation/EncoderSim.h"
-#include "frc/simulation/RoboRioSim.h"
-#include "frc/system/plant/LinearSystemId.h"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/hardware/motor/PWMVictorSPX.hpp"
+#include "wpi/simulation/BatterySim.hpp"
+#include "wpi/simulation/DCMotorSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/simulation/RoboRioSim.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 TEST(DCMotorSimTest, VoltageSteadyState) {
   frc::DCMotor gearbox = frc::DCMotor::NEO(1);
diff --git a/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp
index ae36377ecd..f13347464d 100644
--- a/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DIOSimTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DIOSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/DIOSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/DigitalInput.h"
-#include "frc/DigitalOutput.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
index 9ed23624de..f6feeafc2a 100644
--- a/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
@@ -3,19 +3,19 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <units/current.h>
-#include <units/math.h>
-#include <units/moment_of_inertia.h>
+#include "wpi/units/current.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
-#include "frc/controller/LTVUnicycleController.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/simulation/DifferentialDrivetrainSim.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
+#include "wpi/math/controller/LTVUnicycleController.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
 
 TEST(DifferentialDrivetrainSimTest, Convergence) {
   auto motor = frc::DCMotor::NEO(2);
diff --git a/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp
index 27fb5cbd96..43c72bb675 100644
--- a/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DigitalPWMSimTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DigitalPWMSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/DigitalPWMSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/DigitalOutput.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
index 8a5941ad37..31b03d9ffc 100644
--- a/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
@@ -7,12 +7,12 @@
 
 #include <gtest/gtest.h>
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/DriverStation.h"
-#include "frc/Joystick.h"
-#include "frc/RobotState.h"
-#include "frc/simulation/DriverStationSim.h"
-#include "frc/simulation/SimHooks.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/RobotState.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 
 using namespace frc;
 using namespace frc::sim;
diff --git a/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
index 714edf655e..dbddaff515 100644
--- a/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DutyCycleEncoderSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/DutyCycleEncoderSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/DutyCycleEncoder.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/rotation/DutyCycleEncoder.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp
index 9fa0281cc7..008b65283b 100644
--- a/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DutyCycleSimTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/DutyCycleSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/DutyCycleSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/DigitalInput.h"
-#include "frc/DutyCycle.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/rotation/DutyCycle.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
index 2777ee48c0..f8050a6956 100644
--- a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
@@ -3,18 +3,18 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <units/math.h>
-#include <units/time.h>
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
 
-#include "frc/Encoder.h"
-#include "frc/RobotController.h"
-#include "frc/controller/PIDController.h"
-#include "frc/motorcontrol/PWMVictorSPX.h"
-#include "frc/simulation/ElevatorSim.h"
-#include "frc/simulation/EncoderSim.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/hardware/motor/PWMVictorSPX.hpp"
+#include "wpi/simulation/ElevatorSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)
diff --git a/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
index 7d35e7cf9e..e469f8aa2b 100644
--- a/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/EncoderSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/EncoderSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
-#include <wpi/deprecated.h>
+#include "wpi/hal/HAL.h"
+#include "wpi/util/deprecated.hpp"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/Encoder.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/rotation/Encoder.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
index 7964fe22e9..b72160fd87 100644
--- a/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/PowerDistributionSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/PowerDistributionSim.hpp"  // NOLINT(build/include_order)
 
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/PowerDistribution.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/power/PowerDistribution.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
index a251d92bac..fb35339b5d 100644
--- a/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/PWMMotorControllerSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/PWMMotorControllerSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "frc/motorcontrol/Spark.h"
+#include "wpi/hardware/motor/Spark.hpp"
 
 namespace frc::sim {
 TEST(PWMMotorControllerSimTest, TestMotor) {
diff --git a/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
index 0d392ab78b..1532d5abe4 100644
--- a/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/PWMSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/PWMSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/PWM.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/discrete/PWM.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
index 3c2fb41352..3c90b8d847 100644
--- a/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/REVPHSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/REVPHSim.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/DoubleSolenoid.h"
-#include "frc/PneumaticHub.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticHub.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
index 45ccc9689a..a4d900bf5b 100644
--- a/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/simulation/RoboRioSim.h"  // NOLINT(build/include_order)
+#include "wpi/simulation/RoboRioSim.hpp"  // NOLINT(build/include_order)
 
 #include <string>
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HAL.h"
+#include "wpi/hal/HALBase.h"
 
-#include "callback_helpers/TestCallbackHelpers.h"
-#include "frc/RobotController.h"
+#include "callback_helpers/TestCallbackHelpers.hpp"
+#include "wpi/system/RobotController.hpp"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp
index 3cd2a63717..88f9c0f32a 100644
--- a/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp
@@ -5,9 +5,9 @@
 #include <string_view>
 
 #include <gtest/gtest.h>
-#include <hal/SimDevice.h>
+#include "wpi/hal/SimDevice.h"
 
-#include "frc/simulation/SimDeviceSim.h"
+#include "wpi/simulation/SimDeviceSim.hpp"
 
 using namespace frc::sim;
 
diff --git a/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp b/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
index e3e83d54ea..1846c655a8 100644
--- a/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
@@ -5,19 +5,19 @@
 #include <exception>
 
 #include <gtest/gtest.h>
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
-#include "frc/simulation/AddressableLEDSim.h"
-#include "frc/simulation/AnalogInputSim.h"
-#include "frc/simulation/CTREPCMSim.h"
-#include "frc/simulation/DIOSim.h"
-#include "frc/simulation/DigitalPWMSim.h"
-#include "frc/simulation/DriverStationSim.h"
-#include "frc/simulation/DutyCycleSim.h"
-#include "frc/simulation/EncoderSim.h"
-#include "frc/simulation/PWMSim.h"
-#include "frc/simulation/PowerDistributionSim.h"
-#include "frc/simulation/RoboRioSim.h"
+#include "wpi/simulation/AddressableLEDSim.hpp"
+#include "wpi/simulation/AnalogInputSim.hpp"
+#include "wpi/simulation/CTREPCMSim.hpp"
+#include "wpi/simulation/DIOSim.hpp"
+#include "wpi/simulation/DigitalPWMSim.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/DutyCycleSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/simulation/PWMSim.hpp"
+#include "wpi/simulation/PowerDistributionSim.hpp"
+#include "wpi/simulation/RoboRioSim.hpp"
 
 using namespace frc::sim;
 
diff --git a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
index 3f6a1446ce..dcc1b24325 100644
--- a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/simulation/SingleJointedArmSim.h"
+#include "wpi/simulation/SingleJointedArmSim.hpp"
 
 TEST(SingleJointedArmTest, Disabled) {
   frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 300, 3_kg_sq_m,
diff --git a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
index fbcab20879..77ef505f33 100644
--- a/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
@@ -3,23 +3,23 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <units/angular_acceleration.h>
-#include <units/angular_velocity.h>
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
-#include "frc/Encoder.h"
-#include "frc/RobotController.h"
-#include "frc/controller/PIDController.h"
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "frc/motorcontrol/PWMVictorSPX.h"
-#include "frc/simulation/BatterySim.h"
-#include "frc/simulation/DifferentialDrivetrainSim.h"
-#include "frc/simulation/ElevatorSim.h"
-#include "frc/simulation/EncoderSim.h"
-#include "frc/simulation/FlywheelSim.h"
-#include "frc/simulation/LinearSystemSim.h"
-#include "frc/simulation/PWMSim.h"
-#include "frc/simulation/RoboRioSim.h"
-#include "frc/system/plant/LinearSystemId.h"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/hardware/motor/PWMVictorSPX.hpp"
+#include "wpi/simulation/BatterySim.hpp"
+#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
+#include "wpi/simulation/ElevatorSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/simulation/FlywheelSim.hpp"
+#include "wpi/simulation/LinearSystemSim.hpp"
+#include "wpi/simulation/PWMSim.hpp"
+#include "wpi/simulation/RoboRioSim.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 TEST(StateSpaceSimTest, FlywheelSim) {
   const frc::LinearSystem<1, 1, 1> plant =
diff --git a/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp
index a500232365..64c29108dd 100644
--- a/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp
+++ b/wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/smartdashboard/Mechanism2d.h>
-#include <frc/smartdashboard/MechanismLigament2d.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc/util/Color8Bit.h>
+#include "wpi/smartdashboard/Mechanism2d.hpp"
+#include "wpi/smartdashboard/MechanismLigament2d.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/util/Color8Bit.hpp"
 
 #include <gtest/gtest.h>
-#include <networktables/NetworkTableInstance.h>
-#include <units/angle.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/units/angle.hpp"
 
 class Mechanism2dTest;
 
diff --git a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
index 702735c3ea..2ae50427d9 100644
--- a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
+++ b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/simulation/SendableChooserSim.h>
-#include <frc/smartdashboard/SendableChooser.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/simulation/SendableChooserSim.hpp"
+#include "wpi/smartdashboard/SendableChooser.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 #include <string>
 
 #include <fmt/format.h>
 #include <gtest/gtest.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/nt/StringTopic.hpp"
 
 class SendableChooserTest : public ::testing::TestWithParam<int> {};
 
diff --git a/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp b/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp
index 775b0a695a..8c6fb18466 100644
--- a/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp
+++ b/wpilibc/src/test/native/cpp/util/Color8BitTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/util/Color8Bit.h"
+#include "wpi/util/Color8Bit.hpp"
 
 TEST(Color8BitTest, ConstructDefault) {
   constexpr frc::Color8Bit color;
diff --git a/wpilibc/src/test/native/cpp/util/ColorTest.cpp b/wpilibc/src/test/native/cpp/util/ColorTest.cpp
index a62c0157f1..c352bb14b9 100644
--- a/wpilibc/src/test/native/cpp/util/ColorTest.cpp
+++ b/wpilibc/src/test/native/cpp/util/ColorTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/util/Color.h"
+#include "wpi/util/Color.hpp"
 
 TEST(ColorTest, ConstructDefault) {
   constexpr frc::Color color;
diff --git a/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp b/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp
index 646bcdd406..348bd15d92 100644
--- a/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp
+++ b/wpilibc/src/test/native/include/callback_helpers/TestCallbackHelpers.hpp
@@ -7,7 +7,7 @@
 #include <functional>
 #include <string_view>
 
-#include <hal/Value.h>
+#include "wpi/hal/Value.h"
 
 namespace frc::sim {
 
diff --git a/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp b/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
index aab6ce4749..f32a31962d 100644
--- a/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
+++ b/wpilibc/src/test/native/include/motorcontrol/MockMotorController.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <wpi/deprecated.h>
+#include "wpi/util/deprecated.hpp"
 
-#include "frc/motorcontrol/MotorController.h"
+#include "wpi/hardware/motor/MotorController.hpp"
 
 namespace frc {
 
diff --git a/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.cpp b/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.cpp
index c17d267c31..fb306b6df2 100644
--- a/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeCommand2.h"
+#include "ReplaceMeCommand2.hpp"
 
 ReplaceMeCommand2::ReplaceMeCommand2() {
   // Use addRequirements() here to declare subsystem dependencies.
diff --git a/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp b/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp
index ace863820e..8e8f1a4408 100644
--- a/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
 /**
  * An example command.
diff --git a/wpilibcExamples/src/main/cpp/commands/emptyclass/ReplaceMeEmptyClass.cpp b/wpilibcExamples/src/main/cpp/commands/emptyclass/ReplaceMeEmptyClass.cpp
index 19de34f3da..a6afe3b9cc 100644
--- a/wpilibcExamples/src/main/cpp/commands/emptyclass/ReplaceMeEmptyClass.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/emptyclass/ReplaceMeEmptyClass.cpp
@@ -2,6 +2,6 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeEmptyClass.h"
+#include "ReplaceMeEmptyClass.hpp"
 
 ReplaceMeEmptyClass::ReplaceMeEmptyClass() = default;
diff --git a/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.cpp b/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.cpp
index 4de2be6a80..14fcc67658 100644
--- a/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeInstantCommand2.h"
+#include "ReplaceMeInstantCommand2.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp b/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp
index ff3cd2b40a..32a39d0cce 100644
--- a/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/InstantCommand.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/InstantCommand.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp
index 3a387ff99d..4e8f2c94b2 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeParallelCommandGroup.h"
+#include "ReplaceMeParallelCommandGroup.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp
index f0f3952e6e..237b04cc7e 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/ParallelCommandGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/ParallelCommandGroup.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
index f664e55b33..4b4d44d713 100644
--- a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeParallelDeadlineGroup.h"
+#include "ReplaceMeParallelDeadlineGroup.hpp"
 
-#include <frc2/command/InstantCommand.h>
+#include "wpi/commands2/InstantCommand.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp
index 2a48f12974..405ffc7839 100644
--- a/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/ParallelDeadlineGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/ParallelDeadlineGroup.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp
index f51433cdee..264c56c974 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeParallelRaceGroup.h"
+#include "ReplaceMeParallelRaceGroup.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp
index 9699f4372b..5e9140957f 100644
--- a/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/ParallelRaceGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/ParallelRaceGroup.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp
index cc2504c53c..6a7b46948a 100644
--- a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeSequentialCommandGroup.h"
+#include "ReplaceMeSequentialCommandGroup.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp
index 5e54cd74af..a896bef5b5 100644
--- a/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.
 // For more information, see:
diff --git a/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.cpp b/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.cpp
index 8d0ede06f3..254517e1f6 100644
--- a/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "ReplaceMeSubsystem2.h"
+#include "ReplaceMeSubsystem2.hpp"
 
 ReplaceMeSubsystem2::ReplaceMeSubsystem2() = default;
 
diff --git a/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp b/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp
index ca11456d43..cdadc54dd9 100644
--- a/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp
+++ b/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc2/command/SubsystemBase.h>
+#include "wpi/commands2/SubsystemBase.hpp"
 
 class ReplaceMeSubsystem2 : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
index 796a8457e0..4c47b07ae2 100644
--- a/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 Robot::Robot() {
   // Default to a length of 60, start empty output
diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
index dd9bc81505..12867f2231 100644
--- a/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp
@@ -6,9 +6,9 @@
 
 #include <array>
 
-#include <frc/AddressableLED.h>
-#include <frc/LEDPattern.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/led/AddressableLED.hpp"
+#include "wpi/hardware/led/LEDPattern.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
index 4d94430ec9..9ea2210d09 100644
--- a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
@@ -8,20 +8,20 @@
 #include <thread>
 #include <vector>
 
-#include <cameraserver/CameraServer.h>
+#include "wpi/cameraserver/CameraServer.hpp"
 #include <fmt/format.h>
-#include <frc/TimedRobot.h>
-#include <frc/apriltag/AprilTagDetection.h>
-#include <frc/apriltag/AprilTagDetector.h>
-#include <frc/apriltag/AprilTagPoseEstimator.h>
-#include <frc/geometry/Transform3d.h>
-#include <networktables/IntegerArrayTopic.h>
-#include <networktables/NetworkTableInstance.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/apriltag/AprilTagDetection.hpp"
+#include "wpi/apriltag/AprilTagDetector.hpp"
+#include "wpi/apriltag/AprilTagPoseEstimator.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/nt/IntegerArrayTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
 #include <opencv2/core/core.hpp>
 #include <opencv2/core/types.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <units/angle.h>
-#include <units/length.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
 /**
  * This is a demo program showing the detection of AprilTags.
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
index 1c3e3564d3..d7b31aa947 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
index 416c49c0f1..b03d170709 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
index 8641f4c283..15cfb53301 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 void Robot::SimulationPeriodic() {
   m_arm.SimulationPeriodic();
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
index 95934cefaf..bafd2f9b1d 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Arm.h"
+#include "subsystems/Arm.hpp"
 
-#include <frc/Preferences.h>
-#include <frc/RobotController.h>
-#include <frc/StateSpaceUtil.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/util/Preferences.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 Arm::Arm() {
   m_encoder.SetDistancePerPulse(kArmEncoderDistPerPulse);
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp
index c5883dbd4d..2c9a8f132b 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.hpp
@@ -6,12 +6,12 @@
 
 #include <numbers>
 
-#include <units/angle.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
index 30d90b6ca5..4b1b921c6f 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
-#include "subsystems/Arm.h"
+#include "subsystems/Arm.hpp"
 
 /**
  * This is a sample program to demonstrate the use of arm simulation.
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp
index 6c7a3a7b41..a5c7730215 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.hpp
@@ -4,21 +4,21 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/controller/ArmFeedforward.h>
-#include <frc/controller/PIDController.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/simulation/BatterySim.h>
-#include <frc/simulation/EncoderSim.h>
-#include <frc/simulation/PWMSim.h>
-#include <frc/simulation/RoboRioSim.h>
-#include <frc/simulation/SingleJointedArmSim.h>
-#include <frc/smartdashboard/Mechanism2d.h>
-#include <frc/smartdashboard/MechanismLigament2d.h>
-#include <frc/smartdashboard/MechanismRoot2d.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/math/controller/ArmFeedforward.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/simulation/BatterySim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/simulation/PWMSim.hpp"
+#include "wpi/simulation/RoboRioSim.hpp"
+#include "wpi/simulation/SingleJointedArmSim.hpp"
+#include "wpi/smartdashboard/Mechanism2d.hpp"
+#include "wpi/smartdashboard/MechanismLigament2d.hpp"
+#include "wpi/smartdashboard/MechanismRoot2d.hpp"
+#include "wpi/units/length.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Arm {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
index e430e13796..87a4422d40 100644
--- a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/PowerDistribution.h>
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/hardware/power/PowerDistribution.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 /**
  * This is a sample program showing how to retrieve information from the Power
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
index f23041ba9f..0ed23babec 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
   const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
index e9119c81ca..7e36e5a15b 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/filter/SlewRateLimiter.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
index 8bde23d446..8ee4341621 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
@@ -6,17 +6,17 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/OnboardIMU.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/kinematics/DifferentialDriveKinematics.h>
-#include <frc/kinematics/DifferentialDriveOdometry.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
-#include <units/length.h>
-#include <units/velocity.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
 
 /**
  * Represents a differential drive style drivetrain.
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
index e5ba1fe348..e93771d4a8 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 #include <vector>
 
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
index 324e03f78c..3b3297568c 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/filter/SlewRateLimiter.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
index 397ef1e9fa..4c77d3f669 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
@@ -6,33 +6,33 @@
 
 #include <numbers>
 
-#include <frc/ComputerVisionUtil.h>
-#include <frc/Encoder.h>
-#include <frc/OnboardIMU.h>
-#include <frc/RobotController.h>
-#include <frc/Timer.h>
-#include <frc/apriltag/AprilTagFieldLayout.h>
-#include <frc/apriltag/AprilTagFields.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/estimator/DifferentialDrivePoseEstimator.h>
-#include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Pose3d.h>
-#include <frc/geometry/Quaternion.h>
-#include <frc/geometry/Transform3d.h>
-#include <frc/kinematics/DifferentialDriveKinematics.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/simulation/DifferentialDrivetrainSim.h>
-#include <frc/simulation/EncoderSim.h>
-#include <frc/smartdashboard/Field2d.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <networktables/DoubleArrayTopic.h>
-#include <networktables/NetworkTableInstance.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
-#include <units/length.h>
-#include <units/velocity.h>
+#include "wpi/math/util/ComputerVisionUtil.hpp"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/system/Timer.hpp"
+#include "wpi/apriltag/AprilTagFieldLayout.hpp"
+#include "wpi/apriltag/AprilTagFields.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Quaternion.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/smartdashboard/Field2d.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/nt/DoubleArrayTopic.hpp"
+#include "wpi/nt/NetworkTableInstance.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
 
 /**
  * Represents a differential drive style drivetrain.
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
index b9e2ba4339..e62c125943 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc/StateSpaceUtil.h>
-#include <frc/geometry/Pose2d.h>
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 /**
  * This dummy class represents a global measurement sensor, such as a computer
diff --git a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
index e95a0d7745..0eb8cf81e3 100644
--- a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/DriverStation.h>
+#include "wpi/driverstation/DriverStation.hpp"
 
 void Robot::RobotPeriodic() {
   // pull alliance port high if on red alliance, pull low if on blue alliance
diff --git a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
index 17ec6805ed..0d94f98ba7 100644
--- a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp
@@ -6,8 +6,8 @@
 
 #include <array>
 
-#include <frc/DigitalOutput.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * This is a sample program demonstrating how to communicate to a light
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
index 18be09af70..4171cf2259 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index f828d3a1dc..bbf9217e0f 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
index 22290ba098..a2039b9728 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/DriveSubsystem.h"
+#include "subsystems/DriveSubsystem.hpp"
 
-#include <frc/RobotController.h>
+#include "wpi/system/RobotController.hpp"
 
 using namespace DriveConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp
index 4135a17d1b..d0ac788a1c 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp
@@ -6,11 +6,11 @@
 
 #include <numbers>
 
-#include <units/acceleration.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
index 2405694447..dcd14942f4 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp
@@ -6,10 +6,10 @@
 
 #include <optional>
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/Command.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/Command.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
index 6bfda5828b..7a6c391b89 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp
@@ -4,13 +4,13 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/Commands.h>
-#include <frc2/command/button/CommandXboxController.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/button/CommandXboxController.hpp"
 
-#include "Constants.h"
-#include "subsystems/DriveSubsystem.h"
+#include "Constants.hpp"
+#include "subsystems/DriveSubsystem.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp
index 162a2abe4c..a6488a10d7 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp
@@ -4,17 +4,17 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/Timer.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/trajectory/TrapezoidProfile.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/system/Timer.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/units/length.hpp"
 
-#include "Constants.h"
-#include "ExampleSmartMotorController.h"
+#include "Constants.hpp"
+#include "ExampleSmartMotorController.hpp"
 
 class DriveSubsystem : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
index 72d6875d5a..a79a1b166d 100644
--- a/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DutyCycleEncoder.h>
-#include <frc/MathUtil.h>
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/hardware/rotation/DutyCycleEncoder.hpp"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 constexpr double fullRange = 1.3;
 constexpr double expectedZero = 0.0;
diff --git a/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
index 1ceeec8dc0..f0d144e52d 100644
--- a/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DigitalInput.h>
-#include <frc/DutyCycle.h>
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/rotation/DutyCycle.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 class Robot : public frc::TimedRobot {
   frc::DutyCycle m_dutyCycle{0};  // Duty cycle input
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
index 3be3379683..f9bf4726d0 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
@@ -4,17 +4,17 @@
 
 #include <numbers>
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/trajectory/ExponentialProfile.h>
-#include <units/acceleration.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/trajectory/ExponentialProfile.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
-#include "ExampleSmartMotorController.h"
+#include "ExampleSmartMotorController.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
index a6cb55d2d0..eb74029829 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 void Robot::RobotPeriodic() {
   // Update the telemetry, including mechanism visualization, regardless of
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
index af07ea8dd6..adf098512a 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Elevator.h"
+#include "subsystems/Elevator.hpp"
 
-#include <frc/RobotController.h>
-#include <frc/StateSpaceUtil.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 Elevator::Elevator() {
   m_encoder.SetDistancePerPulse(Constants::kArmEncoderDistPerPulse);
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp
index 65d9815757..2a31145aff 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp
@@ -6,13 +6,13 @@
 
 #include <numbers>
 
-#include <units/acceleration.h>
-#include <units/angle.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
index 4e650b2fb9..0af79640f4 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
-#include "subsystems/Elevator.h"
+#include "subsystems/Elevator.hpp"
 
 /**
  * This is a sample program to demonstrate the use of elevator simulation.
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp
index bb8d19111d..2c449f675c 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp
@@ -4,22 +4,22 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/controller/ElevatorFeedforward.h>
-#include <frc/controller/PIDController.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/simulation/BatterySim.h>
-#include <frc/simulation/ElevatorSim.h>
-#include <frc/simulation/EncoderSim.h>
-#include <frc/simulation/PWMMotorControllerSim.h>
-#include <frc/simulation/RoboRioSim.h>
-#include <frc/smartdashboard/Mechanism2d.h>
-#include <frc/smartdashboard/MechanismLigament2d.h>
-#include <frc/smartdashboard/MechanismRoot2d.h>
-#include <frc/trajectory/ExponentialProfile.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/simulation/BatterySim.hpp"
+#include "wpi/simulation/ElevatorSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/simulation/PWMMotorControllerSim.hpp"
+#include "wpi/simulation/RoboRioSim.hpp"
+#include "wpi/smartdashboard/Mechanism2d.hpp"
+#include "wpi/smartdashboard/MechanismLigament2d.hpp"
+#include "wpi/smartdashboard/MechanismRoot2d.hpp"
+#include "wpi/math/trajectory/ExponentialProfile.hpp"
+#include "wpi/units/length.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Elevator {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
index 51fc29ed6e..04d4c78346 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -4,18 +4,18 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/controller/ElevatorFeedforward.h>
-#include <frc/controller/ProfiledPIDController.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/trajectory/TrapezoidProfile.h>
-#include <units/acceleration.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
index 1be347c82b..8b41513dd4 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 void Robot::RobotPeriodic() {
   // Update the telemetry, including mechanism visualization, regardless of
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
index 35e11ffa34..c14c395078 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Elevator.h"
+#include "subsystems/Elevator.hpp"
 
-#include <frc/RobotController.h>
-#include <frc/StateSpaceUtil.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 Elevator::Elevator() {
   m_encoder.SetDistancePerPulse(Constants::kArmEncoderDistPerPulse);
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp
index 1123dc0cd4..8ad13f6dca 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp
@@ -6,13 +6,13 @@
 
 #include <numbers>
 
-#include <units/acceleration.h>
-#include <units/angle.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
index 70ff4fae03..b1ea606417 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
-#include "subsystems/Elevator.h"
+#include "subsystems/Elevator.hpp"
 
 /**
  * This is a sample program to demonstrate the use of elevator simulation.
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp
index d732559a6c..19c77c968e 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp
@@ -4,22 +4,22 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/controller/ElevatorFeedforward.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/ProfiledPIDController.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/simulation/BatterySim.h>
-#include <frc/simulation/ElevatorSim.h>
-#include <frc/simulation/EncoderSim.h>
-#include <frc/simulation/PWMMotorControllerSim.h>
-#include <frc/simulation/RoboRioSim.h>
-#include <frc/smartdashboard/Mechanism2d.h>
-#include <frc/smartdashboard/MechanismLigament2d.h>
-#include <frc/smartdashboard/MechanismRoot2d.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/simulation/BatterySim.hpp"
+#include "wpi/simulation/ElevatorSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/simulation/PWMMotorControllerSim.hpp"
+#include "wpi/simulation/RoboRioSim.hpp"
+#include "wpi/smartdashboard/Mechanism2d.hpp"
+#include "wpi/smartdashboard/MechanismLigament2d.hpp"
+#include "wpi/smartdashboard/MechanismRoot2d.hpp"
+#include "wpi/units/length.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Elevator {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
index 63cd55d974..9002ea2062 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -4,17 +4,17 @@
 
 #include <numbers>
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/trajectory/TrapezoidProfile.h>
-#include <units/acceleration.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
-#include "ExampleSmartMotorController.h"
+#include "ExampleSmartMotorController.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
index 255cc4f703..9b28604b58 100644
--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -4,9 +4,9 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 /**
  * Sample program displaying the value of a quadrature encoder on the
diff --git a/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
index 87baa5932d..0c6f95219f 100644
--- a/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/event/BooleanEvent.h>
-#include <frc/event/EventLoop.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <units/angular_velocity.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/event/BooleanEvent.hpp"
+#include "wpi/event/EventLoop.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 static const auto SHOT_VELOCITY = 200_rpm;
 static const auto TOLERANCE = 8_rpm;
diff --git a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
index 5a4e18d628..0c29d55425 100644
--- a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/controller/BangBangController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/simulation/EncoderSim.h>
-#include <frc/simulation/FlywheelSim.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <units/moment_of_inertia.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/controller/BangBangController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/simulation/FlywheelSim.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 /**
  * This is a sample program to demonstrate the use of a BangBangController with
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index 0a73f1402f..a993c8118f 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/Timer.h>
-#include <frc/XboxController.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/system/Timer.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
index 6c97d58ec1..5f677e5b4c 100644
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -4,11 +4,11 @@
 
 #include <cmath>
 
-#include <frc/Joystick.h>
-#include <frc/OnboardIMU.h>
-#include <frc/TimedRobot.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a sample program to demonstrate how to use a gyro sensor to make a
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
index 960587e9d5..4b1b5a8ff4 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Joystick.h>
-#include <frc/OnboardIMU.h>
-#include <frc/TimedRobot.h>
-#include <frc/drive/MecanumDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/drive/MecanumDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a sample program that uses mecanum drive with a gyro sensor to
diff --git a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
index 1213c32ca7..64f732b522 100644
--- a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
+++ b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
@@ -15,7 +15,7 @@ that want even more control over what code runs on their robot.
 
 #include <stdio.h>
 
-#include <hal/HAL.h>
+#include "wpi/hal/HAL.h"
 
 enum DriverStationMode {
   DisabledMode,
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
index fdd7a4941f..920321a33a 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/DataLogManager.h>
-#include <frc/DriverStation.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/system/DataLogManager.hpp"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {
   // Start recording to data log
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
index 04342cd9b6..940fcd90b3 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
index 73e60edb26..dc3ccc5491 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/Autos.h"
+#include "commands/Autos.hpp"
 
-#include <frc2/command/Commands.h>
-#include <frc2/command/FunctionalCommand.h>
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/FunctionalCommand.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 using namespace AutoConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
index d7b33eac79..59f7232e61 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/DriveSubsystem.h"
+#include "subsystems/DriveSubsystem.hpp"
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace DriveConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
index 40829c26db..fa1726d8be 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/HatchSubsystem.h"
+#include "subsystems/HatchSubsystem.hpp"
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace HatchConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
index b670df4cd8..fe9d7335c9 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/Command.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/Command.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
index 002a8a60cb..8de46b9d49 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <frc/smartdashboard/SendableChooser.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/Commands.h>
-#include <frc2/command/button/CommandPS4Controller.h>
+#include "wpi/smartdashboard/SendableChooser.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/button/CommandPS4Controller.hpp"
 
-#include "Constants.h"
-#include "commands/Autos.h"
-#include "subsystems/DriveSubsystem.h"
-#include "subsystems/HatchSubsystem.h"
+#include "Constants.hpp"
+#include "commands/Autos.hpp"
+#include "subsystems/DriveSubsystem.hpp"
+#include "subsystems/HatchSubsystem.hpp"
 
 namespace ac = AutoConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp
index 8adbdf8b3f..3deed280df 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc2/command/CommandPtr.h>
+#include "wpi/commands2/CommandPtr.hpp"
 
-#include "subsystems/DriveSubsystem.h"
-#include "subsystems/HatchSubsystem.h"
+#include "subsystems/DriveSubsystem.hpp"
+#include "subsystems/HatchSubsystem.hpp"
 
 /** Container for auto command factories. */
 namespace autos {
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
index 6cab580388..c4480d2f0d 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class DriveSubsystem : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp
index e81f3b2d79..124a69a6e0 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/DoubleSolenoid.h>
-#include <frc/PneumaticsControlModule.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class HatchSubsystem : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
index fdd7a4941f..920321a33a 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/DataLogManager.h>
-#include <frc/DriverStation.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/system/DataLogManager.hpp"
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {
   // Start recording to data log
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index f87ab6d75b..f32b800222 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/button/JoystickButton.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/commands2/button/JoystickButton.hpp"
 
-#include "commands/DefaultDrive.h"
-#include "commands/GrabHatch.h"
-#include "commands/HalveDriveSpeed.h"
-#include "commands/ReleaseHatch.h"
+#include "commands/DefaultDrive.hpp"
+#include "commands/GrabHatch.hpp"
+#include "commands/HalveDriveSpeed.hpp"
+#include "commands/ReleaseHatch.hpp"
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
index cfc5153aec..cd27071f86 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/ComplexAuto.h"
+#include "commands/ComplexAuto.hpp"
 
 using namespace AutoConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
index 4047596cf1..fce831d9c3 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/DefaultDrive.h"
+#include "commands/DefaultDrive.hpp"
 
 #include <utility>
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DriveDistance.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DriveDistance.cpp
index 9d9704d42c..216246a78b 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DriveDistance.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DriveDistance.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/DriveDistance.h"
+#include "commands/DriveDistance.hpp"
 
 #include <cmath>
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
index e769cbdb32..001229cc95 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/GrabHatch.h"
+#include "commands/GrabHatch.hpp"
 
 GrabHatch::GrabHatch(HatchSubsystem* subsystem) : m_hatch(subsystem) {
   AddRequirements(subsystem);
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/HalveDriveSpeed.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/HalveDriveSpeed.cpp
index 0f561b3342..632e00ff80 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/HalveDriveSpeed.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/HalveDriveSpeed.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/HalveDriveSpeed.h"
+#include "commands/HalveDriveSpeed.hpp"
 
 HalveDriveSpeed::HalveDriveSpeed(DriveSubsystem* subsystem)
     : m_drive(subsystem) {}
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ReleaseHatch.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ReleaseHatch.cpp
index 12f36dafe8..4dbca0e7ef 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ReleaseHatch.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ReleaseHatch.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/ReleaseHatch.h"
+#include "commands/ReleaseHatch.hpp"
 
 ReleaseHatch::ReleaseHatch(HatchSubsystem* subsystem) : m_hatch(subsystem) {
   AddRequirements(subsystem);
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
index d7b33eac79..59f7232e61 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/DriveSubsystem.h"
+#include "subsystems/DriveSubsystem.hpp"
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace DriveConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
index 62ef064ed1..8d80d336c2 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/HatchSubsystem.h"
+#include "subsystems/HatchSubsystem.hpp"
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace HatchConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
index b670df4cd8..fe9d7335c9 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/Command.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/Command.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
index 980e6e5adb..56895f598a 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp
@@ -4,16 +4,16 @@
 
 #pragma once
 
-#include <frc/XboxController.h>
-#include <frc/smartdashboard/SendableChooser.h>
-#include <frc2/command/Command.h>
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/smartdashboard/SendableChooser.hpp"
+#include "wpi/commands2/Command.hpp"
 
-#include "Constants.h"
-#include "commands/ComplexAuto.h"
-#include "commands/DefaultDrive.h"
-#include "commands/DriveDistance.h"
-#include "subsystems/DriveSubsystem.h"
-#include "subsystems/HatchSubsystem.h"
+#include "Constants.hpp"
+#include "commands/ComplexAuto.hpp"
+#include "commands/DefaultDrive.hpp"
+#include "commands/DriveDistance.hpp"
+#include "subsystems/DriveSubsystem.hpp"
+#include "subsystems/HatchSubsystem.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp
index d66394cc5e..07874a8c09 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
-#include "Constants.h"
-#include "commands/DriveDistance.h"
-#include "commands/ReleaseHatch.h"
+#include "Constants.hpp"
+#include "commands/DriveDistance.hpp"
+#include "commands/ReleaseHatch.hpp"
 
 /**
  * A complex auto command that drives forward, releases a hatch, and then drives
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp
index 7d58f9ec1a..823276edb5 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.hpp
@@ -6,10 +6,10 @@
 
 #include <functional>
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/DriveSubsystem.h"
+#include "subsystems/DriveSubsystem.hpp"
 
 /**
  * A command to drive the robot with joystick input passed in through lambdas.
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp
index 5a0fad87b6..7e83ab61ff 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/DriveSubsystem.h"
+#include "subsystems/DriveSubsystem.hpp"
 
 class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp
index c8a36a463d..8b90c1019e 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/HatchSubsystem.h"
+#include "subsystems/HatchSubsystem.hpp"
 
 /**
  * A simple command that grabs a hatch with the HatchSubsystem.  Written
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp
index 52d828156c..b407c56c9a 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/DriveSubsystem.h"
+#include "subsystems/DriveSubsystem.hpp"
 
 class HalveDriveSpeed
     : public frc2::CommandHelper<frc2::Command, HalveDriveSpeed> {
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp
index 0b4b953702..20825b8176 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/HatchSubsystem.h"
+#include "subsystems/HatchSubsystem.hpp"
 
 /**
  * A simple command that releases a hatch with the HatchSubsystem.  Written
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
index 6cab580388..c4480d2f0d 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class DriveSubsystem : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp
index 392e9b20ab..c9755411aa 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc/DoubleSolenoid.h>
-#include <frc/PneumaticsControlModule.h>
-#include <frc2/command/SubsystemBase.h>
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class HatchSubsystem : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
index d0fdd6d196..18112533af 100644
--- a/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
 
 /**
  * This is a demo program showing the use of GenericHID's rumble feature.
diff --git a/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
index 327569ddfb..4d319535e9 100644
--- a/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <cameraserver/CameraServer.h>
-#include <frc/TimedRobot.h>
+#include "wpi/cameraserver/CameraServer.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 #include <opencv2/core/core.hpp>
 #include <opencv2/core/types.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
diff --git a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
index 9d9e3a0730..628839b9bd 100644
--- a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 #include <string>
 
 #include <fmt/format.h>
-#include <frc/DriverStation.h>
-#include <frc/Timer.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/system/Timer.hpp"
 
 void Robot::RobotPeriodic() {
   // Creates a string to hold current robot state information, including
diff --git a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
index 48bbe4a189..b4ee9e1b29 100644
--- a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.hpp
@@ -6,8 +6,8 @@
 
 #include <array>
 
-#include <frc/I2C.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/bus/I2C.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * This is a sample program demonstrating how to communicate to a light
diff --git a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
index a65646c3d1..33f71241e6 100644
--- a/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
@@ -5,8 +5,8 @@
 #include <cstdio>
 #include <thread>
 
-#include <cameraserver/CameraServer.h>
-#include <frc/TimedRobot.h>
+#include "wpi/cameraserver/CameraServer.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 #include <opencv2/core/core.hpp>
 #include <opencv2/core/types.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
index a0ea4e0d2c..0d9e2a5967 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
-#include <frc/kinematics/ChassisSpeeds.h>
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
   return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
index 18955f2ffd..b506b67274 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/filter/SlewRateLimiter.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
index 9db4ddf4b2..810a0082a5 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
@@ -6,15 +6,15 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/OnboardIMU.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/geometry/Translation2d.h>
-#include <frc/kinematics/MecanumDriveKinematics.h>
-#include <frc/kinematics/MecanumDriveOdometry.h>
-#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * Represents a mecanum drive style drivetrain.
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
index 84cbf7916b..e3b570dd88 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/drive/MecanumDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/drive/MecanumDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing how to use Mecanum control with the
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
index 964c47382d..a0ff227487 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
-#include <frc/Timer.h>
+#include "wpi/system/Timer.hpp"
 
-#include "ExampleGlobalMeasurementSensor.h"
+#include "ExampleGlobalMeasurementSensor.hpp"
 
 frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
   return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
index 18955f2ffd..b506b67274 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/filter/SlewRateLimiter.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
index 55c73e4b24..2f3177d717 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
@@ -6,16 +6,16 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/OnboardIMU.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/estimator/MecanumDrivePoseEstimator.h>
-#include <frc/geometry/Translation2d.h>
-#include <frc/kinematics/MecanumDriveKinematics.h>
-#include <frc/kinematics/MecanumDriveOdometry.h>
-#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * Represents a mecanum drive style drivetrain.
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
index b9e2ba4339..e62c125943 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc/StateSpaceUtil.h>
-#include <frc/geometry/Pose2d.h>
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 /**
  * This dummy class represents a global measurement sensor, such as a computer
diff --git a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
index 600f28b341..1c56fba1b1 100644
--- a/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/AnalogPotentiometer.h>
-#include <frc/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/simulation/SimHooks.h>
-#include <frc/smartdashboard/Mechanism2d.h>
-#include <frc/smartdashboard/MechanismLigament2d.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc/util/Color.h>
-#include <frc/util/Color8Bit.h>
-#include <units/angle.h>
+#include "wpi/hardware/rotation/AnalogPotentiometer.hpp"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/simulation/SimHooks.hpp"
+#include "wpi/smartdashboard/Mechanism2d.hpp"
+#include "wpi/smartdashboard/MechanismLigament2d.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/util/Color.hpp"
+#include "wpi/util/Color8Bit.hpp"
+#include "wpi/units/angle.hpp"
 
 /**
  * This sample program shows how to use Mechanism2d - a visual representation of
diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
index f3b114edc7..437038bca4 100644
--- a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
@@ -4,11 +4,11 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 /**
  * This sample program shows how to control a motor using a joystick. In the
diff --git a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
index 69cebaf145..902b4a53a0 100644
--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 void Robot::TeleopInit() {
   // Move to the bottom setpoint when teleop starts
diff --git a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
index ab843a1575..108903e489 100644
--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp
@@ -6,12 +6,12 @@
 
 #include <array>
 
-#include <frc/AnalogPotentiometer.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/controller/PIDController.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/AnalogPotentiometer.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/units/length.hpp"
 
 /**
  * This is a sample program to demonstrate how to use a soft potentiometer and a
diff --git a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
index 3044e82352..822f2f4db5 100644
--- a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
@@ -4,8 +4,8 @@
 
 #include <cstdio>
 
-#include <cameraserver/CameraServer.h>
-#include <frc/TimedRobot.h>
+#include "wpi/cameraserver/CameraServer.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * Uses the CameraServer class to automatically capture video from a USB webcam
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
index 653aad3ce5..087f036f59 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RapidReactCommandBot.h"
+#include "RapidReactCommandBot.hpp"
 
-#include <frc2/command/Command.h>
-#include <frc2/command/Commands.h>
-#include <frc2/command/button/Trigger.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 void RapidReactCommandBot::ConfigureBindings() {
   // Automatically run the storage motor whenever the ball storage is not full,
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
index 51c6813ac5..b70b1c37f3 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 Robot::Robot() {
   // Configure default commands and condition bindings on robot startup
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
index 0cf80df0b5..17107ff5cb 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Drive.h"
+#include "subsystems/Drive.hpp"
 
 #include <utility>
 
-#include <frc/RobotController.h>
-#include <frc2/command/Commands.h>
+#include "wpi/system/RobotController.hpp"
+#include "wpi/commands2/Commands.hpp"
 
 Drive::Drive() {
   wpi::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
index 20691850af..31feb4d848 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Intake.h"
+#include "subsystems/Intake.hpp"
 
 frc2::CommandPtr Intake::IntakeCommand() {
   return RunOnce([this] { m_piston.Set(frc::DoubleSolenoid::kForward); })
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
index e19040a0c3..3f5fac46a8 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Pneumatics.h"
+#include "subsystems/Pneumatics.hpp"
 
 Pneumatics::Pneumatics() {}
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
index e8950ee464..3d384d436f 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Shooter.h"
+#include "subsystems/Shooter.hpp"
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 Shooter::Shooter() {
   m_shooterFeedback.SetTolerance(ShooterConstants::kShooterTolerance.value());
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
index 59c2a02351..ce2105275f 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Storage.h"
+#include "subsystems/Storage.hpp"
 
 Storage::Storage() {
   SetDefaultCommand(
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp
index 05caf56fa3..7c026f84d5 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.hpp
@@ -6,11 +6,11 @@
 
 #include <numbers>
 
-#include <units/angle.h>
-#include <units/angular_velocity.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace DriveConstants {
 inline constexpr int kLeftMotor1Port = 0;
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
index 77f8340e6d..9f70a9fe42 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/button/CommandXboxController.h>
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/button/CommandXboxController.hpp"
 
-#include "Constants.h"
-#include "subsystems/Drive.h"
-#include "subsystems/Intake.h"
-#include "subsystems/Pneumatics.h"
-#include "subsystems/Shooter.h"
-#include "subsystems/Storage.h"
+#include "Constants.hpp"
+#include "subsystems/Drive.hpp"
+#include "subsystems/Intake.hpp"
+#include "subsystems/Pneumatics.hpp"
+#include "subsystems/Shooter.hpp"
+#include "subsystems/Storage.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared. Since
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
index e88daeecef..ee585859b3 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Robot.hpp
@@ -6,10 +6,10 @@
 
 #include <optional>
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/CommandPtr.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
 
-#include "RapidReactCommandBot.h"
+#include "RapidReactCommandBot.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
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 cc2cc17c29..389aa1b621 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
@@ -6,18 +6,18 @@
 
 #include <functional>
 
-#include <frc/Encoder.h>
-#include <frc/OnboardIMU.h>
-#include <frc/controller/ProfiledPIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
-#include <units/angle.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Drive : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp
index 3fe30ce002..a91a099c1c 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp
@@ -6,12 +6,12 @@
 
 #include <functional>
 
-#include <frc/DoubleSolenoid.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Intake : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp
index c3c54a7b16..9806a3fcc5 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp
@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <frc/AnalogPotentiometer.h>
-#include <frc/Compressor.h>
-#include <frc/PneumaticsControlModule.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
-#include <units/pressure.h>
+#include "wpi/hardware/rotation/AnalogPotentiometer.hpp"
+#include "wpi/hardware/pneumatic/Compressor.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/units/pressure.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Pneumatics : frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp
index 14fdc73612..29136e84ae 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp
@@ -6,16 +6,16 @@
 
 #include <functional>
 
-#include <frc/Encoder.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Shooter : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp
index 5ea8ac7779..cbd3d95698 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.hpp
@@ -4,13 +4,13 @@
 
 #pragma once
 
-#include <frc/DigitalInput.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
-#include <frc2/command/button/Trigger.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Storage : frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
index 904a39eb4f..7d8a762694 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
index f068a7da1a..f3f97f4f33 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/Commands.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/commands2/Commands.hpp"
 
-#include "commands/TeleopArcadeDrive.h"
+#include "commands/TeleopArcadeDrive.hpp"
 
 RobotContainer::RobotContainer() {
   // Configure the button bindings
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp
index dcb59e3e51..e8c6be3733 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveDistance.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/DriveDistance.h"
+#include "commands/DriveDistance.hpp"
 
-#include <units/math.h>
+#include "wpi/units/math.hpp"
 
 void DriveDistance::Initialize() {
   m_drive->ArcadeDrive(0, 0);
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveTime.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveTime.cpp
index 52670a0aac..c5e0106b6d 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveTime.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/DriveTime.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/DriveTime.h"
+#include "commands/DriveTime.hpp"
 
 void DriveTime::Initialize() {
   m_timer.Start();
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TeleopArcadeDrive.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TeleopArcadeDrive.cpp
index f444d2918b..c914bb7b2d 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TeleopArcadeDrive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TeleopArcadeDrive.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/TeleopArcadeDrive.h"
+#include "commands/TeleopArcadeDrive.hpp"
 
 #include <utility>
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 TeleopArcadeDrive::TeleopArcadeDrive(
     Drivetrain* subsystem, std::function<double()> xaxisSpeedSupplier,
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
index 8c1f29e5f7..9d75a6a4a2 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnDegrees.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/TurnDegrees.h"
+#include "commands/TurnDegrees.hpp"
 
 #include <numbers>
 
-#include <units/math.h>
+#include "wpi/units/math.hpp"
 
 void TurnDegrees::Initialize() {
   // Set motors to stop, read encoder values for starting point
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnTime.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnTime.cpp
index 80c4bd2b43..d75951d0eb 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnTime.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TurnTime.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/TurnTime.h"
+#include "commands/TurnTime.hpp"
 
 void TurnTime::Initialize() {
   m_timer.Start();
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
index 4f5d87ced2..3080cadc8c 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 #include <numbers>
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 using namespace DriveConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
index f6b09dcc2f..3f4fb2d2a5 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/Command.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/Command.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp
index 0a7761410b..9b2f898808 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.hpp
@@ -4,17 +4,17 @@
 
 #pragma once
 
-#include <frc/Joystick.h>
-#include <frc/romi/OnBoardIO.h>
-#include <frc/smartdashboard/SendableChooser.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/button/Trigger.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/romi/OnBoardIO.hpp"
+#include "wpi/smartdashboard/SendableChooser.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 
-#include "Constants.h"
-#include "commands/AutonomousDistance.h"
-#include "commands/AutonomousTime.h"
-#include "subsystems/Drivetrain.h"
+#include "Constants.hpp"
+#include "commands/AutonomousDistance.hpp"
+#include "commands/AutonomousTime.hpp"
+#include "subsystems/Drivetrain.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp
index ef01bc4e67..b54ddac2f5 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
-#include "commands/DriveDistance.h"
-#include "commands/TurnDegrees.h"
-#include "subsystems/Drivetrain.h"
+#include "commands/DriveDistance.hpp"
+#include "commands/TurnDegrees.hpp"
+#include "subsystems/Drivetrain.hpp"
 
 class AutonomousDistance
     : public frc2::CommandHelper<frc2::SequentialCommandGroup,
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp
index 1666d47322..65c9c648f7 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
-#include "commands/DriveTime.h"
-#include "commands/TurnTime.h"
-#include "subsystems/Drivetrain.h"
+#include "commands/DriveTime.hpp"
+#include "commands/TurnTime.hpp"
+#include "subsystems/Drivetrain.hpp"
 
 class AutonomousTime
     : public frc2::CommandHelper<frc2::SequentialCommandGroup, AutonomousTime> {
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp
index ab279f2dd5..b9bb3c908b 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/length.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/length.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp
index 58753924f0..4490229846 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/Timer.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/time.h>
+#include "wpi/system/Timer.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/time.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp
index c2c35b7d4b..9209e0491f 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.hpp
@@ -6,10 +6,10 @@
 
 #include <functional>
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class TeleopArcadeDrive
     : public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp
index 8c62355173..7dd4518fce 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/angle.h>
-#include <units/length.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp
index 28a7b5fea7..36f9d009a8 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/Timer.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/time.h>
+#include "wpi/system/Timer.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/time.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
index acd6bbf974..d2453c213e 100644
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.hpp
@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/Spark.h>
-#include <frc/romi/RomiGyro.h>
-#include <frc2/command/SubsystemBase.h>
-#include <units/acceleration.h>
-#include <units/angle.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/Spark.hpp"
+#include "wpi/romi/RomiGyro.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
 class Drivetrain : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
index 798be1ab1d..91d1c4a2d8 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
index df5ba8ce95..e8b1aab104 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
index b670df4cd8..fe9d7335c9 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/Command.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/Command.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp
index ce5e26d679..c239ab6fbd 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/smartdashboard/SendableChooser.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/Commands.h>
+#include "wpi/smartdashboard/SendableChooser.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/Commands.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index bf5d977f40..b3b84d6b48 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
-#include <frc/RobotController.h>
+#include "wpi/system/RobotController.hpp"
 
 void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
   auto leftFeedforward = m_feedforward.Calculate(speeds.left);
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
index 8b31c3dd3d..c39a9810ca 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/Timer.h>
-#include <frc/XboxController.h>
-#include <frc/controller/LTVUnicycleController.h>
-#include <frc/filter/SlewRateLimiter.h>
-#include <frc/trajectory/TrajectoryGenerator.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/system/Timer.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/controller/LTVUnicycleController.hpp"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
index 450809a0d6..cdb919407a 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
@@ -6,22 +6,22 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/OnboardIMU.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/kinematics/DifferentialDriveKinematics.h>
-#include <frc/kinematics/DifferentialDriveOdometry.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/simulation/DifferentialDrivetrainSim.h>
-#include <frc/simulation/EncoderSim.h>
-#include <frc/smartdashboard/Field2d.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
-#include <units/length.h>
-#include <units/velocity.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
+#include "wpi/simulation/EncoderSim.hpp"
+#include "wpi/smartdashboard/Field2d.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
 
 /**
  * Represents a differential drive style drivetrain.
diff --git a/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
index e4b51c9e3a..1bf08db973 100644
--- a/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <units/pressure.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/units/pressure.hpp"
 
 Robot::Robot() {
   // Publish elements to shuffleboard.
diff --git a/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
index 12d640223d..c5f9b7cfb3 100644
--- a/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.hpp
@@ -4,13 +4,13 @@
 
 #pragma once
 
-#include <frc/AnalogPotentiometer.h>
-#include <frc/Compressor.h>
-#include <frc/DoubleSolenoid.h>
-#include <frc/Joystick.h>
-#include <frc/PneumaticsControlModule.h>
-#include <frc/Solenoid.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/rotation/AnalogPotentiometer.hpp"
+#include "wpi/hardware/pneumatic/Compressor.hpp"
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
+#include "wpi/hardware/pneumatic/Solenoid.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * This is a sample program showing the use of the solenoid classes during
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
index 8233e7cde8..5774fbc69d 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
@@ -4,19 +4,19 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/controller/LinearQuadraticRegulator.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/estimator/KalmanFilter.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/system/LinearSystemLoop.h>
-#include <frc/system/plant/DCMotor.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <frc/trajectory/TrapezoidProfile.h>
-#include <units/angle.h>
-#include <units/moment_of_inertia.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/math/system/LinearSystemLoop.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
index 7c8a461307..485ed4a0d2 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
@@ -4,21 +4,21 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/controller/LinearQuadraticRegulator.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/estimator/KalmanFilter.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/system/LinearSystemLoop.h>
-#include <frc/system/plant/DCMotor.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <frc/trajectory/TrapezoidProfile.h>
-#include <units/acceleration.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/velocity.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/math/system/LinearSystemLoop.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/velocity.hpp"
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
index 4e3b7cdd16..e48385a226 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
@@ -4,18 +4,18 @@
 
 #include <numbers>
 
-#include <frc/DriverStation.h>
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/controller/LinearQuadraticRegulator.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/estimator/KalmanFilter.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/system/LinearSystemLoop.h>
-#include <frc/system/plant/DCMotor.h>
-#include <frc/system/plant/LinearSystemId.h>
-#include <units/angular_velocity.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/math/system/LinearSystemLoop.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
index 8546f7c044..e76da074dd 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
@@ -4,17 +4,17 @@
 
 #include <numbers>
 
-#include <frc/DriverStation.h>
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/controller/LinearQuadraticRegulator.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/estimator/KalmanFilter.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/system/LinearSystemLoop.h>
-#include <frc/system/plant/DCMotor.h>
-#include <frc/system/plant/LinearSystemId.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/math/system/LinearSystemLoop.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 /**
  * This is a sample program to demonstrate how to use a state-space controller
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
index 30ebe1fe6c..3e1d132d8a 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 void Drivetrain::Drive(units::meters_per_second_t xSpeed,
                        units::meters_per_second_t ySpeed,
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
index b8edc6ec5c..09c588f2a7 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/MathUtil.h>
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/filter/SlewRateLimiter.h>
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
index 7c902b88e6..6f4232a5a4 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "SwerveModule.h"
+#include "SwerveModule.hpp"
 
 #include <numbers>
 
-#include <frc/geometry/Rotation2d.h>
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
                            const int turningMotorChannel,
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
index 33ef1fbdd9..7d5293b898 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
@@ -6,12 +6,12 @@
 
 #include <numbers>
 
-#include <frc/OnboardIMU.h>
-#include <frc/geometry/Translation2d.h>
-#include <frc/kinematics/SwerveDriveKinematics.h>
-#include <frc/kinematics/SwerveDriveOdometry.h>
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveDriveOdometry.hpp"
 
-#include "SwerveModule.h"
+#include "SwerveModule.hpp"
 
 /**
  * Represents a swerve drive style drivetrain.
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp
index ac8c01c6a2..2bf25188c7 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp
@@ -6,17 +6,17 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/ProfiledPIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/kinematics/SwerveModulePosition.h>
-#include <frc/kinematics/SwerveModuleState.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <units/angular_velocity.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 class SwerveModule {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
index 0b2d5e7d79..e718e7389c 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
-#include <frc/Timer.h>
+#include "wpi/system/Timer.hpp"
 
-#include "ExampleGlobalMeasurementSensor.h"
+#include "ExampleGlobalMeasurementSensor.hpp"
 
 void Drivetrain::Drive(units::meters_per_second_t xSpeed,
                        units::meters_per_second_t ySpeed,
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
index 919dca692a..396c977758 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/filter/SlewRateLimiter.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
 
-#include "Drivetrain.h"
+#include "Drivetrain.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
index ae75e3af9d..488ce0654b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "SwerveModule.h"
+#include "SwerveModule.hpp"
 
 #include <numbers>
 
-#include <frc/geometry/Rotation2d.h>
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 SwerveModule::SwerveModule(const int driveMotorChannel,
                            const int turningMotorChannel,
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
index 5473d0bcb5..005adb21cd 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
@@ -6,13 +6,13 @@
 
 #include <numbers>
 
-#include <frc/OnboardIMU.h>
-#include <frc/estimator/SwerveDrivePoseEstimator.h>
-#include <frc/geometry/Translation2d.h>
-#include <frc/kinematics/SwerveDriveKinematics.h>
-#include <frc/kinematics/SwerveDriveOdometry.h>
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveDriveOdometry.hpp"
 
-#include "SwerveModule.h"
+#include "SwerveModule.hpp"
 
 /**
  * Represents a swerve drive style drivetrain.
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
index b9e2ba4339..e62c125943 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc/StateSpaceUtil.h>
-#include <frc/geometry/Pose2d.h>
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 /**
  * This dummy class represents a global measurement sensor, such as a computer
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp
index def8020cd5..eef6db3775 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.hpp
@@ -6,17 +6,17 @@
 
 #include <numbers>
 
-#include <frc/Encoder.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/ProfiledPIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/kinematics/SwerveModulePosition.h>
-#include <frc/kinematics/SwerveModuleState.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <units/angular_velocity.h>
-#include <units/time.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 class SwerveModule {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
index 5666887c98..a430c3a632 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
index 4e38374bff..74b5a888f9 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/SysIdRoutineBot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "SysIdRoutineBot.h"
+#include "SysIdRoutineBot.hpp"
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 SysIdRoutineBot::SysIdRoutineBot() {
   ConfigureBindings();
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
index 331c17afc4..bbc7d24dbc 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Drive.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Drive.h"
+#include "subsystems/Drive.hpp"
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 Drive::Drive() {
   m_leftMotor.AddFollower(frc::PWMSparkMax{constants::drive::kLeftMotor2Port});
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
index 8146cdd133..d294c8d05b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/subsystems/Shooter.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Shooter.h"
+#include "subsystems/Shooter.hpp"
 
-#include <frc2/command/Commands.h>
-#include <units/angle.h>
-#include <units/voltage.h>
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/voltage.hpp"
 
 Shooter::Shooter() {
   m_shooterEncoder.SetDistancePerPulse(
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp
index f5ba8e603a..a2022f9394 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Constants.hpp
@@ -7,12 +7,12 @@
 #include <array>
 #include <numbers>
 
-#include <units/angle.h>
-#include <units/angular_acceleration.h>
-#include <units/angular_velocity.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace constants {
 namespace drive {
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
index c6e5806d9a..fd5ff5c562 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/Robot.hpp
@@ -6,10 +6,10 @@
 
 #include <optional>
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/CommandPtr.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
 
-#include "SysIdRoutineBot.h"
+#include "SysIdRoutineBot.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
index 4363bb30ff..f990ed814a 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/SysIdRoutineBot.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/button/CommandXboxController.h>
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/button/CommandXboxController.hpp"
 
-#include "Constants.h"
-#include "subsystems/Drive.h"
-#include "subsystems/Shooter.h"
+#include "Constants.hpp"
+#include "subsystems/Drive.hpp"
+#include "subsystems/Shooter.hpp"
 
 class SysIdRoutineBot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
index 45d4fa3aab..4b8280c237 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Drive.hpp
@@ -6,14 +6,14 @@
 
 #include <functional>
 
-#include <frc/Encoder.h>
-#include <frc/RobotController.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
-#include <frc2/command/sysid/SysIdRoutine.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/commands2/sysid/SysIdRoutine.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Drive : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
index 7bed4b058e..1123d5953e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/include/subsystems/Shooter.hpp
@@ -6,15 +6,15 @@
 
 #include <functional>
 
-#include <frc/Encoder.h>
-#include <frc/RobotController.h>
-#include <frc/controller/PIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
-#include <frc2/command/sysid/SysIdRoutine.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/system/RobotController.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/commands2/sysid/SysIdRoutine.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Shooter : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
index 91a2197926..f42edfd9df 100644
--- a/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
diff --git a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
index 6241d3c396..77139912d0 100644
--- a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/TimedRobot.h>
-#include <frc/XboxController.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/driverstation/XboxController.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
index 9434b46158..402f648df8 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 /**
  * This function is called periodically during operator control.
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
index 5a878e75f3..2f5241ee6f 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Intake.h"
+#include "subsystems/Intake.hpp"
 
 void Intake::Deploy() {
   m_piston.Set(frc::DoubleSolenoid::Value::kForward);
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
index 492dded5bf..8ef9a89789 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/Robot.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
-#include "Constants.h"
-#include "subsystems/Intake.h"
+#include "Constants.hpp"
+#include "subsystems/Intake.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp
index ab2b06d857..b65b959a43 100644
--- a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/DoubleSolenoid.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 class Intake {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
index 904a39eb4f..7d8a762694 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp
index fba484b07f..dc98b37f9a 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/RobotContainer.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <frc2/command/Commands.h>
-#include <frc2/command/button/JoystickButton.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/commands2/Commands.hpp"
+#include "wpi/commands2/button/JoystickButton.hpp"
 
-#include "commands/TeleopArcadeDrive.h"
+#include "commands/TeleopArcadeDrive.hpp"
 
 RobotContainer::RobotContainer() {
   // Configure the button bindings
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp
index dcb59e3e51..e8c6be3733 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveDistance.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/DriveDistance.h"
+#include "commands/DriveDistance.hpp"
 
-#include <units/math.h>
+#include "wpi/units/math.hpp"
 
 void DriveDistance::Initialize() {
   m_drive->ArcadeDrive(0, 0);
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveTime.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveTime.cpp
index 52670a0aac..c5e0106b6d 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveTime.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/DriveTime.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/DriveTime.h"
+#include "commands/DriveTime.hpp"
 
 void DriveTime::Initialize() {
   m_timer.Start();
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TeleopArcadeDrive.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TeleopArcadeDrive.cpp
index e457af9c43..fb791792af 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TeleopArcadeDrive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TeleopArcadeDrive.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/TeleopArcadeDrive.h"
+#include "commands/TeleopArcadeDrive.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 TeleopArcadeDrive::TeleopArcadeDrive(
     Drivetrain* subsystem, std::function<double()> xaxisSpeedSupplier,
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp
index 65fd255f79..d3e6356079 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnDegrees.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/TurnDegrees.h"
+#include "commands/TurnDegrees.hpp"
 
 #include <numbers>
 
-#include <units/math.h>
+#include "wpi/units/math.hpp"
 
 void TurnDegrees::Initialize() {
   // Set motors to stop, read encoder values for starting point
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnTime.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnTime.cpp
index 80c4bd2b43..d75951d0eb 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnTime.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/commands/TurnTime.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/TurnTime.h"
+#include "commands/TurnTime.hpp"
 
 void TurnTime::Initialize() {
   m_timer.Start();
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp
index ea70e10a8c..1bf4a48b64 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Arm.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Arm.h"
+#include "subsystems/Arm.hpp"
 
 void Arm::Periodic() {
   // This method will be called once per scheduler run.
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
index 548716c88f..5bcdcd7202 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 #include <numbers>
 
-#include "Constants.h"
+#include "Constants.hpp"
 
 using namespace DriveConstants;
 
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
index f6b09dcc2f..3f4fb2d2a5 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/Robot.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/Command.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/Command.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp
index 51ea812dfe..1636f3b6f3 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/RobotContainer.hpp
@@ -4,18 +4,18 @@
 
 #pragma once
 
-#include <frc/Joystick.h>
-#include <frc/smartdashboard/SendableChooser.h>
-#include <frc/xrp/XRPOnBoardIO.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/button/Trigger.h>
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/smartdashboard/SendableChooser.hpp"
+#include "wpi/xrp/XRPOnBoardIO.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/button/Trigger.hpp"
 
-#include "Constants.h"
-#include "commands/AutonomousDistance.h"
-#include "commands/AutonomousTime.h"
-#include "subsystems/Arm.h"
-#include "subsystems/Drivetrain.h"
+#include "Constants.hpp"
+#include "commands/AutonomousDistance.hpp"
+#include "commands/AutonomousTime.hpp"
+#include "subsystems/Arm.hpp"
+#include "subsystems/Drivetrain.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp
index ef01bc4e67..b54ddac2f5 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
-#include "commands/DriveDistance.h"
-#include "commands/TurnDegrees.h"
-#include "subsystems/Drivetrain.h"
+#include "commands/DriveDistance.hpp"
+#include "commands/TurnDegrees.hpp"
+#include "subsystems/Drivetrain.hpp"
 
 class AutonomousDistance
     : public frc2::CommandHelper<frc2::SequentialCommandGroup,
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp
index 1666d47322..65c9c648f7 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/commands2/SequentialCommandGroup.hpp"
 
-#include "commands/DriveTime.h"
-#include "commands/TurnTime.h"
-#include "subsystems/Drivetrain.h"
+#include "commands/DriveTime.hpp"
+#include "commands/TurnTime.hpp"
+#include "subsystems/Drivetrain.hpp"
 
 class AutonomousTime
     : public frc2::CommandHelper<frc2::SequentialCommandGroup, AutonomousTime> {
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp
index ab279f2dd5..b9bb3c908b 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/length.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/length.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp
index 58753924f0..4490229846 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/Timer.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/time.h>
+#include "wpi/system/Timer.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/time.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp
index c2c35b7d4b..9209e0491f 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.hpp
@@ -6,10 +6,10 @@
 
 #include <functional>
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class TeleopArcadeDrive
     : public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp
index e903c4dc83..f7e61c6395 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/angle.h>
-#include <units/length.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp
index 28a7b5fea7..36f9d009a8 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/Timer.h>
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
-#include <units/time.h>
+#include "wpi/system/Timer.hpp"
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
+#include "wpi/units/time.hpp"
 
-#include "subsystems/Drivetrain.h"
+#include "subsystems/Drivetrain.hpp"
 
 class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp
index 9081a5c55b..2dc0e57f18 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Arm.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <frc/xrp/XRPServo.h>
-#include <frc2/command/SubsystemBase.h>
-#include <units/angle.h>
+#include "wpi/xrp/XRPServo.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/units/angle.hpp"
 
 class Arm : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
index 1c05c55de7..47f2a802c2 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.hpp
@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <frc/Encoder.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/xrp/XRPGyro.h>
-#include <frc/xrp/XRPMotor.h>
-#include <frc2/command/SubsystemBase.h>
-#include <units/acceleration.h>
-#include <units/angle.h>
-#include <units/length.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/xrp/XRPGyro.hpp"
+#include "wpi/xrp/XRPMotor.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
 class Drivetrain : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
index 9b7bb0ae3e..f7e09d2a7f 100644
--- a/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/ADXLAccelerometers/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/ADXL345_I2C.h>
-#include <frc/AnalogInput.h>
-#include <frc/I2C.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/accelerometer/ADXL345_I2C.hpp"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
+#include "wpi/hardware/bus/I2C.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * ADXL346, 362 Accelerometer snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
index e4f137b0fb..124e986329 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/OnboardIMU.h>
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <units/acceleration.h>
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/units/acceleration.hpp"
 
 /**
  * Collision detection snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
index 5181f0e213..5b3cf02d7b 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/OnboardIMU.h>
-#include <frc/TimedRobot.h>
-#include <frc/filter/LinearFilter.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <units/acceleration.h>
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/filter/LinearFilter.hpp"
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/units/acceleration.hpp"
 
 /**
  * Accelerometer filtering snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
index 752e7ce215..113a471867 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogAccelerometer/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/AnalogAccelerometer.h>
-#include <frc/AnalogInput.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/accelerometer/AnalogAccelerometer.hpp"
+#include "wpi/hardware/discrete/AnalogInput.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * AnalogAccelerometer snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
index d9bf670336..4ac7217f7b 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/AnalogEncoder.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/rotation/AnalogEncoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * AnalogEncoder snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
index 02f2a037a5..c252511ed4 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/AnalogInput.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/discrete/AnalogInput.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * AnalogInput snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
index 7cf15bf55d..036651e671 100644
--- a/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/AnalogInput.h>
-#include <frc/AnalogPotentiometer.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/discrete/AnalogInput.hpp"
+#include "wpi/hardware/rotation/AnalogPotentiometer.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * AnalogPotentiometer snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
index 4a3b648c63..cb4429834c 100644
--- a/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DigitalInput.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * Digital Input snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
index 8655354ced..f26f79e931 100644
--- a/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DutyCycleEncoder.h>
-#include <frc/TimedRobot.h>
+#include "wpi/hardware/rotation/DutyCycleEncoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
 
 /**
  * DutyCycleEncoder snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
index deff20a1e6..4a2fd46d3e 100644
--- a/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <wpi/deprecated.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/util/deprecated.hpp"
 
 /**
  * Encoder snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
index d21a7f063d..d54e97e858 100644
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/Spark.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/hardware/motor/Spark.hpp"
 
 /**
  * Encoder drive to distance snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
index a18914d545..912f738f99 100644
--- a/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DigitalInput.h>
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/motorcontrol/Spark.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/hardware/motor/Spark.hpp"
 
 /**
  * Encoder mechanism homing snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
index 7fc54ed6e1..702d56df4a 100644
--- a/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DigitalInput.h>
-#include <frc/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/motorcontrol/PWMVictorSPX.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/hardware/motor/PWMVictorSPX.hpp"
 
 /**
  * Limit Switch snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
index 31f7f7801a..e508b62d22 100644
--- a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/OnboardIMU.h>
-#include <frc/TimedRobot.h>
-#include <frc/geometry/Rotation2d.h>
-#include <units/acceleration.h>
-#include <units/angle.h>
+#include "wpi/hardware/imu/OnboardIMU.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
 
 /**
  * Onboard IMU snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
index fc076263f6..2f5ce8c5c7 100644
--- a/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/Encoder.h>
-#include <frc/TimedRobot.h>
-#include <frc/controller/ProfiledPIDController.h>
-#include <frc/controller/SimpleMotorFeedforward.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <units/acceleration.h>
-#include <units/length.h>
-#include <units/velocity.h>
-#include <units/voltage.h>
+#include "wpi/hardware/rotation/Encoder.hpp"
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/hardware/motor/PWMSparkMax.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 /**
  * ProfiledPIDController with feedforward snippets for frc-docs.
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index 14844d189f..6c4a27d3de 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
index 43005010e2..dd3549f985 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc2/command/button/Trigger.h>
+#include "wpi/commands2/button/Trigger.hpp"
 
-#include "commands/Autos.h"
-#include "commands/ExampleCommand.h"
+#include "commands/Autos.hpp"
+#include "commands/ExampleCommand.hpp"
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
index 3eb0958793..9064fe7e7c 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/Autos.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/Autos.h"
+#include "commands/Autos.hpp"
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
-#include "commands/ExampleCommand.h"
+#include "commands/ExampleCommand.hpp"
 
 frc2::CommandPtr autos::ExampleAuto(ExampleSubsystem* subsystem) {
   return frc2::cmd::Sequence(subsystem->ExampleMethodCommand(),
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
index f7ab3e25e5..212ed41ac6 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "commands/ExampleCommand.h"
+#include "commands/ExampleCommand.hpp"
 
 ExampleCommand::ExampleCommand(ExampleSubsystem* subsystem)
     : m_subsystem{subsystem} {
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
index 1660de7bfa..748a256b13 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "subsystems/ExampleSubsystem.h"
+#include "subsystems/ExampleSubsystem.hpp"
 
 ExampleSubsystem::ExampleSubsystem() {
   // Implementation of subsystem constructor goes here.
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
index 794e6437a9..54e6e21b38 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.hpp
@@ -6,10 +6,10 @@
 
 #include <optional>
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/CommandPtr.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp
index 697b9a2f5e..0fe4978e5f 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/button/CommandXboxController.h>
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/button/CommandXboxController.hpp"
 
-#include "Constants.h"
-#include "subsystems/ExampleSubsystem.h"
+#include "Constants.hpp"
+#include "subsystems/ExampleSubsystem.hpp"
 
 /**
  * This class is where the bulk of the robot should be declared.  Since
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp
index 62e2b5603d..2820c7e791 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/Autos.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <frc2/command/CommandPtr.h>
+#include "wpi/commands2/CommandPtr.hpp"
 
-#include "subsystems/ExampleSubsystem.h"
+#include "subsystems/ExampleSubsystem.hpp"
 
 namespace autos {
 /**
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp
index 9426538a2e..a61359429a 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc2/command/Command.h>
-#include <frc2/command/CommandHelper.h>
+#include "wpi/commands2/Command.hpp"
+#include "wpi/commands2/CommandHelper.hpp"
 
-#include "subsystems/ExampleSubsystem.h"
+#include "subsystems/ExampleSubsystem.hpp"
 
 /**
  * An example command that uses an example subsystem.
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp
index 669f2eda06..7a7247f5d8 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include "wpi/commands2/CommandPtr.hpp"
+#include "wpi/commands2/SubsystemBase.hpp"
 
 class ExampleSubsystem : public frc2::SubsystemBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
index 5666887c98..a430c3a632 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc2/command/CommandScheduler.h>
+#include "wpi/commands2/CommandScheduler.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
index e63532a8e3..78c5562fbb 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/RobotContainer.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
-#include <frc2/command/Commands.h>
+#include "wpi/commands2/Commands.hpp"
 
 RobotContainer::RobotContainer() {
   ConfigureBindings();
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
index 886f9b9fc4..edb0e78940 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.hpp
@@ -6,10 +6,10 @@
 
 #include <optional>
 
-#include <frc/TimedRobot.h>
-#include <frc2/command/CommandPtr.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/commands2/CommandPtr.hpp"
 
-#include "RobotContainer.h"
+#include "RobotContainer.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp
index a66653cfbc..24133ae39d 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/RobotContainer.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc2/command/CommandPtr.h>
+#include "wpi/commands2/CommandPtr.hpp"
 
 class RobotContainer {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
index a10a421ba5..b24fe33553 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/DriverStation.h>
-#include <frc/internal/DriverStationModeThread.h>
-#include <hal/DriverStation.h>
-#include <networktables/NetworkTable.h>
+#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/internal/DriverStationModeThread.hpp"
+#include "wpi/hal/DriverStation.h"
+#include "wpi/nt/NetworkTable.hpp"
 
 Robot::Robot() {}
 
diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
index cb165d0524..34022cb2b4 100644
--- a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp
@@ -6,7 +6,7 @@
 
 #include <atomic>
 
-#include <frc/RobotBase.h>
+#include "wpi/opmode/RobotBase.hpp"
 
 class Robot : public frc::RobotBase {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
index 162037e3e4..9adce1fdd6 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/print.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/util/print.hpp"
 
 Robot::Robot() {
   m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
index cdf36b8508..6c636b462e 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp
@@ -6,8 +6,8 @@
 
 #include <string>
 
-#include <frc/TimedRobot.h>
-#include <frc/smartdashboard/SendableChooser.h>
+#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/smartdashboard/SendableChooser.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
index 85a862f5f1..9fde8e5794 100644
--- a/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 Robot::Robot() {}
 void Robot::RobotPeriodic() {}
diff --git a/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
index 8d87e6b5c0..8d6e4be70c 100644
--- a/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc/TimedRobot.h>
+#include "wpi/opmode/TimedRobot.hpp"
 
 class Robot : public frc::TimedRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp
index 600204afb3..f265f4df9a 100644
--- a/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <wpi/print.h>
+#include "wpi/smartdashboard/SmartDashboard.hpp"
+#include "wpi/util/print.hpp"
 
 // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
 Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
diff --git a/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
index 82e0ceba0b..25dd60c84b 100644
--- a/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp
@@ -6,8 +6,8 @@
 
 #include <string>
 
-#include <frc/TimesliceRobot.h>
-#include <frc/smartdashboard/SendableChooser.h>
+#include "wpi/opmode/TimesliceRobot.hpp"
+#include "wpi/smartdashboard/SendableChooser.hpp"
 
 class Robot : public frc::TimesliceRobot {
  public:
diff --git a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp
index a76217a0db..ed07740f93 100644
--- a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
 Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
diff --git a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
index d599e413fe..5577bf0035 100644
--- a/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
+++ b/wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc/TimesliceRobot.h>
+#include "wpi/opmode/TimesliceRobot.hpp"
 
 class Robot : public frc::TimesliceRobot {
  public:
diff --git a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
index 711a83f866..20cc3c1bc6 100644
--- a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
@@ -5,18 +5,18 @@
 #include <string>
 #include <thread>
 
-#include <frc/Preferences.h>
-#include <frc/simulation/DriverStationSim.h>
-#include <frc/simulation/JoystickSim.h>
-#include <frc/simulation/PWMMotorControllerSim.h>
-#include <frc/simulation/SimHooks.h>
+#include "wpi/util/Preferences.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/JoystickSim.hpp"
+#include "wpi/simulation/PWMMotorControllerSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 #include <gtest/gtest.h>
-#include <hal/simulation/MockHooks.h>
-#include <units/length.h>
-#include <units/time.h>
+#include "wpi/hal/simulation/MockHooks.h"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
-#include "Constants.h"
-#include "Robot.h"
+#include "Constants.hpp"
+#include "Robot.hpp"
 
 class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
   Robot m_robot;
diff --git a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/main.cpp
index 38d5cfa2fe..b48f11e376 100644
--- a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/main.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 /**
  * Runs all unit tests.
diff --git a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
index 8979894e85..eba6dcc828 100644
--- a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
@@ -5,13 +5,13 @@
 #include <string>
 #include <thread>
 
-#include <frc/simulation/DIOSim.h>
-#include <frc/simulation/DriverStationSim.h>
-#include <frc/simulation/SimHooks.h>
+#include "wpi/simulation/DIOSim.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 #include <gtest/gtest.h>
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 template <typename T>
 class DigitalCommunicationTest : public testing::TestWithParam<T> {
diff --git a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/main.cpp
index 38d5cfa2fe..b48f11e376 100644
--- a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/main.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 /**
  * Runs all unit tests.
diff --git a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
index b7bdeeb41a..7554d0feb7 100644
--- a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
@@ -5,18 +5,18 @@
 #include <string>
 #include <thread>
 
-#include <frc/simulation/DriverStationSim.h>
-#include <frc/simulation/JoystickSim.h>
-#include <frc/simulation/PWMMotorControllerSim.h>
-#include <frc/simulation/SimHooks.h>
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/JoystickSim.hpp"
+#include "wpi/simulation/PWMMotorControllerSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 #include <gtest/gtest.h>
-#include <hal/simulation/MockHooks.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/time.h>
+#include "wpi/hal/simulation/MockHooks.h"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/time.hpp"
 
-#include "Constants.h"
-#include "Robot.h"
+#include "Constants.hpp"
+#include "Robot.hpp"
 
 using namespace Constants;
 
diff --git a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/main.cpp
index 38d5cfa2fe..b48f11e376 100644
--- a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/main.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 /**
  * Runs all unit tests.
diff --git a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
index 3d84dbf65b..4f009ff55c 100644
--- a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
@@ -5,13 +5,13 @@
 #include <string>
 #include <thread>
 
-#include <frc/simulation/DriverStationSim.h>
-#include <frc/simulation/SimHooks.h>
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
 #include <gtest/gtest.h>
-#include <hal/simulation/I2CData.h>
-#include <units/time.h>
+#include "wpi/hal/simulation/I2CData.h"
+#include "wpi/units/time.hpp"
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 static std::string gString;
 
diff --git a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/main.cpp
index 38d5cfa2fe..b48f11e376 100644
--- a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/main.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 /**
  * Runs all unit tests.
diff --git a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
index b9517025e6..73a2fcef0b 100644
--- a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
@@ -5,21 +5,21 @@
 #include <string>
 #include <thread>
 
-#include <frc/RobotController.h>
-#include <frc/simulation/AnalogInputSim.h>
-#include <frc/simulation/DriverStationSim.h>
-#include <frc/simulation/ElevatorSim.h>
-#include <frc/simulation/JoystickSim.h>
-#include <frc/simulation/PWMMotorControllerSim.h>
-#include <frc/simulation/SimHooks.h>
-#include <frc/system/plant/DCMotor.h>
+#include "wpi/system/RobotController.hpp"
+#include "wpi/simulation/AnalogInputSim.hpp"
+#include "wpi/simulation/DriverStationSim.hpp"
+#include "wpi/simulation/ElevatorSim.hpp"
+#include "wpi/simulation/JoystickSim.hpp"
+#include "wpi/simulation/PWMMotorControllerSim.hpp"
+#include "wpi/simulation/SimHooks.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
 #include <gtest/gtest.h>
-#include <hal/simulation/MockHooks.h>
-#include <units/length.h>
-#include <units/mass.h>
-#include <units/time.h>
+#include "wpi/hal/simulation/MockHooks.h"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/time.hpp"
 
-#include "Robot.h"
+#include "Robot.hpp"
 
 class PotentiometerPIDTest : public testing::Test {
   frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
diff --git a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/main.cpp
index 38d5cfa2fe..b48f11e376 100644
--- a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/main.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 /**
  * Runs all unit tests.
diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/main.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/main.cpp
index 38d5cfa2fe..b48f11e376 100644
--- a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/main.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/main.cpp
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <hal/HALBase.h>
+#include "wpi/hal/HALBase.h"
 
 /**
  * Runs all unit tests.
diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
index f893e190d4..0276ca4728 100644
--- a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/DoubleSolenoid.h>
-#include <frc/simulation/DoubleSolenoidSim.h>
-#include <frc/simulation/PWMMotorControllerSim.h>
+#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
+#include "wpi/simulation/DoubleSolenoidSim.hpp"
+#include "wpi/simulation/PWMMotorControllerSim.hpp"
 #include <gtest/gtest.h>
 
-#include "Constants.h"
-#include "subsystems/Intake.h"
+#include "Constants.hpp"
+#include "subsystems/Intake.hpp"
 
 class IntakeTest : public testing::Test {
  protected:
diff --git a/wpimath/src/dev/native/cpp/main.cpp b/wpimath/src/dev/native/cpp/main.cpp
index ca3ecc348d..93e9ca7fcc 100644
--- a/wpimath/src/dev/native/cpp/main.cpp
+++ b/wpimath/src/dev/native/cpp/main.cpp
@@ -4,7 +4,7 @@
 
 #include <numbers>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
 int main() {
   wpi::print("{}\n", std::numbers::pi);
diff --git a/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp b/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
index 9488ab19ff..1e5530cf5d 100644
--- a/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
+++ b/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -10,8 +10,8 @@
 #include <sleipnir/autodiff/gradient.hpp>
 #include <sleipnir/autodiff/hessian.hpp>
 
-#include "frc/EigenCore.h"
-#include "frc/system/NumericalIntegration.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/controller/BangBangController.cpp b/wpimath/src/main/native/cpp/controller/BangBangController.cpp
index 56cd041813..f8d716d3f3 100644
--- a/wpimath/src/main/native/cpp/controller/BangBangController.cpp
+++ b/wpimath/src/main/native/cpp/controller/BangBangController.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/BangBangController.h"
+#include "wpi/math/controller/BangBangController.hpp"
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp b/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp
index bcf625c319..a3610a96bd 100644
--- a/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp
+++ b/wpimath/src/main/native/cpp/controller/DifferentialDriveAccelerationLimiter.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/DifferentialDriveAccelerationLimiter.h"
+#include "wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp"
 
 #include <Eigen/QR>
 
diff --git a/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp b/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp
index d058fdf17c..4c40b36684 100644
--- a/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp
+++ b/wpimath/src/main/native/cpp/controller/DifferentialDriveFeedforward.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
 #include <Eigen/Core>
 
-#include "frc/controller/LinearPlantInversionFeedforward.h"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp b/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
index 0ddd2f6e84..0619eca798 100644
--- a/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
+++ b/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/LTVDifferentialDriveController.h"
+#include "wpi/math/controller/LTVDifferentialDriveController.hpp"
 
 #include <cmath>
 
-#include "frc/DARE.h"
-#include "frc/MathUtil.h"
-#include "frc/system/Discretization.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/system/Discretization.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp b/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
index b525e256e8..66045bdf5f 100644
--- a/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
+++ b/wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/LTVUnicycleController.h"
+#include "wpi/math/controller/LTVUnicycleController.hpp"
 
-#include "frc/DARE.h"
-#include "frc/system/Discretization.h"
-#include "units/math.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/units/math.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
index 2ab27d1fbf..ce03b7796a 100644
--- a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
+++ b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/LinearQuadraticRegulator.h"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
index 9685f10a4e..3274afed37 100644
--- a/wpimath/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/PIDController.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/PIDController.h"
+#include "wpi/math/controller/PIDController.hpp"
 
-#include <wpi/sendable/SendableBuilder.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp b/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
index be678cb118..c7a96b04b3 100644
--- a/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/ProfiledPIDController.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/ProfiledPIDController.h"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
 
 int frc::detail::IncrementAndGetProfiledPIDControllerInstances() {
   static int instances = 0;
diff --git a/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp
index 2468571876..296ffb58a6 100644
--- a/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/proto/ArmFeedforwardProto.h"
+#include "wpi/math/controller/proto/ArmFeedforwardProto.hpp"
 
 #include <optional>
 
diff --git a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
index 40a39c0e81..63163c8abb 100644
--- a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
+#include "wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp"
 
 #include "wpimath/protobuf/controller.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp
index eebe9654a9..8cb488fcb0 100644
--- a/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
+#include "wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp"
 
 #include <optional>
 
diff --git a/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp
index d96f7fee98..505929fb7d 100644
--- a/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp
+++ b/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/proto/ElevatorFeedforwardProto.h"
+#include "wpi/math/controller/proto/ElevatorFeedforwardProto.hpp"
 
 #include <optional>
 
diff --git a/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp
index 92b5aefd90..a26abb4818 100644
--- a/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/struct/ArmFeedforwardStruct.h"
+#include "wpi/math/controller/struct/ArmFeedforwardStruct.hpp"
 
 namespace {
 constexpr size_t kKsOff = 0;
diff --git a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
index 51a25d9c43..13872eca8b 100644
--- a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"
+#include "wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp"
 
 namespace {
 constexpr size_t kKvLinearOff = 0;
diff --git a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp
index 22a79302b6..e56a7278ca 100644
--- a/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"
+#include "wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp"
 
 namespace {
 constexpr size_t kLeftOff = 0;
diff --git a/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp
index 82799f69c3..ca761b84da 100644
--- a/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp
+++ b/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/controller/struct/ElevatorFeedforwardStruct.h"
+#include "wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp"
 
 namespace {
 constexpr size_t kKsOff = 0;
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
index e8ac341e4c..f5f91f43e8 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/DifferentialDrivePoseEstimator.h"
+#include "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
 
 #include <vector>
 
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp
index baa53b3eb4..526e38fb6e 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator3d.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/DifferentialDrivePoseEstimator3d.h"
+#include "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp b/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
index a56efe4f8d..fa2f8b5f05 100644
--- a/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
+++ b/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/KalmanFilter.h"
+#include "wpi/math/estimator/KalmanFilter.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
index f5d5ba4ffc..1c4f99f405 100644
--- a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/MecanumDrivePoseEstimator.h"
+#include "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/AngleStatistics.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp
index 644b3da8df..91ffe7a221 100644
--- a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator3d.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/MecanumDrivePoseEstimator3d.h"
+#include "wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp"
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/AngleStatistics.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp b/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp
index 376275a69b..f4876f72a1 100644
--- a/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MerweUKF.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/MerweUKF.h"
+#include "wpi/math/estimator/MerweUKF.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/estimator/S3UKF.cpp b/wpimath/src/main/native/cpp/estimator/S3UKF.cpp
index d0302d7ca9..5b6185f343 100644
--- a/wpimath/src/main/native/cpp/estimator/S3UKF.cpp
+++ b/wpimath/src/main/native/cpp/estimator/S3UKF.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/S3UKF.h"
+#include "wpi/math/estimator/S3UKF.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp b/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp
index 24586232c5..bcff8c1b5c 100644
--- a/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp
+++ b/wpimath/src/main/native/cpp/estimator/SteadyStateKalmanFilter.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/SteadyStateKalmanFilter.h"
+#include "wpi/math/estimator/SteadyStateKalmanFilter.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
index f2ed301c2a..8d79095272 100644
--- a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/SwerveDrivePoseEstimator.h"
+#include "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp
index 7f36471b25..1e446f824c 100644
--- a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp
+++ b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator3d.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/estimator/SwerveDrivePoseEstimator3d.h"
+#include "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/filter/Debouncer.cpp b/wpimath/src/main/native/cpp/filter/Debouncer.cpp
index 18e23a0961..3e4f4c9038 100644
--- a/wpimath/src/main/native/cpp/filter/Debouncer.cpp
+++ b/wpimath/src/main/native/cpp/filter/Debouncer.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/filter/Debouncer.h"
+#include "wpi/math/filter/Debouncer.hpp"
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
index ab53ecb5d1..e3b9f42529 100644
--- a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 #include <sleipnir/optimization/problem.hpp>
 
diff --git a/wpimath/src/main/native/cpp/geometry/Pose2d.cpp b/wpimath/src/main/native/cpp/geometry/Pose2d.cpp
index 2a9dc8392f..924a6449d6 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose2d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 void frc::to_json(wpi::json& json, const Pose2d& pose) {
   json = wpi::json{{"translation", pose.Translation()},
diff --git a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
index 8b21131fe1..22cfd3b266 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 void frc::to_json(wpi::json& json, const Pose3d& pose) {
   json = wpi::json{{"translation", pose.Translation()},
diff --git a/wpimath/src/main/native/cpp/geometry/Quaternion.cpp b/wpimath/src/main/native/cpp/geometry/Quaternion.cpp
index 709f226022..91873908aa 100644
--- a/wpimath/src/main/native/cpp/geometry/Quaternion.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Quaternion.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 void frc::to_json(wpi::json& json, const Quaternion& quaternion) {
   json = wpi::json{{"W", quaternion.W()},
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
index 71c64b6cd8..b139bd0063 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 void frc::to_json(wpi::json& json, const Rotation2d& rotation) {
   json = wpi::json{{"radians", rotation.Radians().value()}};
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
index 453a42df3d..01ae1c88f3 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 void frc::to_json(wpi::json& json, const Rotation3d& rotation) {
   json = wpi::json{{"quaternion", rotation.GetQuaternion()}};
diff --git a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
index 70ba92cbe8..93ec5b7418 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 void frc::to_json(wpi::json& json, const Translation2d& translation) {
   json =
diff --git a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
index 3169528475..0216cf1193 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 void frc::to_json(wpi::json& json, const Translation3d& translation) {
   json = wpi::json{{"x", translation.X().value()},
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp
index 348bcae9ee..c66451ee24 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Ellipse2dProto.h"
+#include "wpi/math/geometry/proto/Ellipse2dProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp
index 221b25f99d..1cf5955eda 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Pose2dProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Pose2dProto.h"
+#include "wpi/math/geometry/proto/Pose2dProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp
index e03936773d..b89a784fdd 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Pose3dProto.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Pose3dProto.h"
+#include "wpi/math/geometry/proto/Pose3dProto.hpp"
 
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 std::optional<frc::Pose3d> wpi::Protobuf<frc::Pose3d>::Unpack(
diff --git a/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp
index 9b0922316a..6a1fd9438e 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/QuaternionProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/QuaternionProto.h"
+#include "wpi/math/geometry/proto/QuaternionProto.hpp"
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp
index deccccac69..141f3c87c1 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Rectangle2dProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Rectangle2dProto.h"
+#include "wpi/math/geometry/proto/Rectangle2dProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp
index 34f2e933d8..1e8d5bbf52 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Rotation2dProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Rotation2dProto.h"
+#include "wpi/math/geometry/proto/Rotation2dProto.hpp"
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp
index 86f30c9068..aa91d33b2f 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Rotation3dProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Rotation3dProto.h"
+#include "wpi/math/geometry/proto/Rotation3dProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp
index d12063829c..131ca8b764 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Transform2dProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Transform2dProto.h"
+#include "wpi/math/geometry/proto/Transform2dProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp
index 9c8a76a731..0ac40d6a4e 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Transform3dProto.h"
+#include "wpi/math/geometry/proto/Transform3dProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp
index e1af88e988..92a3870801 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Translation2dProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Translation2dProto.h"
+#include "wpi/math/geometry/proto/Translation2dProto.hpp"
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp
index d58d700ef4..b9ab094644 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Translation3dProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Translation3dProto.h"
+#include "wpi/math/geometry/proto/Translation3dProto.hpp"
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp
index f38868c262..5359f69f1a 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Twist2dProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Twist2dProto.h"
+#include "wpi/math/geometry/proto/Twist2dProto.hpp"
 
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp b/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp
index 315c37ff4f..ccccb37906 100644
--- a/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp
+++ b/wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/proto/Twist3dProto.h"
+#include "wpi/math/geometry/proto/Twist3dProto.hpp"
 
 #include "wpimath/protobuf/geometry3d.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp
index 4e7cadaf73..bcf007c5dc 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Ellipse2dStruct.h"
+#include "wpi/math/geometry/struct/Ellipse2dStruct.hpp"
 
 namespace {
 constexpr size_t kCenterOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
index b1bb9aef52..77d42c4637 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Pose2dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Pose2dStruct.h"
+#include "wpi/math/geometry/struct/Pose2dStruct.hpp"
 
 namespace {
 constexpr size_t kTranslationOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
index 104a51b935..44ac5b04ae 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Pose3dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Pose3dStruct.h"
+#include "wpi/math/geometry/struct/Pose3dStruct.hpp"
 
 namespace {
 constexpr size_t kTranslationOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
index df5b7815e4..381aa5c14f 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/QuaternionStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/QuaternionStruct.h"
+#include "wpi/math/geometry/struct/QuaternionStruct.hpp"
 
 namespace {
 constexpr size_t kWOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp
index 77f46bd35f..2005c37a04 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Rectangle2dStruct.h"
+#include "wpi/math/geometry/struct/Rectangle2dStruct.hpp"
 
 namespace {
 constexpr size_t kCenterOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
index 16d3b40d18..184aa9ed0a 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rotation2dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Rotation2dStruct.h"
+#include "wpi/math/geometry/struct/Rotation2dStruct.hpp"
 
 namespace {
 constexpr size_t kValueOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
index 926c7c154a..b8807953b3 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Rotation3dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Rotation3dStruct.h"
+#include "wpi/math/geometry/struct/Rotation3dStruct.hpp"
 
 namespace {
 constexpr size_t kQOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
index 35fa6bf8f3..33678a8754 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Transform2dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Transform2dStruct.h"
+#include "wpi/math/geometry/struct/Transform2dStruct.hpp"
 
 namespace {
 constexpr size_t kTranslationOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
index b428346df5..e986e001ee 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Transform3dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Transform3dStruct.h"
+#include "wpi/math/geometry/struct/Transform3dStruct.hpp"
 
 namespace {
 constexpr size_t kTranslationOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
index edf2574b9a..22028c5362 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Translation2dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Translation2dStruct.h"
+#include "wpi/math/geometry/struct/Translation2dStruct.hpp"
 
 namespace {
 constexpr size_t kXOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
index f69306c994..50ea05dbc9 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Translation3dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Translation3dStruct.h"
+#include "wpi/math/geometry/struct/Translation3dStruct.hpp"
 
 namespace {
 constexpr size_t kXOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
index 5c71c62018..97d0d5c19d 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Twist2dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Twist2dStruct.h"
+#include "wpi/math/geometry/struct/Twist2dStruct.hpp"
 
 namespace {
 constexpr size_t kDxOff = 0;
diff --git a/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp b/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
index d933d4b394..6fc3d2a94e 100644
--- a/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
+++ b/wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/geometry/struct/Twist3dStruct.h"
+#include "wpi/math/geometry/struct/Twist3dStruct.hpp"
 
 namespace {
 constexpr size_t kDxOff = 0;
diff --git a/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp b/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
index 4f0a1c3f34..d2c6566bf0 100644
--- a/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
@@ -4,10 +4,10 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_math_jni_ArmFeedforwardJNI.h"
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 using namespace wpi::java;
 
diff --git a/wpimath/src/main/native/cpp/jni/DAREJNI.cpp b/wpimath/src/main/native/cpp/jni/DAREJNI.cpp
index ce4728fb6b..aec0b9c3f7 100644
--- a/wpimath/src/main/native/cpp/jni/DAREJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/DAREJNI.cpp
@@ -7,12 +7,12 @@
 #include <stdexcept>
 #include <string>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
-#include "Exceptions.h"
+#include "Exceptions.hpp"
 #include "org_wpilib_math_jni_DAREJNI.h"
-#include "frc/DARE.h"
-#include "frc/fmt/Eigen.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
 
 using namespace wpi::java;
 
diff --git a/wpimath/src/main/native/cpp/jni/EigenJNI.cpp b/wpimath/src/main/native/cpp/jni/EigenJNI.cpp
index b246407619..5f3f7fd495 100644
--- a/wpimath/src/main/native/cpp/jni/EigenJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/EigenJNI.cpp
@@ -8,7 +8,7 @@
 #include <Eigen/Core>
 #include <Eigen/QR>
 #include <unsupported/Eigen/MatrixFunctions>
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_math_jni_EigenJNI.h"
 
diff --git a/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp b/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
index 95398330ed..5fae3c6c13 100644
--- a/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
@@ -4,11 +4,11 @@
 
 #include <jni.h>
 
-#include <wpi/array.h>
-#include <wpi/jni_util.h>
+#include "wpi/util/array.hpp"
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_math_jni_Ellipse2dJNI.h"
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 using namespace wpi::java;
 
diff --git a/wpimath/src/main/native/cpp/jni/Exceptions.cpp b/wpimath/src/main/native/cpp/jni/Exceptions.cpp
index 948df75454..0bd0311661 100644
--- a/wpimath/src/main/native/cpp/jni/Exceptions.cpp
+++ b/wpimath/src/main/native/cpp/jni/Exceptions.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "Exceptions.h"
+#include "Exceptions.hpp"
 
 #include <jni.h>
 
diff --git a/wpimath/src/main/native/cpp/jni/Exceptions.hpp b/wpimath/src/main/native/cpp/jni/Exceptions.hpp
index cf0e1497e9..476e896c06 100644
--- a/wpimath/src/main/native/cpp/jni/Exceptions.hpp
+++ b/wpimath/src/main/native/cpp/jni/Exceptions.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 extern wpi::java::JException illegalArgEx;
 extern wpi::java::JException ioEx;
diff --git a/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp b/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
index 795b49eba2..39a9731938 100644
--- a/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
@@ -5,10 +5,10 @@
 #include <jni.h>
 
 #include <Eigen/Core>
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_math_jni_StateSpaceUtilJNI.h"
-#include "frc/StateSpaceUtil.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 
 using namespace wpi::java;
 
diff --git a/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp b/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp
index 1e8a1b6361..849738e21c 100644
--- a/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp
@@ -4,15 +4,15 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_math_jni_Transform3dJNI.h"
-#include "frc/geometry/Quaternion.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Transform3d.h"
-#include "frc/geometry/Twist3d.h"
-#include "units/angle.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Quaternion.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/math/geometry/Twist3d.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
 using namespace wpi::java;
 
diff --git a/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp b/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp
index 1cd9d22dd9..8512446fbd 100644
--- a/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp
@@ -4,13 +4,13 @@
 
 #include <jni.h>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
 #include "org_wpilib_math_jni_Twist3dJNI.h"
-#include "frc/geometry/Transform3d.h"
-#include "frc/geometry/Twist3d.h"
-#include "units/angle.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/math/geometry/Twist3d.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
 using namespace wpi::java;
 
diff --git a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
index a22e0994a8..030e178fbd 100644
--- a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/DifferentialDriveOdometry.h"
+#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp
index 535dac710a..3d923ed1e3 100644
--- a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry3d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/DifferentialDriveOdometry3d.h"
+#include "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
index c21a7b2034..99d18b4f93 100644
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/MecanumDriveKinematics.h"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
index 49ed7e8e2c..7022f852a8 100644
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/MecanumDriveOdometry.h"
+#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp
index 0bbd2cd5dc..3c83651e85 100644
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry3d.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/MecanumDriveOdometry3d.h"
+#include "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
index 5e6cf287e6..46e8257161 100644
--- a/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/SwerveDriveKinematics.h"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
index 7a9d065702..eb33a07f15 100644
--- a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/SwerveDriveOdometry.h"
+#include "wpi/math/kinematics/SwerveDriveOdometry.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp
index 2325081c0e..e1c9a81067 100644
--- a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/SwerveDriveOdometry3d.h"
+#include "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp
index be8f3eeb10..ae3badb0e5 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/ChassisSpeedsProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/ChassisSpeedsProto.h"
+#include "wpi/math/kinematics/proto/ChassisSpeedsProto.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
index 4c33bd710d..630947cf90 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveKinematicsProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
index 2dbf9eeca9..e42537295e 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
index f47626676d..df85399e41 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
index 412c7c92db..dcd115a954 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
+#include "wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp
index dad3dd4305..d0b487c697 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
+#include "wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp
index fa4d50a1cd..9e9fdb4f55 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
+#include "wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
index 262154b0be..c1fe8e0708 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModulePositionProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/SwerveModulePositionProto.h"
+#include "wpi/math/kinematics/proto/SwerveModulePositionProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp
index 7f3215cca2..8e38804675 100644
--- a/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/SwerveModuleStateProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/proto/SwerveModuleStateProto.h"
+#include "wpi/math/kinematics/proto/SwerveModuleStateProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/kinematics.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
index 3b9ec2bd3c..46160e6674 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/ChassisSpeedsStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/ChassisSpeedsStruct.h"
+#include "wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp"
 
 namespace {
 constexpr size_t kVxOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
index 8f6b064ba5..570157ad36 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveKinematicsStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
+#include "wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp"
 
 namespace {
 constexpr size_t kTrackwidthOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
index 757ce62760..44807070a4 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
+#include "wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp"
 
 namespace {
 constexpr size_t kLeftOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
index e2ae13131c..a870c6c0e0 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"
+#include "wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp"
 
 namespace {
 constexpr size_t kLeftOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
index 1a27a286a6..925af4ff3b 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"
+#include "wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp"
 
 namespace {
 constexpr size_t kFrontLeftOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
index c857f4de52..04b2bcf954 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"
+#include "wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp"
 
 namespace {
 constexpr size_t kFrontLeftOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
index c232cc9828..48622e333b 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"
+#include "wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp"
 
 namespace {
 constexpr size_t kFrontLeftOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
index 12ae0a111c..52a69e1d1b 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModulePositionStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/SwerveModulePositionStruct.h"
+#include "wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp"
 
 namespace {
 constexpr size_t kDistanceOff = 0;
diff --git a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
index b045178c10..ca64f4315a 100644
--- a/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/SwerveModuleStateStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/kinematics/struct/SwerveModuleStateStruct.h"
+#include "wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp"
 
 namespace {
 constexpr size_t kSpeedOff = 0;
diff --git a/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp b/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp
index 0ce5da8c18..83760c930a 100644
--- a/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp
+++ b/wpimath/src/main/native/cpp/spline/proto/CubicHermiteSplineProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/spline/proto/CubicHermiteSplineProto.h"
+#include "wpi/math/spline/proto/CubicHermiteSplineProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/spline.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp b/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp
index d3f888ae84..666d9800fb 100644
--- a/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp
+++ b/wpimath/src/main/native/cpp/spline/proto/QuinticHermiteSplineProto.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/spline/proto/QuinticHermiteSplineProto.h"
+#include "wpi/math/spline/proto/QuinticHermiteSplineProto.hpp"
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/spline.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp b/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp
index 3d837cd89c..fb4817cac5 100644
--- a/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp
+++ b/wpimath/src/main/native/cpp/spline/struct/CubicHermiteSplineStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/spline/struct/CubicHermiteSplineStruct.h"
+#include "wpi/math/spline/struct/CubicHermiteSplineStruct.hpp"
 
 namespace {
 constexpr size_t kXInitialOff = 0;
diff --git a/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp b/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp
index fd1906718c..e03be9f2e6 100644
--- a/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp
+++ b/wpimath/src/main/native/cpp/spline/struct/QuinticHermiteSplineStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/spline/struct/QuinticHermiteSplineStruct.h"
+#include "wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp"
 
 namespace {
 constexpr size_t kXInitialOff = 0;
diff --git a/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp b/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
index 16979d911e..213b00f5a8 100644
--- a/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
+++ b/wpimath/src/main/native/cpp/system/LinearSystemLoop.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/system/LinearSystemLoop.h"
+#include "wpi/math/system/LinearSystemLoop.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp b/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp
index ec639c5dfd..de5bd5596e 100644
--- a/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp
+++ b/wpimath/src/main/native/cpp/system/plant/proto/DCMotorProto.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/system/plant/proto/DCMotorProto.h"
+#include "wpi/math/system/plant/proto/DCMotorProto.hpp"
 
 #include <optional>
 
diff --git a/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp b/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp
index e7389a17ef..8ba75c7bfa 100644
--- a/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp
+++ b/wpimath/src/main/native/cpp/system/plant/struct/DCMotorStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/system/plant/struct/DCMotorStruct.h"
+#include "wpi/math/system/plant/struct/DCMotorStruct.hpp"
 
 namespace {
 constexpr size_t kNominalVoltageOff = 0;
diff --git a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
index ef3591998b..6d84b81bb2 100644
--- a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/trajectory/Trajectory.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
 
-#include <wpi/json.h>
+#include "wpi/util/json.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
index e12157a43c..82d60204e5 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 #include <utility>
 #include <vector>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/spline/SplineHelper.h"
-#include "frc/spline/SplineParameterizer.h"
-#include "frc/trajectory/TrajectoryParameterizer.h"
+#include "wpi/math/spline/SplineHelper.hpp"
+#include "wpi/math/spline/SplineParameterizer.hpp"
+#include "wpi/math/trajectory/TrajectoryParameterizer.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
index fb2d6cdb6b..5d981aeba8 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
@@ -26,13 +26,13 @@
  * SOFTWARE.
  */
 
-#include "frc/trajectory/TrajectoryParameterizer.h"
+#include "wpi/math/trajectory/TrajectoryParameterizer.hpp"
 
 #include <vector>
 
 #include <fmt/format.h>
 
-#include "units/math.h"
+#include "wpi/units/math.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
index 0e1f1e1ecd..7922b5bc0e 100644
--- a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/trajectory/proto/TrajectoryProto.h"
+#include "wpi/math/trajectory/proto/TrajectoryProto.hpp"
 
 #include <vector>
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/trajectory.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
index 15af78ba12..bc4dd97931 100644
--- a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryStateProto.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/trajectory/proto/TrajectoryStateProto.h"
+#include "wpi/math/trajectory/proto/TrajectoryStateProto.hpp"
 
 #include <utility>
 
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
 #include "wpimath/protobuf/trajectory.npb.h"
 
diff --git a/wpimath/src/main/native/cpp/util/MathShared.cpp b/wpimath/src/main/native/cpp/util/MathShared.cpp
index 64c333d5ab..d17417adc0 100644
--- a/wpimath/src/main/native/cpp/util/MathShared.cpp
+++ b/wpimath/src/main/native/cpp/util/MathShared.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <wpi/mutex.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 using namespace wpi::math;
 
diff --git a/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp b/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp
index 01e987d5d4..8c7233c1d0 100644
--- a/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp
+++ b/wpimath/src/main/native/cpp/util/StateSpaceUtil.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/StateSpaceUtil.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 
 #include <limits>
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
index d6bdc0f81c..1ccdb6f574 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
@@ -6,14 +6,14 @@
 
 #include <cstdlib>
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/angle.h"
-#include "units/angular_velocity.h"
-#include "units/math.h"
-#include "units/voltage.h"
-#include "wpimath/MathShared.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 /**
@@ -318,5 +318,5 @@ class WPILIB_DLLEXPORT ArmFeedforward {
 };
 }  // namespace frc
 
-#include "frc/controller/proto/ArmFeedforwardProto.h"
-#include "frc/controller/struct/ArmFeedforwardStruct.h"
+#include "wpi/math/controller/proto/ArmFeedforwardProto.hpp"
+#include "wpi/math/controller/struct/ArmFeedforwardStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp b/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
index 25c6fad024..ac537e494e 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
@@ -7,11 +7,11 @@
 #include <limits>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
index c3c282d3e6..a4594c86fe 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
@@ -9,9 +9,9 @@
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
-#include "frc/system/NumericalJacobian.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
index e2741e5d00..e4958e7336 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
@@ -7,15 +7,15 @@
 #include <utility>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
-#include "frc/system/LinearSystem.h"
-#include "units/acceleration.h"
-#include "units/angular_acceleration.h"
-#include "units/length.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
index da66a439b0..1254201b45 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
@@ -4,18 +4,18 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/acceleration.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_velocity.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 /**
@@ -99,5 +99,5 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
 };
 }  // namespace frc
 
-#include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
-#include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"
+#include "wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp"
+#include "wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp
index 424cd2d1b3..34aa01970c 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "units/voltage.h"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 
@@ -21,5 +21,5 @@ struct DifferentialDriveWheelVoltages {
 
 }  // namespace frc
 
-#include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
-#include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"
+#include "wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp"
+#include "wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
index 1c974a9b0a..cd5bf820f6 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/voltage.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 /**
@@ -290,5 +290,5 @@ class ElevatorFeedforward {
 };
 }  // namespace frc
 
-#include "frc/controller/proto/ElevatorFeedforwardProto.h"
-#include "frc/controller/struct/ElevatorFeedforwardStruct.h"
+#include "wpi/math/controller/proto/ElevatorFeedforwardProto.hpp"
+#include "wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp b/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
index f030d4898c..883894fd60 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/system/LinearSystem.h>
+#include "wpi/math/system/LinearSystem.hpp"
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp b/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
index ce1d919550..96911cc16b 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
@@ -7,17 +7,17 @@
 #include <cmath>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/trajectory/Trajectory.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp b/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
index 17589409a6..8cde1e9162 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
@@ -5,17 +5,17 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/trajectory/Trajectory.h"
-#include "units/angular_velocity.h"
-#include "units/math.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
index fb46b03092..3165c6988d 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
@@ -9,10 +9,10 @@
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp b/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
index 10a2862683..8b87c21081 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
@@ -9,17 +9,17 @@
 
 #include <Eigen/Cholesky>
 #include <unsupported/Eigen/MatrixFunctions>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp b/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
index e5821b537b..277fe8fc90 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
@@ -10,14 +10,14 @@
 #include <type_traits>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/MathUtil.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp b/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
index 01b6c32e2b..76eed3b0d3 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
@@ -8,15 +8,15 @@
 #include <limits>
 #include <type_traits>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/MathUtil.h"
-#include "frc/controller/PIDController.h"
-#include "frc/trajectory/TrapezoidProfile.h"
-#include "units/time.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 namespace detail {
diff --git a/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
index ba1db8fde9..b57801d04d 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
@@ -5,13 +5,13 @@
 #pragma once
 
 #include <gcem.hpp>
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/voltage.h"
-#include "wpimath/MathShared.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
index 7a91f61c75..279638f397 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
index d0d49e8fcf..540330cc39 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
index f3d306e43c..b70e4db6c3 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
index 5ae323e769..db9bc2afb2 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp b/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
index aed953150a..917718fd73 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/SimpleMotorFeedforward.h"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
 #include "pb.h"
-#include "units/length.h"
+#include "wpi/units/length.hpp"
 #include "wpimath/protobuf/controller.npb.h"
 
 // Everything is converted into units for
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
index fca552995b..16b11fd072 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
index 8a6eec799b..53e26e634d 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveFeedforward> {
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
index 0cfeb08b4b..8fbef5dca9 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
index e096485264..d8540178a9 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {
diff --git a/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp b/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
index 12b3186f7b..1372883fbd 100644
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/struct/Struct.h>
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "units/length.h"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/units/length.hpp"
 
 // Everything is converted into units for
 // frc::SimpleMotorFeedforward<units::meters> or
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp b/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp
index 8b94313ba7..2b2b86ddd0 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp
@@ -7,8 +7,8 @@
 #include <functional>
 #include <numbers>
 
-#include "frc/EigenCore.h"
-#include "frc/MathUtil.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/MathUtil.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
index ccd09a5d0a..7daebaa734 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveOdometry.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
index 371536b298..837075614c 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveOdometry3d.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
index 22eddbc281..f138196c8b 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
@@ -9,16 +9,16 @@
 #include <utility>
 
 #include <Eigen/Cholesky>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "units/time.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
index aa169368bb..c0a9f1faaf 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
@@ -9,16 +9,16 @@
 #include <string>
 
 #include <Eigen/Cholesky>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
index faa67f6274..3cdc7fb3b1 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
@@ -10,9 +10,9 @@
 #include <utility>
 #include <vector>
 
-#include "frc/EigenCore.h"
-#include "units/math.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
index d748164f47..a39b82a22d 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
@@ -6,16 +6,16 @@
 
 #include <functional>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/kinematics/MecanumDriveOdometry.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
index bb1c6ea693..4cfa1cf1bd 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
@@ -6,16 +6,16 @@
 
 #include <functional>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/kinematics/MecanumDriveOdometry3d.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp
index 0cd1af63a5..558d1af014 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp
@@ -6,7 +6,7 @@
 
 #include <cmath>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
index 1b5165aeb4..687070b373 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/estimator/MerweScaledSigmaPoints.h"
-#include "frc/estimator/UnscentedKalmanFilter.h"
+#include "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
+#include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
index 46d124f7de..b32e1bca77 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
@@ -9,17 +9,17 @@
 #include <vector>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/Odometry.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/math/kinematics/Odometry.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
index 68e99dd4f2..69798949b4 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
@@ -10,18 +10,18 @@
 #include <vector>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/Odometry3d.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/math/kinematics/Odometry3d.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp b/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
index 7b9efebf5c..fbeed4cdd7 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/estimator/SigmaPoints.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/estimator/SigmaPoints.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp b/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
index e94f2af0c6..3f8eb2785f 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/estimator/S3SigmaPoints.h"
-#include "frc/estimator/UnscentedKalmanFilter.h"
+#include "wpi/math/estimator/S3SigmaPoints.hpp"
+#include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp
index a459197c75..c21d329114 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp
@@ -6,7 +6,7 @@
 
 #include <concepts>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
index 734c70c7e0..c88d694c68 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
@@ -9,17 +9,17 @@
 #include <string>
 
 #include <Eigen/Cholesky>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
index a03dde9399..d9602eed95 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
@@ -6,15 +6,15 @@
 
 #include <cmath>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/SwerveDriveOdometry.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveDriveOdometry.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
index 7efcbb573c..b76e6ab15d 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
@@ -6,15 +6,15 @@
 
 #include <cmath>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/SwerveDriveOdometry3d.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
index 2d2ed82c62..c126743061 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
@@ -8,17 +8,17 @@
 #include <utility>
 
 #include <Eigen/Cholesky>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/SigmaPoints.h"
-#include "frc/estimator/UnscentedTransform.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/SigmaPoints.hpp"
+#include "wpi/math/estimator/UnscentedTransform.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp
index f8b4a469c8..62909c269d 100644
--- a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp
@@ -9,7 +9,7 @@
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp b/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
index 9b2d18b519..318486d990 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp b/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
index 64b90f5840..b5ab5a6e78 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
@@ -13,12 +13,12 @@
 
 #include <Eigen/QR>
 #include <gcem.hpp>
-#include <wpi/array.h>
-#include <wpi/circular_buffer.h>
+#include "wpi/util/array.hpp"
+#include "wpi/util/circular_buffer.hpp"
 
-#include "frc/EigenCore.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp b/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp
index 9969122839..694ff7c954 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp
@@ -7,8 +7,8 @@
 #include <algorithm>
 #include <vector>
 
-#include <wpi/Algorithm.h>
-#include <wpi/circular_buffer.h>
+#include "wpi/util/Algorithm.hpp"
+#include "wpi/util/circular_buffer.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp b/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
index f04aac4855..c34fb647ed 100644
--- a/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
@@ -6,10 +6,10 @@
 
 #include <algorithm>
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
index be29219403..9196ba8433 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
@@ -6,10 +6,10 @@
 
 #include <Eigen/Core>
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
index 0d4ba8f6c8..84d2519808 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/CoordinateAxis.h"
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/CoordinateAxis.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
index 1c3a8382af..9fd187b849 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
@@ -7,15 +7,15 @@
 #include <stdexcept>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Transform2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -212,5 +212,5 @@ class WPILIB_DLLEXPORT Ellipse2d {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Ellipse2dProto.h"
-#include "frc/geometry/struct/Ellipse2dStruct.h"
+#include "wpi/math/geometry/proto/Ellipse2dProto.hpp"
+#include "wpi/math/geometry/struct/Ellipse2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
index 17328e8554..3c238bd241 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
@@ -10,12 +10,12 @@
 #include <utility>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 
@@ -272,10 +272,10 @@ void from_json(const wpi::json& json, Pose2d& pose);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Pose2dProto.h"
-#include "frc/geometry/struct/Pose2dStruct.h"
+#include "wpi/math/geometry/proto/Pose2dProto.hpp"
+#include "wpi/math/geometry/struct/Pose2dStruct.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
index ebf4de6827..4c39f8e630 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
@@ -12,13 +12,13 @@
 #include <utility>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/ct_matrix.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/linalg/ct_matrix.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 namespace frc {
 
@@ -304,7 +304,7 @@ void from_json(const wpi::json& json, Pose3d& pose);
 
 }  // namespace frc
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 namespace frc {
 
@@ -325,5 +325,5 @@ constexpr Pose3d Pose3d::RelativeTo(const Pose3d& other) const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Pose3dProto.h"
-#include "frc/geometry/struct/Pose3dStruct.h"
+#include "wpi/math/geometry/proto/Pose3dProto.hpp"
+#include "wpi/math/geometry/struct/Pose3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
index 09d21e38f2..01e3ef1774 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
@@ -8,8 +8,8 @@
 
 #include <Eigen/Core>
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
 namespace frc {
 
@@ -334,5 +334,5 @@ void from_json(const wpi::json& json, Quaternion& quaternion);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/QuaternionProto.h"
-#include "frc/geometry/struct/QuaternionStruct.h"
+#include "wpi/math/geometry/proto/QuaternionProto.hpp"
+#include "wpi/math/geometry/struct/QuaternionStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
index 744b374ba2..fa114b29d9 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
@@ -7,14 +7,14 @@
 #include <algorithm>
 #include <stdexcept>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Transform2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -206,5 +206,5 @@ class WPILIB_DLLEXPORT Rectangle2d {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Rectangle2dProto.h"
-#include "frc/geometry/struct/Rectangle2dStruct.h"
+#include "wpi/math/geometry/proto/Rectangle2dProto.hpp"
+#include "wpi/math/geometry/struct/Rectangle2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
index 2b33d6d26a..036519a34b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
@@ -9,13 +9,13 @@
 
 #include <Eigen/Core>
 #include <gcem.hpp>
-#include <wpi/StackTrace.h>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/ct_matrix.h"
-#include "units/angle.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/ct_matrix.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
@@ -248,5 +248,5 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Rotation2dProto.h"
-#include "frc/geometry/struct/Rotation2dStruct.h"
+#include "wpi/math/geometry/proto/Rotation2dProto.hpp"
+#include "wpi/math/geometry/struct/Rotation2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
index 8d1e975299..664880f9bb 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
@@ -10,16 +10,16 @@
 #include <Eigen/Core>
 #include <fmt/format.h>
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/ct_matrix.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/geometry/Quaternion.h"
-#include "frc/geometry/Rotation2d.h"
-#include "units/angle.h"
-#include "units/math.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/ct_matrix.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
+#include "wpi/math/geometry/Quaternion.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
@@ -449,5 +449,5 @@ void from_json(const wpi::json& json, Rotation3d& rotation);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Rotation3dProto.h"
-#include "frc/geometry/struct/Rotation3dStruct.h"
+#include "wpi/math/geometry/proto/Rotation3dProto.hpp"
+#include "wpi/math/geometry/struct/Rotation3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
index d85abb4ded..df4f633d15 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
@@ -6,10 +6,10 @@
 
 #include <utility>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 namespace frc {
 
@@ -171,8 +171,8 @@ class WPILIB_DLLEXPORT Transform2d {
 
 }  // namespace frc
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 namespace frc {
 
@@ -213,5 +213,5 @@ constexpr Twist2d Transform2d::Log() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Transform2dProto.h"
-#include "frc/geometry/struct/Transform2dStruct.h"
+#include "wpi/math/geometry/proto/Transform2dProto.hpp"
+#include "wpi/math/geometry/struct/Transform2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
index b424ddf48c..81571416fa 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
@@ -6,10 +6,10 @@
 
 #include <utility>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 namespace frc {
 
@@ -196,9 +196,9 @@ class WPILIB_DLLEXPORT Transform3d {
 
 }  // namespace frc
 
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Twist3d.h"
-#include "frc/geometry/detail/RotationVectorToMatrix.h"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Twist3d.hpp"
+#include "wpi/math/geometry/detail/RotationVectorToMatrix.hpp"
 
 namespace frc {
 
@@ -271,5 +271,5 @@ constexpr Twist3d Transform3d::Log() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Transform3dProto.h"
-#include "frc/geometry/struct/Transform3dStruct.h"
+#include "wpi/math/geometry/proto/Transform3dProto.hpp"
+#include "wpi/math/geometry/struct/Transform3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
index f6775ff2eb..acec201e9f 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
@@ -9,13 +9,13 @@
 #include <span>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "units/area.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/area.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -327,5 +327,5 @@ void from_json(const wpi::json& json, Translation2d& state);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Translation2dProto.h"
-#include "frc/geometry/struct/Translation2dStruct.h"
+#include "wpi/math/geometry/proto/Translation2dProto.hpp"
+#include "wpi/math/geometry/struct/Translation2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
index 166f871c59..f6624bc240 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
@@ -9,14 +9,14 @@
 #include <span>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/area.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/units/area.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -352,5 +352,5 @@ void from_json(const wpi::json& json, Translation3d& state);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Translation3dProto.h"
-#include "frc/geometry/struct/Translation3dStruct.h"
+#include "wpi/math/geometry/proto/Translation3dProto.hpp"
+#include "wpi/math/geometry/struct/Translation3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
index 043f334c2e..3e7226d024 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -80,7 +80,7 @@ struct WPILIB_DLLEXPORT Twist2d {
 
 }  // namespace frc
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 namespace frc {
 
@@ -104,5 +104,5 @@ constexpr Transform2d Twist2d::Exp() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Twist2dProto.h"
-#include "frc/geometry/struct/Twist2dStruct.h"
+#include "wpi/math/geometry/proto/Twist2dProto.hpp"
+#include "wpi/math/geometry/struct/Twist2dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
index f7a21d51f5..bb5abbba12 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -99,8 +99,8 @@ struct WPILIB_DLLEXPORT Twist3d {
 
 }  // namespace frc
 
-#include "frc/geometry/Transform3d.h"
-#include "frc/geometry/detail/RotationVectorToMatrix.h"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/math/geometry/detail/RotationVectorToMatrix.hpp"
 
 namespace frc {
 
@@ -164,5 +164,5 @@ constexpr Transform3d Twist3d::Exp() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Twist3dProto.h"
-#include "frc/geometry/struct/Twist3dStruct.h"
+#include "wpi/math/geometry/proto/Twist3dProto.hpp"
+#include "wpi/math/geometry/struct/Twist3dStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp b/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp
index 7d81e0f7ce..a955970db8 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp
@@ -6,7 +6,7 @@
 
 #include <Eigen/Core>
 
-#include "frc/ct_matrix.h"
+#include "wpi/math/linalg/ct_matrix.hpp"
 
 namespace frc::detail {
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
index aebcbd8053..6afd272d7c 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
index 024c8b5d68..7907a17326 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
index 5b7e0ba9ee..8150840252 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
index e0d6918417..06aa42dae1 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
index 9920145f98..5c94d3631c 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
index 477ab240e9..baeb0f4b3e 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
index 1c8d70b070..1f475fd2be 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
index cbb3510180..b9eb5688d3 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
index 3a4643c836..ea9e2be303 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
index acb11adabd..7b602a913c 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
index 2b21943e01..85d1186c62 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
index 62e27ad230..ef662927f0 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
index bb467cb6d7..fa0daa6224 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
index d90df96f16..bd809f3205 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Ellipse2d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
index ec352090d5..4964f333c1 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
index 0584449a43..14f5722b95 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
index f9e61ffc3f..0775e547a8 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
index 3df9d74f0c..4c11425950 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rectangle2d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
index e7e5ec10a9..52203577ba 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
index 81be3d69c0..e0a651ec4b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
index 9711c25efc..88cf9352fe 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
index 4955e5898e..ea81d0d228 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
index 9d9759185d..bbf6a24c42 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
index c77bf512fa..f969af0b73 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
index 8ff240b4f6..11e1417559 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
index 9372520880..8407c9fc42 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {
diff --git a/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp b/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
index 74824c2620..129f75064e 100644
--- a/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
@@ -10,11 +10,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "units/time.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
index b35e70a545..e22e22e911 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "units/angular_velocity.h"
-#include "units/velocity.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
@@ -197,5 +197,5 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/ChassisSpeedsProto.h"
-#include "frc/kinematics/struct/ChassisSpeedsStruct.h"
+#include "wpi/math/kinematics/proto/ChassisSpeedsProto.hpp"
+#include "wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
index 517fdf50ac..d6fcbb9ae6 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
@@ -6,16 +6,16 @@
 
 #include <type_traits>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Twist2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "frc/kinematics/Kinematics.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/geometry/Twist2d.hpp"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
+#include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
+#include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 /**
@@ -104,5 +104,5 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
-#include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp"
+#include "wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
index c0c406c22f..ca69fa31f2 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "frc/kinematics/Odometry.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
+#include "wpi/math/kinematics/Odometry.hpp"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
index d6470442f2..b44092290a 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "frc/kinematics/Odometry3d.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
+#include "wpi/math/kinematics/Odometry3d.hpp"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
index 5ca81d2e0b..ca271ebec2 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/length.h"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 /**
@@ -42,5 +42,5 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
-#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp"
+#include "wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
index fb3d7fbfdb..6ec8656037 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
@@ -122,5 +122,5 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
-#include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp"
+#include "wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
index 3901630e59..813ccf6655 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Twist2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/geometry/Twist2d.hpp"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
index e33eb5ccc9..f288f76b82 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
@@ -5,16 +5,16 @@
 #pragma once
 
 #include <Eigen/QR>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/geometry/Twist2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Twist2d.hpp"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
+#include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
@@ -199,5 +199,5 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
 
 }  // namespace frc
 
-#include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
-#include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"
+#include "wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp"
+#include "wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
index 0a6f537cd7..b68634b34a 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-#include "frc/kinematics/Odometry.h"
-#include "units/time.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+#include "wpi/math/kinematics/Odometry.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
index 2f3726e45d..1a7bfd7d60 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-#include "frc/kinematics/Odometry3d.h"
-#include "units/time.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+#include "wpi/math/kinematics/Odometry3d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
index a153b16bb8..759b520aaf 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/length.h"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 /**
@@ -53,5 +53,5 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
-#include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"
+#include "wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp"
+#include "wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
index df923483d0..270f785873 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
@@ -8,10 +8,10 @@
 #include <array>
 #include <cmath>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
@@ -146,5 +146,5 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
-#include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"
+#include "wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp"
+#include "wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
index 6ac4f1c958..defe9592db 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/kinematics/Kinematics.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/kinematics/Kinematics.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
index 0c4b819bc0..85f4eba7a8 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/geometry/Translation3d.h"
-#include "frc/kinematics/Kinematics.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/math/kinematics/Kinematics.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
index 2aa2a88523..b120bc203f 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
@@ -9,20 +9,20 @@
 #include <cstddef>
 
 #include <Eigen/QR>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/geometry/Twist2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/SwerveModulePosition.h"
-#include "frc/kinematics/SwerveModuleState.h"
-#include "units/math.h"
-#include "units/velocity.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Twist2d.hpp"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
+#include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
index f7e6c34a7b..ee308f45a4 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
@@ -7,15 +7,15 @@
 #include <cstddef>
 #include <ctime>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Odometry.h"
-#include "SwerveDriveKinematics.h"
-#include "SwerveModulePosition.h"
-#include "SwerveModuleState.h"
-#include "frc/geometry/Pose2d.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/kinematics/Odometry.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
index 062118582c..f55913330e 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
@@ -8,15 +8,15 @@
 #include <cstddef>
 #include <ctime>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "Odometry3d.h"
-#include "SwerveDriveKinematics.h"
-#include "SwerveModulePosition.h"
-#include "SwerveModuleState.h"
-#include "frc/geometry/Pose2d.h"
-#include "units/time.h"
+#include "wpi/math/kinematics/Odometry3d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
index 183f72fb28..bda4a0a0f0 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 /**
@@ -45,5 +45,5 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/SwerveModulePositionProto.h"
-#include "frc/kinematics/struct/SwerveModulePositionStruct.h"
+#include "wpi/math/kinematics/proto/SwerveModulePositionProto.hpp"
+#include "wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp
index 9c005c2479..5c35847db2 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModuleState.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "units/angle.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
@@ -86,5 +86,5 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/SwerveModuleStateProto.h"
-#include "frc/kinematics/struct/SwerveModuleStateStruct.h"
+#include "wpi/math/kinematics/proto/SwerveModuleStateProto.hpp"
+#include "wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp
index 7421bd061d..090697fad4 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/ChassisSpeedsProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp
index 02437a7214..537969a4f0 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp
index c4138f4784..68de9c76c6 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp
index f08a80b04d..aacab3c5a4 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp
index fd3beab990..a09aa88a71 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/MecanumDriveKinematics.h"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp
index 02a09a0f2e..2be5e30776 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelPositionsProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
+#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp
index 6e26476fde..37aa0b03dd 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/MecanumDriveWheelSpeedsProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp
index 170ed78837..c057ce6f95 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp
@@ -7,10 +7,10 @@
 #include <stdexcept>
 
 #include <fmt/format.h>
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "frc/kinematics/SwerveDriveKinematics.h"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <size_t NumModules>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp
index 342717340d..787c3be6e9 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModulePositionProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/SwerveModulePosition.h"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp
index 860f7ccdae..04ffb9e162 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/proto/SwerveModuleStateProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/kinematics/SwerveModuleState.h"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
 #include "wpimath/protobuf/kinematics.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp
index 583f191ecc..69e66ad629 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ChassisSpeeds> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp
index 13a31ba02b..a4f9f35e47 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp
index 96cd90abf2..b94d7a3754 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelPositions> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp
index 96a4ad8a84..94dd6c6bca 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelSpeeds> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp
index 0751454376..0620ce3c4a 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/MecanumDriveKinematics.h"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveKinematics> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp
index e7df5619dc..18a8dae305 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelPositionsStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
+#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelPositions> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp
index 30aa8ef7e1..008d8d6659 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::MecanumDriveWheelSpeeds> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp
index b351fab26c..12410d2172 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp
@@ -5,10 +5,10 @@
 #pragma once
 
 #include <fmt/format.h>
-#include <wpi/ct_string.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/ct_string.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/SwerveDriveKinematics.h"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 
 template <size_t NumModules>
 struct wpi::Struct<frc::SwerveDriveKinematics<NumModules>> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp
index 2bdcb2a335..427b78ddc6 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModulePositionStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/SwerveModulePosition.h"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModulePosition> {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp
index b521f351e7..2edc93c8de 100644
--- a/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/struct/SwerveModuleStateStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/kinematics/SwerveModuleState.h"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::SwerveModuleState> {
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp b/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp
index feca99a1fd..156cdf572f 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/DARE.hpp
@@ -9,9 +9,9 @@
 #include <Eigen/Cholesky>
 #include <Eigen/Core>
 #include <Eigen/LU>
-#include <wpi/expected>
+#include "wpi/util/expected"
 
-#include "frc/StateSpaceUtil.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp b/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp
index 63a7a28dc0..e0fd7dc97b 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/proto/MatrixProto.hpp
@@ -7,10 +7,10 @@
 #include <stdexcept>
 
 #include <fmt/format.h>
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpimath/protobuf/wpimath.npb.h"
 
 template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp b/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp
index 9a72c03f9e..4ed412845c 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/proto/VectorProto.hpp
@@ -7,10 +7,10 @@
 #include <stdexcept>
 
 #include <fmt/format.h>
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpimath/protobuf/wpimath.npb.h"
 
 template <int Size, int Options, int MaxRows, int MaxCols>
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp b/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp
index 59bc4b5712..418b67d0c2 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/struct/StructProto.hpp
@@ -5,10 +5,10 @@
 #pragma once
 
 #include <fmt/format.h>
-#include <wpi/ct_string.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/ct_string.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
   requires(Cols != 1)
diff --git a/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp b/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp
index ec480240c3..c26badcb94 100644
--- a/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/linalg/struct/VectorStruct.hpp
@@ -5,10 +5,10 @@
 #pragma once
 
 #include <fmt/format.h>
-#include <wpi/ct_string.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/ct_string.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 template <int Size, int Options, int MaxRows, int MaxCols>
 struct wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
diff --git a/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp b/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
index d45f6203f8..0ce6a31e4e 100644
--- a/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
+++ b/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
@@ -10,11 +10,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/optimization/SimulatedAnnealing.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/optimization/SimulatedAnnealing.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp b/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp
index 98a27be652..0edbe5fa0b 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/CubicHermiteSpline.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/spline/Spline.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/spline/Spline.hpp"
 
 namespace frc {
 /**
@@ -147,5 +147,5 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
 };
 }  // namespace frc
 
-#include "frc/spline/proto/CubicHermiteSplineProto.h"
-#include "frc/spline/struct/CubicHermiteSplineStruct.h"
+#include "wpi/math/spline/proto/CubicHermiteSplineProto.hpp"
+#include "wpi/math/spline/struct/CubicHermiteSplineStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp b/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp
index 293bb3e94d..cf5552b866 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/QuinticHermiteSpline.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/spline/Spline.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/spline/Spline.hpp"
 
 namespace frc {
 /**
@@ -154,5 +154,5 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
 };
 }  // namespace frc
 
-#include "frc/spline/proto/QuinticHermiteSplineProto.h"
-#include "frc/spline/struct/QuinticHermiteSplineStruct.h"
+#include "wpi/math/spline/proto/QuinticHermiteSplineProto.hpp"
+#include "wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp b/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp
index a10c42f00a..7d7b99e1c3 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/Spline.hpp
@@ -8,12 +8,12 @@
 #include <utility>
 
 #include <gcem.hpp>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Pose2d.h"
-#include "units/curvature.h"
-#include "units/length.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/units/curvature.hpp"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp b/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp
index 4ad3694a31..955c7f8e34 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/SplineHelper.hpp
@@ -7,11 +7,11 @@
 #include <cstddef>
 #include <vector>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/spline/CubicHermiteSpline.h"
-#include "frc/spline/QuinticHermiteSpline.h"
+#include "wpi/math/spline/CubicHermiteSpline.hpp"
+#include "wpi/math/spline/QuinticHermiteSpline.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp b/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
index cbcd9de13f..31d51cebff 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
@@ -33,13 +33,13 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/spline/Spline.h"
-#include "units/angle.h"
-#include "units/curvature.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/math/spline/Spline.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/curvature.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp b/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp
index 88dd412995..ba9c78079e 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/proto/CubicHermiteSplineProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/spline/CubicHermiteSpline.h"
+#include "wpi/math/spline/CubicHermiteSpline.hpp"
 #include "wpimath/protobuf/spline.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp b/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp
index 2d59cea0be..56e60ca115 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/proto/QuinticHermiteSplineProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/spline/QuinticHermiteSpline.h"
+#include "wpi/math/spline/QuinticHermiteSpline.hpp"
 #include "wpimath/protobuf/spline.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp b/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp
index 3ab2557845..9207fbbf33 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/struct/CubicHermiteSplineStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/spline/CubicHermiteSpline.h"
+#include "wpi/math/spline/CubicHermiteSpline.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::CubicHermiteSpline> {
diff --git a/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp b/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp
index a0873f6218..3458e95c0d 100644
--- a/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/struct/QuinticHermiteSplineStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/spline/QuinticHermiteSpline.h"
+#include "wpi/math/spline/QuinticHermiteSpline.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::QuinticHermiteSpline> {
diff --git a/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp b/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp
index 72a3d43d7f..77d7cd6f87 100644
--- a/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/Discretization.hpp
@@ -6,8 +6,8 @@
 
 #include <unsupported/Eigen/MatrixFunctions>
 
-#include "frc/EigenCore.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp b/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp
index d2b021375b..eb523151f2 100644
--- a/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/LinearSystem.hpp
@@ -10,12 +10,12 @@
 #include <type_traits>
 
 #include <gcem.hpp>
-#include <wpi/Algorithm.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/Algorithm.hpp"
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/system/Discretization.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp b/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
index c61531ae08..a729fac05d 100644
--- a/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/LinearSystemLoop.hpp
@@ -6,15 +6,15 @@
 
 #include <functional>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/controller/LinearQuadraticRegulator.h"
-#include "frc/estimator/KalmanFilter.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
-#include "units/voltage.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp b/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp
index 2fe1946f0d..18ac5f60e9 100644
--- a/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/NumericalIntegration.hpp
@@ -8,7 +8,7 @@
 #include <array>
 #include <cmath>
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp b/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
index c6f5719a31..409c18d488 100644
--- a/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp
index 145cf02bfd..cebfd6e390 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/DCMotor.hpp
@@ -4,13 +4,13 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/angular_velocity.h"
-#include "units/current.h"
-#include "units/impedance.h"
-#include "units/torque.h"
-#include "units/voltage.h"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/current.hpp"
+#include "wpi/units/impedance.hpp"
+#include "wpi/units/torque.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 
@@ -283,5 +283,5 @@ class WPILIB_DLLEXPORT DCMotor {
 
 }  // namespace frc
 
-#include "frc/system/plant/proto/DCMotorProto.h"
-#include "frc/system/plant/struct/DCMotorStruct.h"
+#include "wpi/math/system/plant/proto/DCMotorProto.hpp"
+#include "wpi/math/system/plant/struct/DCMotorStruct.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp
index fd4f843769..94a71ddd99 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/LinearSystemId.hpp
@@ -8,17 +8,17 @@
 #include <stdexcept>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/system/LinearSystem.h"
-#include "frc/system/plant/DCMotor.h"
-#include "units/acceleration.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_velocity.h"
-#include "units/length.h"
-#include "units/moment_of_inertia.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp
index 8c9f2b7c66..0f3d861ca9 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/proto/DCMotorProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/math/system/plant/DCMotor.hpp"
 #include "wpimath/protobuf/plant.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp b/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp
index 8f60d4ce3f..11f0e69d4a 100644
--- a/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/plant/struct/DCMotorStruct.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DCMotor> {
diff --git a/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp b/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp
index 0de5a683f6..4f04169e3f 100644
--- a/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/proto/LinearSystemProto.hpp
@@ -8,11 +8,11 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/protobuf/Protobuf.h>
-#include <wpi/protobuf/ProtobufCallbacks.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 
-#include "frc/proto/MatrixProto.h"
-#include "frc/system/LinearSystem.h"
+#include "wpi/math/linalg/proto/MatrixProto.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
 #include "wpimath/protobuf/system.npb.h"
 
 template <int States, int Inputs, int Outputs>
diff --git a/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp b/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp
index 74a76bce0b..42b8492b7b 100644
--- a/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/struct/LinearSystemStruct.hpp
@@ -5,11 +5,11 @@
 #pragma once
 
 #include <fmt/format.h>
-#include <wpi/ct_string.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/ct_string.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/struct/MatrixStruct.h"
-#include "frc/system/LinearSystem.h"
+#include "wpi/math/linalg/struct/StructProto.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
 
 template <int States, int Inputs, int Outputs>
 struct wpi::Struct<frc::LinearSystem<States, Inputs, Outputs>> {
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp
index 469083f55b..6bd5a846b0 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/ExponentialProfile.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include "units/math.h"
-#include "units/time.h"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp
index 74c939356f..3ad171e9df 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/Trajectory.hpp
@@ -8,17 +8,17 @@
 #include <stdexcept>
 #include <vector>
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Transform2d.h"
-#include "units/acceleration.h"
-#include "units/curvature.h"
-#include "units/math.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Transform2d.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/curvature.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
@@ -272,5 +272,5 @@ void from_json(const wpi::json& json, Trajectory::State& state);
 
 }  // namespace frc
 
-#include "frc/trajectory/proto/TrajectoryProto.h"
-#include "frc/trajectory/proto/TrajectoryStateProto.h"
+#include "wpi/math/trajectory/proto/TrajectoryProto.hpp"
+#include "wpi/math/trajectory/proto/TrajectoryStateProto.hpp"
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
index 4e6c1e6e29..c1cea72d37 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
@@ -9,17 +9,17 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
-#include "frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h"
-#include "frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/acceleration.h"
-#include "units/velocity.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
+#include "wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp"
+#include "wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
index f7076bce1d..163fa4304c 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
@@ -9,13 +9,13 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/spline/SplineParameterizer.h"
-#include "frc/trajectory/Trajectory.h"
-#include "frc/trajectory/TrajectoryConfig.h"
-#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+#include "wpi/math/spline/SplineParameterizer.hpp"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/trajectory/TrajectoryConfig.hpp"
+#include "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
index 807b31575c..af2b08e22e 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
@@ -32,10 +32,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/trajectory/Trajectory.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp
index 617a3e22da..b6308127b7 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrapezoidProfile.hpp
@@ -6,9 +6,9 @@
 
 #include <type_traits>
 
-#include "units/math.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp
index be55464c88..8d2924840f 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp
@@ -4,13 +4,13 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/acceleration.h"
-#include "units/curvature.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/curvature.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp
index 94b4d30148..c2cf48397c 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp
@@ -6,11 +6,11 @@
 
 #include <utility>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/velocity.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp
index edafa6f752..55d37db396 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp
@@ -8,15 +8,15 @@
 #include <limits>
 #include <utility>
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/length.h"
-#include "units/math.h"
-#include "units/voltage.h"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp
index 58a366c67a..61e3b2d38b 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp
@@ -7,11 +7,11 @@
 #include <concepts>
 #include <limits>
 
-#include "frc/geometry/Ellipse2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp
index 79b0c0ac50..ad549e11d2 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
index fc7b7526f9..1031815af7 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
@@ -6,12 +6,12 @@
 
 #include <cmath>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp
index 471951c5cc..78e374c329 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp
@@ -7,9 +7,9 @@
 #include <concepts>
 #include <limits>
 
-#include "frc/geometry/Rectangle2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
index ac05bcfeb2..ea8113efb5 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
@@ -6,10 +6,10 @@
 
 #include <cmath>
 
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp
index 502fc9d429..f5589867b3 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp
@@ -6,12 +6,12 @@
 
 #include <limits>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "units/acceleration.h"
-#include "units/curvature.h"
-#include "units/velocity.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/curvature.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp
index b6a1e5b958..b9e9e26d71 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/trajectory/Trajectory.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
 #include "wpimath/protobuf/trajectory.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp
index 7399c8709c..60022eadfa 100644
--- a/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/proto/TrajectoryStateProto.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/trajectory/Trajectory.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
 #include "wpimath/protobuf/trajectory.npb.h"
 
 template <>
diff --git a/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp b/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp
index 072df05003..ab1dba123b 100644
--- a/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/ComputerVisionUtil.hpp
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp b/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp
index 389e548927..c9726a3154 100644
--- a/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/MathShared.hpp
@@ -7,9 +7,9 @@
 #include <memory>
 
 #include <fmt/format.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 namespace wpi::math {
 
diff --git a/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp b/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp
index 66f4008781..77a77e9b7a 100644
--- a/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/MathUtil.hpp
@@ -8,17 +8,17 @@
 #include <type_traits>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Translation2d.h"
-#include "frc/geometry/Translation3d.h"
-#include "units/angle.h"
-#include "units/base.h"
-#include "units/length.h"
-#include "units/math.h"
-#include "units/time.h"
-#include "units/velocity.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp b/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp
index b04aea48ce..340b63b59d 100644
--- a/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp
+++ b/wpimath/src/main/native/include/wpi/math/util/StateSpaceUtil.hpp
@@ -12,11 +12,11 @@
 
 #include <Eigen/Eigenvalues>
 #include <Eigen/QR>
-#include <wpi/Algorithm.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/Algorithm.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/wpi/units/acceleration.hpp b/wpimath/src/main/native/include/wpi/units/acceleration.hpp
index a0d12b0379..27b41a8583 100644
--- a/wpimath/src/main/native/include/wpi/units/acceleration.hpp
+++ b/wpimath/src/main/native/include/wpi/units/acceleration.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/angle.hpp b/wpimath/src/main/native/include/wpi/units/angle.hpp
index 876bd60680..200991eba7 100644
--- a/wpimath/src/main/native/include/wpi/units/angle.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angle.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp b/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp
index 8174dac732..0493b6e27c 100644
--- a/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angular_acceleration.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "units/angle.h"
-#include "units/base.h"
-#include "units/time.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/time.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp b/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp
index b58bc1643c..4c82d71532 100644
--- a/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angular_jerk.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "units/angle.h"
-#include "units/base.h"
-#include "units/time.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/time.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp b/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp
index c9cc567558..694481d283 100644
--- a/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp
+++ b/wpimath/src/main/native/include/wpi/units/angular_velocity.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/angle.h"
-#include "units/base.h"
-#include "units/time.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/time.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/area.hpp b/wpimath/src/main/native/include/wpi/units/area.hpp
index e4d82d99bc..ae9f0b22e8 100644
--- a/wpimath/src/main/native/include/wpi/units/area.hpp
+++ b/wpimath/src/main/native/include/wpi/units/area.hpp
@@ -26,8 +26,8 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/length.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/base.hpp b/wpimath/src/main/native/include/wpi/units/base.hpp
index 626d76e16e..30ae5c29c0 100644
--- a/wpimath/src/main/native/include/wpi/units/base.hpp
+++ b/wpimath/src/main/native/include/wpi/units/base.hpp
@@ -3447,5 +3447,5 @@ using namespace units::literals;
 #endif  // UNIT_HAS_LITERAL_SUPPORT
 
 #if __has_include(<fmt/format.h>) && !defined(UNIT_LIB_DISABLE_FMT)
-#include "units/formatter.h"
+#include "wpi/units/formatter.hpp"
 #endif
diff --git a/wpimath/src/main/native/include/wpi/units/capacitance.hpp b/wpimath/src/main/native/include/wpi/units/capacitance.hpp
index e9e22f64d6..ee576136f5 100644
--- a/wpimath/src/main/native/include/wpi/units/capacitance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/capacitance.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/charge.hpp b/wpimath/src/main/native/include/wpi/units/charge.hpp
index 841f3a4124..f1aa370c1a 100644
--- a/wpimath/src/main/native/include/wpi/units/charge.hpp
+++ b/wpimath/src/main/native/include/wpi/units/charge.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/current.h"
-#include "units/time.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/current.hpp"
+#include "wpi/units/time.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/concentration.hpp b/wpimath/src/main/native/include/wpi/units/concentration.hpp
index 3128ff6d2c..62c6808fb9 100644
--- a/wpimath/src/main/native/include/wpi/units/concentration.hpp
+++ b/wpimath/src/main/native/include/wpi/units/concentration.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/conductance.hpp b/wpimath/src/main/native/include/wpi/units/conductance.hpp
index d2abff19f5..b0b57c5a0f 100644
--- a/wpimath/src/main/native/include/wpi/units/conductance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/conductance.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/constants.hpp b/wpimath/src/main/native/include/wpi/units/constants.hpp
index efadaf75fe..22eb4f516c 100644
--- a/wpimath/src/main/native/include/wpi/units/constants.hpp
+++ b/wpimath/src/main/native/include/wpi/units/constants.hpp
@@ -26,22 +26,22 @@
 
 #pragma once
 
-#include "units/area.h"
-#include "units/capacitance.h"
-#include "units/charge.h"
-#include "units/current.h"
-#include "units/dimensionless.h"
-#include "units/energy.h"
-#include "units/force.h"
-#include "units/impedance.h"
-#include "units/length.h"
-#include "units/magnetic_field_strength.h"
-#include "units/mass.h"
-#include "units/power.h"
-#include "units/substance.h"
-#include "units/temperature.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/units/area.hpp"
+#include "wpi/units/capacitance.hpp"
+#include "wpi/units/charge.hpp"
+#include "wpi/units/current.hpp"
+#include "wpi/units/dimensionless.hpp"
+#include "wpi/units/energy.hpp"
+#include "wpi/units/force.hpp"
+#include "wpi/units/impedance.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/magnetic_field_strength.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/power.hpp"
+#include "wpi/units/substance.hpp"
+#include "wpi/units/temperature.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace units::constants {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/current.hpp b/wpimath/src/main/native/include/wpi/units/current.hpp
index b187bb3f56..79d684d5da 100644
--- a/wpimath/src/main/native/include/wpi/units/current.hpp
+++ b/wpimath/src/main/native/include/wpi/units/current.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/curvature.hpp b/wpimath/src/main/native/include/wpi/units/curvature.hpp
index 062b09a813..e8517583d3 100644
--- a/wpimath/src/main/native/include/wpi/units/curvature.hpp
+++ b/wpimath/src/main/native/include/wpi/units/curvature.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "units/angle.h"
-#include "units/base.h"
-#include "units/length.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
 
 namespace units {
 using curvature_t = units::unit_t<
diff --git a/wpimath/src/main/native/include/wpi/units/data.hpp b/wpimath/src/main/native/include/wpi/units/data.hpp
index 90691a2327..90d51d7bc8 100644
--- a/wpimath/src/main/native/include/wpi/units/data.hpp
+++ b/wpimath/src/main/native/include/wpi/units/data.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp b/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp
index 29fb02897b..be5f506898 100644
--- a/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp
+++ b/wpimath/src/main/native/include/wpi/units/data_transfer_rate.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/density.hpp b/wpimath/src/main/native/include/wpi/units/density.hpp
index 86165179f6..4a33ec45f3 100644
--- a/wpimath/src/main/native/include/wpi/units/density.hpp
+++ b/wpimath/src/main/native/include/wpi/units/density.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/mass.h"
-#include "units/volume.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/volume.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/dimensionless.hpp b/wpimath/src/main/native/include/wpi/units/dimensionless.hpp
index 26c118b751..1aeed922a1 100644
--- a/wpimath/src/main/native/include/wpi/units/dimensionless.hpp
+++ b/wpimath/src/main/native/include/wpi/units/dimensionless.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 using dimensionless::dB_t;
diff --git a/wpimath/src/main/native/include/wpi/units/energy.hpp b/wpimath/src/main/native/include/wpi/units/energy.hpp
index 36996e2df4..25947dd547 100644
--- a/wpimath/src/main/native/include/wpi/units/energy.hpp
+++ b/wpimath/src/main/native/include/wpi/units/energy.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/force.hpp b/wpimath/src/main/native/include/wpi/units/force.hpp
index 2c2769f7b3..46b2c0e1a0 100644
--- a/wpimath/src/main/native/include/wpi/units/force.hpp
+++ b/wpimath/src/main/native/include/wpi/units/force.hpp
@@ -26,11 +26,11 @@
 
 #pragma once
 
-#include "units/acceleration.h"
-#include "units/base.h"
-#include "units/length.h"
-#include "units/mass.h"
-#include "units/time.h"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/time.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/formatter.hpp b/wpimath/src/main/native/include/wpi/units/formatter.hpp
index e7f69910a0..504e326c72 100644
--- a/wpimath/src/main/native/include/wpi/units/formatter.hpp
+++ b/wpimath/src/main/native/include/wpi/units/formatter.hpp
@@ -8,7 +8,7 @@
 
 #include <fmt/format.h>
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 // FIXME: Replace enable_if with requires clause and remove <type_traits>
 // include once using GCC >= 12. GCC 11 incorrectly emits a struct redefinition
diff --git a/wpimath/src/main/native/include/wpi/units/frequency.hpp b/wpimath/src/main/native/include/wpi/units/frequency.hpp
index f1795d5547..5b61ce1d0b 100644
--- a/wpimath/src/main/native/include/wpi/units/frequency.hpp
+++ b/wpimath/src/main/native/include/wpi/units/frequency.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/illuminance.hpp b/wpimath/src/main/native/include/wpi/units/illuminance.hpp
index f653ec6ca6..810d998638 100644
--- a/wpimath/src/main/native/include/wpi/units/illuminance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/illuminance.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/length.h"
-#include "units/luminous_flux.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/luminous_flux.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/impedance.hpp b/wpimath/src/main/native/include/wpi/units/impedance.hpp
index abe03757af..aecddd6ea9 100644
--- a/wpimath/src/main/native/include/wpi/units/impedance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/impedance.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/inductance.hpp b/wpimath/src/main/native/include/wpi/units/inductance.hpp
index 1e6d9f6784..06ee883d6c 100644
--- a/wpimath/src/main/native/include/wpi/units/inductance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/inductance.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/length.hpp b/wpimath/src/main/native/include/wpi/units/length.hpp
index 695bb57fe1..9e4a5601c9 100644
--- a/wpimath/src/main/native/include/wpi/units/length.hpp
+++ b/wpimath/src/main/native/include/wpi/units/length.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp b/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp
index 31ca39102a..c4b911d8ad 100644
--- a/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp
+++ b/wpimath/src/main/native/include/wpi/units/luminous_flux.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp b/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp
index 7d48dfe6a2..8ea92230a2 100644
--- a/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp
+++ b/wpimath/src/main/native/include/wpi/units/luminous_intensity.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp b/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp
index 5e953e9e5e..e69d44c50e 100644
--- a/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp
+++ b/wpimath/src/main/native/include/wpi/units/magnetic_field_strength.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/length.h"
-#include "units/magnetic_flux.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/magnetic_flux.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp b/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp
index 651617288d..8aac7d002c 100644
--- a/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp
+++ b/wpimath/src/main/native/include/wpi/units/magnetic_flux.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/mass.hpp b/wpimath/src/main/native/include/wpi/units/mass.hpp
index f81e68adbb..7d12105f7b 100644
--- a/wpimath/src/main/native/include/wpi/units/mass.hpp
+++ b/wpimath/src/main/native/include/wpi/units/mass.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/math.hpp b/wpimath/src/main/native/include/wpi/units/math.hpp
index 727aee62fb..70ea967eb3 100644
--- a/wpimath/src/main/native/include/wpi/units/math.hpp
+++ b/wpimath/src/main/native/include/wpi/units/math.hpp
@@ -30,9 +30,9 @@
 
 #include <gcem.hpp>
 
-#include "units/angle.h"
-#include "units/base.h"
-#include "units/dimensionless.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/dimensionless.hpp"
 
 //----------------------------------
 // UNIT-ENABLED CMATH FUNCTIONS
diff --git a/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp b/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp
index 9d30852f56..af58c9071b 100644
--- a/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp
+++ b/wpimath/src/main/native/include/wpi/units/moment_of_inertia.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "units/area.h"
-#include "units/base.h"
-#include "units/mass.h"
+#include "wpi/units/area.hpp"
+#include "wpi/units/base.hpp"
+#include "wpi/units/mass.hpp"
 
 namespace units {
 UNIT_ADD(moment_of_inertia, kilogram_square_meter, kilogram_square_meters,
diff --git a/wpimath/src/main/native/include/wpi/units/power.hpp b/wpimath/src/main/native/include/wpi/units/power.hpp
index b4c5f13421..6beca87912 100644
--- a/wpimath/src/main/native/include/wpi/units/power.hpp
+++ b/wpimath/src/main/native/include/wpi/units/power.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/pressure.hpp b/wpimath/src/main/native/include/wpi/units/pressure.hpp
index 63c0e37c50..453230f881 100644
--- a/wpimath/src/main/native/include/wpi/units/pressure.hpp
+++ b/wpimath/src/main/native/include/wpi/units/pressure.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/force.h"
-#include "units/length.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/force.hpp"
+#include "wpi/units/length.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/radiation.hpp b/wpimath/src/main/native/include/wpi/units/radiation.hpp
index 84f8eeddd5..99e46117a5 100644
--- a/wpimath/src/main/native/include/wpi/units/radiation.hpp
+++ b/wpimath/src/main/native/include/wpi/units/radiation.hpp
@@ -32,10 +32,10 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/energy.h"
-#include "units/frequency.h"
-#include "units/mass.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/energy.hpp"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/mass.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/solid_angle.hpp b/wpimath/src/main/native/include/wpi/units/solid_angle.hpp
index 2e0182bc64..c265b51efe 100644
--- a/wpimath/src/main/native/include/wpi/units/solid_angle.hpp
+++ b/wpimath/src/main/native/include/wpi/units/solid_angle.hpp
@@ -26,8 +26,8 @@
 
 #pragma once
 
-#include "units/angle.h"
-#include "units/base.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/substance.hpp b/wpimath/src/main/native/include/wpi/units/substance.hpp
index 8691818449..b9c57b02af 100644
--- a/wpimath/src/main/native/include/wpi/units/substance.hpp
+++ b/wpimath/src/main/native/include/wpi/units/substance.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/temperature.hpp b/wpimath/src/main/native/include/wpi/units/temperature.hpp
index 24f22a0983..f7c538ab5c 100644
--- a/wpimath/src/main/native/include/wpi/units/temperature.hpp
+++ b/wpimath/src/main/native/include/wpi/units/temperature.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 // NOTE: temperature units have special conversion overloads, since they
diff --git a/wpimath/src/main/native/include/wpi/units/time.hpp b/wpimath/src/main/native/include/wpi/units/time.hpp
index 6366123c56..8ddf69625b 100644
--- a/wpimath/src/main/native/include/wpi/units/time.hpp
+++ b/wpimath/src/main/native/include/wpi/units/time.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/torque.hpp b/wpimath/src/main/native/include/wpi/units/torque.hpp
index 42ab3260e7..da2fb691b1 100644
--- a/wpimath/src/main/native/include/wpi/units/torque.hpp
+++ b/wpimath/src/main/native/include/wpi/units/torque.hpp
@@ -26,10 +26,10 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/energy.h"
-#include "units/force.h"
-#include "units/length.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/energy.hpp"
+#include "wpi/units/force.hpp"
+#include "wpi/units/length.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/velocity.hpp b/wpimath/src/main/native/include/wpi/units/velocity.hpp
index d63d1e6ff8..88dd43af63 100644
--- a/wpimath/src/main/native/include/wpi/units/velocity.hpp
+++ b/wpimath/src/main/native/include/wpi/units/velocity.hpp
@@ -26,9 +26,9 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/voltage.hpp b/wpimath/src/main/native/include/wpi/units/voltage.hpp
index 605baed8ea..844775ebe7 100644
--- a/wpimath/src/main/native/include/wpi/units/voltage.hpp
+++ b/wpimath/src/main/native/include/wpi/units/voltage.hpp
@@ -26,7 +26,7 @@
 
 #pragma once
 
-#include "units/base.h"
+#include "wpi/units/base.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/include/wpi/units/volume.hpp b/wpimath/src/main/native/include/wpi/units/volume.hpp
index c361a8f991..87bac25f6e 100644
--- a/wpimath/src/main/native/include/wpi/units/volume.hpp
+++ b/wpimath/src/main/native/include/wpi/units/volume.hpp
@@ -26,8 +26,8 @@
 
 #pragma once
 
-#include "units/base.h"
-#include "units/length.h"
+#include "wpi/units/base.hpp"
+#include "wpi/units/length.hpp"
 
 namespace units {
 /**
diff --git a/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp b/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp
index d3cff4c424..9e2329d228 100644
--- a/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp
+++ b/wpimath/src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp
@@ -2,7 +2,7 @@
 
 #pragma once
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
 namespace gch {
 
diff --git a/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp b/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp
index 8cd7d4353a..18494cdab2 100644
--- a/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp
+++ b/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/spy.hpp
@@ -12,7 +12,7 @@
 #include <string_view>
 
 #include <Eigen/SparseCore>
-#include <wpi/bit.h>
+#include "wpi/util/bit.hpp"
 
 #include "sleipnir/util/symbol_exports.hpp"
 
diff --git a/wpimath/src/main/python/pyproject.toml b/wpimath/src/main/python/pyproject.toml
index 99ad893847..a12fd5dfd6 100644
--- a/wpimath/src/main/python/pyproject.toml
+++ b/wpimath/src/main/python/pyproject.toml
@@ -57,29 +57,29 @@ update_init = [
 
 scan_headers_ignore = [
     
-    "frc/ct_matrix.h",
-    "frc/DARE.h",
-    "frc/EigenCore.h",
-    "frc/StateSpaceUtil.h",
+    "wpi/math/linalg/ct_matrix.hpp",
+    "wpi/math/linalg/DARE.hpp",
+    "wpi/math/linalg/EigenCore.hpp",
+    "wpi/math/util/StateSpaceUtil.hpp",
 
-    "frc/fmt/Eigen.h",
+    "wpi/math/fmt/Eigen.hpp",
 
-    "frc/estimator/AngleStatistics.h",
-    "frc/estimator/KalmanFilterLatencyCompensator.h",
-    "frc/estimator/MerweScaledSigmaPoints.h",
-    "frc/estimator/MerweUKF.h",
-    "frc/estimator/S3SigmaPoints.h",
-    "frc/estimator/S3UKF.h",
-    "frc/estimator/SigmaPoints.h",
-    "frc/estimator/SteadyStateKalmanFilter.h",
-    "frc/estimator/UnscentedKalmanFilter.h",
-    "frc/estimator/UnscentedTransform.h",
+    "wpi/math/estimator/AngleStatistics.hpp",
+    "wpi/math/estimator/KalmanFilterLatencyCompensator.hpp",
+    "wpi/math/estimator/MerweScaledSigmaPoints.hpp",
+    "wpi/math/estimator/MerweUKF.hpp",
+    "wpi/math/estimator/S3SigmaPoints.hpp",
+    "wpi/math/estimator/S3UKF.hpp",
+    "wpi/math/estimator/SigmaPoints.hpp",
+    "wpi/math/estimator/SteadyStateKalmanFilter.hpp",
+    "wpi/math/estimator/UnscentedKalmanFilter.hpp",
+    "wpi/math/estimator/UnscentedTransform.hpp",
 
-    "frc/geometry/detail/RotationVectorToMatrix.h",
+    "wpi/math/geometry/detail/RotationVectorToMatrix.hpp",
 
-    "frc/system/Discretization.h",
-    "frc/system/NumericalIntegration.h",
-    "frc/system/NumericalJacobian.h",
+    "wpi/math/system/Discretization.hpp",
+    "wpi/math/system/NumericalIntegration.hpp",
+    "wpi/math/system/NumericalJacobian.hpp",
 
     "frc/proto/*",
     "frc/*/proto/*",
@@ -99,7 +99,7 @@ scan_headers_ignore = [
     "units/*",
     "wpimath/protobuf/*",
 
-    "wpimath/MathShared.h",
+    "wpi/math/util/MathShared.hpp",
 
     "rpy/geometryToString.h",
     "PyTrajectoryConstraint.h",
@@ -1463,11 +1463,11 @@ depends = ["wpiutil", "wpimath-casters"]
 
 [tool.semiwrap.extension_modules."wpimath._wpimath".headers]
 # frc
-ComputerVisionUtil = "frc/ComputerVisionUtil.h"
-# DARE = "frc/DARE.h"
-# EigenCore = "frc/EigenCore.h"
-MathUtil = "frc/MathUtil.h"
-# StateSpaceUtil = "frc/StateSpaceUtil.h"
+ComputerVisionUtil = "wpi/math/util/ComputerVisionUtil.hpp"
+# DARE = "wpi/math/linalg/DARE.hpp"
+# EigenCore = "wpi/math/linalg/EigenCore.hpp"
+MathUtil = "wpi/math/util/MathUtil.hpp"
+# StateSpaceUtil = "wpi/math/util/StateSpaceUtil.hpp"
 
 
 [tool.semiwrap.extension_modules."wpimath.filter._filter"]
@@ -1477,10 +1477,10 @@ depends = ["wpimath"]
 yaml_path = "semiwrap/filter"
 
 [tool.semiwrap.extension_modules."wpimath.filter._filter".headers]
-Debouncer = "frc/filter/Debouncer.h"
-LinearFilter = "frc/filter/LinearFilter.h"
-MedianFilter = "frc/filter/MedianFilter.h"
-SlewRateLimiter = "frc/filter/SlewRateLimiter.h"
+Debouncer = "wpi/math/filter/Debouncer.hpp"
+LinearFilter = "wpi/math/filter/LinearFilter.hpp"
+MedianFilter = "wpi/math/filter/MedianFilter.hpp"
+SlewRateLimiter = "wpi/math/filter/SlewRateLimiter.hpp"
 
 
 [tool.semiwrap.extension_modules."wpimath.geometry._geometry"]
@@ -1492,21 +1492,21 @@ yaml_path = "semiwrap/geometry"
 
 [tool.semiwrap.extension_modules."wpimath.geometry._geometry".headers]
 # frc/geometry
-CoordinateAxis = "frc/geometry/CoordinateAxis.h"
-CoordinateSystem = "frc/geometry/CoordinateSystem.h"
-Ellipse2d = "frc/geometry/Ellipse2d.h"
-Pose2d = "frc/geometry/Pose2d.h"
-Pose3d = "frc/geometry/Pose3d.h"
-Quaternion = "frc/geometry/Quaternion.h"
-Rectangle2d = "frc/geometry/Rectangle2d.h"
-Rotation2d = "frc/geometry/Rotation2d.h"
-Rotation3d = "frc/geometry/Rotation3d.h"
-Transform2d = "frc/geometry/Transform2d.h"
-Transform3d = "frc/geometry/Transform3d.h"
-Translation2d = "frc/geometry/Translation2d.h"
-Translation3d = "frc/geometry/Translation3d.h"
-Twist2d = "frc/geometry/Twist2d.h"
-Twist3d = "frc/geometry/Twist3d.h"
+CoordinateAxis = "wpi/math/geometry/CoordinateAxis.hpp"
+CoordinateSystem = "wpi/math/geometry/CoordinateSystem.hpp"
+Ellipse2d = "wpi/math/geometry/Ellipse2d.hpp"
+Pose2d = "wpi/math/geometry/Pose2d.hpp"
+Pose3d = "wpi/math/geometry/Pose3d.hpp"
+Quaternion = "wpi/math/geometry/Quaternion.hpp"
+Rectangle2d = "wpi/math/geometry/Rectangle2d.hpp"
+Rotation2d = "wpi/math/geometry/Rotation2d.hpp"
+Rotation3d = "wpi/math/geometry/Rotation3d.hpp"
+Transform2d = "wpi/math/geometry/Transform2d.hpp"
+Transform3d = "wpi/math/geometry/Transform3d.hpp"
+Translation2d = "wpi/math/geometry/Translation2d.hpp"
+Translation3d = "wpi/math/geometry/Translation3d.hpp"
+Twist2d = "wpi/math/geometry/Twist2d.hpp"
+Twist3d = "wpi/math/geometry/Twist3d.hpp"
 
 [tool.semiwrap.extension_modules."wpimath.interpolation._interpolation"]
 name = "wpimath_interpolation"
@@ -1516,7 +1516,7 @@ yaml_path = "semiwrap/interpolation"
 
 [tool.semiwrap.extension_modules."wpimath.interpolation._interpolation".headers]
 # frc/interpolation
-TimeInterpolatableBuffer = "frc/interpolation/TimeInterpolatableBuffer.h"
+TimeInterpolatableBuffer = "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
 
 
 [tool.semiwrap.extension_modules."wpimath.kinematics._kinematics"]
@@ -1527,25 +1527,25 @@ yaml_path = "semiwrap/kinematics"
 
 [tool.semiwrap.extension_modules."wpimath.kinematics._kinematics".headers]
 # frc/kinematics
-ChassisSpeeds = "frc/kinematics/ChassisSpeeds.h"
-DifferentialDriveKinematics = "frc/kinematics/DifferentialDriveKinematics.h"
-DifferentialDriveOdometry3d = "frc/kinematics/DifferentialDriveOdometry3d.h"
-DifferentialDriveOdometry = "frc/kinematics/DifferentialDriveOdometry.h"
-DifferentialDriveWheelPositions = "frc/kinematics/DifferentialDriveWheelPositions.h"
-DifferentialDriveWheelSpeeds = "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-Kinematics = "frc/kinematics/Kinematics.h"
-MecanumDriveKinematics = "frc/kinematics/MecanumDriveKinematics.h"
-MecanumDriveOdometry = "frc/kinematics/MecanumDriveOdometry.h"
-MecanumDriveOdometry3d = "frc/kinematics/MecanumDriveOdometry3d.h"
-MecanumDriveWheelPositions = "frc/kinematics/MecanumDriveWheelPositions.h"
-MecanumDriveWheelSpeeds = "frc/kinematics/MecanumDriveWheelSpeeds.h"
-Odometry = "frc/kinematics/Odometry.h"
-Odometry3d = "frc/kinematics/Odometry3d.h"
-SwerveDriveKinematics = "frc/kinematics/SwerveDriveKinematics.h"
-SwerveDriveOdometry = "frc/kinematics/SwerveDriveOdometry.h"
-SwerveDriveOdometry3d = "frc/kinematics/SwerveDriveOdometry3d.h"
-SwerveModulePosition = "frc/kinematics/SwerveModulePosition.h"
-SwerveModuleState = "frc/kinematics/SwerveModuleState.h"
+ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
+DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+DifferentialDriveOdometry3d = "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
+DifferentialDriveOdometry = "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
+DifferentialDriveWheelPositions = "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
+DifferentialDriveWheelSpeeds = "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
+Kinematics = "wpi/math/kinematics/Kinematics.hpp"
+MecanumDriveKinematics = "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+MecanumDriveOdometry = "wpi/math/kinematics/MecanumDriveOdometry.hpp"
+MecanumDriveOdometry3d = "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
+MecanumDriveWheelPositions = "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
+MecanumDriveWheelSpeeds = "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+Odometry = "wpi/math/kinematics/Odometry.hpp"
+Odometry3d = "wpi/math/kinematics/Odometry3d.hpp"
+SwerveDriveKinematics = "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+SwerveDriveOdometry = "wpi/math/kinematics/SwerveDriveOdometry.hpp"
+SwerveDriveOdometry3d = "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
+SwerveModulePosition = "wpi/math/kinematics/SwerveModulePosition.hpp"
+SwerveModuleState = "wpi/math/kinematics/SwerveModuleState.hpp"
 
 
 [tool.semiwrap.extension_modules."wpimath.spline._spline"]
@@ -1556,11 +1556,11 @@ yaml_path = "semiwrap/spline"
 
 [tool.semiwrap.extension_modules."wpimath.spline._spline".headers]
 # frc/spline
-CubicHermiteSpline = "frc/spline/CubicHermiteSpline.h"
-QuinticHermiteSpline = "frc/spline/QuinticHermiteSpline.h"
-Spline = "frc/spline/Spline.h"
-SplineHelper = "frc/spline/SplineHelper.h"
-SplineParameterizer = "frc/spline/SplineParameterizer.h"
+CubicHermiteSpline = "wpi/math/spline/CubicHermiteSpline.hpp"
+QuinticHermiteSpline = "wpi/math/spline/QuinticHermiteSpline.hpp"
+Spline = "wpi/math/spline/Spline.hpp"
+SplineHelper = "wpi/math/spline/SplineHelper.hpp"
+SplineParameterizer = "wpi/math/spline/SplineParameterizer.hpp"
 
 
 [tool.semiwrap.extension_modules."wpimath._controls._controls"]
@@ -1571,71 +1571,71 @@ yaml_path = "semiwrap/controls"
 
 [tool.semiwrap.extension_modules."wpimath._controls._controls".headers]
 # frc/controller
-ArmFeedforward = "frc/controller/ArmFeedforward.h"
-BangBangController = "frc/controller/BangBangController.h"
-ControlAffinePlantInversionFeedforward = "frc/controller/ControlAffinePlantInversionFeedforward.h"
-DifferentialDriveAccelerationLimiter = "frc/controller/DifferentialDriveAccelerationLimiter.h"
-DifferentialDriveFeedforward = "frc/controller/DifferentialDriveFeedforward.h"
-DifferentialDriveWheelVoltages = "frc/controller/DifferentialDriveWheelVoltages.h"
-ElevatorFeedforward = "frc/controller/ElevatorFeedforward.h"
-ImplicitModelFollower = "frc/controller/ImplicitModelFollower.h"
-LTVDifferentialDriveController = "frc/controller/LTVDifferentialDriveController.h"
-LTVUnicycleController = "frc/controller/LTVUnicycleController.h"
-LinearPlantInversionFeedforward = "frc/controller/LinearPlantInversionFeedforward.h"
-LinearQuadraticRegulator = "frc/controller/LinearQuadraticRegulator.h"
-PIDController = "frc/controller/PIDController.h"
-ProfiledPIDController = "frc/controller/ProfiledPIDController.h"
-SimpleMotorFeedforward = "frc/controller/SimpleMotorFeedforward.h"
+ArmFeedforward = "wpi/math/controller/ArmFeedforward.hpp"
+BangBangController = "wpi/math/controller/BangBangController.hpp"
+ControlAffinePlantInversionFeedforward = "wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp"
+DifferentialDriveAccelerationLimiter = "wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp"
+DifferentialDriveFeedforward = "wpi/math/controller/DifferentialDriveFeedforward.hpp"
+DifferentialDriveWheelVoltages = "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
+ElevatorFeedforward = "wpi/math/controller/ElevatorFeedforward.hpp"
+ImplicitModelFollower = "wpi/math/controller/ImplicitModelFollower.hpp"
+LTVDifferentialDriveController = "wpi/math/controller/LTVDifferentialDriveController.hpp"
+LTVUnicycleController = "wpi/math/controller/LTVUnicycleController.hpp"
+LinearPlantInversionFeedforward = "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+LinearQuadraticRegulator = "wpi/math/controller/LinearQuadraticRegulator.hpp"
+PIDController = "wpi/math/controller/PIDController.hpp"
+ProfiledPIDController = "wpi/math/controller/ProfiledPIDController.hpp"
+SimpleMotorFeedforward = "wpi/math/controller/SimpleMotorFeedforward.hpp"
 
 # frc/estimator
-# AngleStatistics = "frc/estimator/AngleStatistics.h"
-DifferentialDrivePoseEstimator = "frc/estimator/DifferentialDrivePoseEstimator.h"
-DifferentialDrivePoseEstimator3d = "frc/estimator/DifferentialDrivePoseEstimator3d.h"
-ExtendedKalmanFilter = "frc/estimator/ExtendedKalmanFilter.h"
-KalmanFilter = "frc/estimator/KalmanFilter.h"
-# KalmanFilterLatencyCompensator = "frc/estimator/KalmanFilterLatencyCompensator.h"
-MecanumDrivePoseEstimator = "frc/estimator/MecanumDrivePoseEstimator.h"
-MecanumDrivePoseEstimator3d = "frc/estimator/MecanumDrivePoseEstimator3d.h"
-# MerweScaledSigmaPoints = "frc/estimator/MerweScaledSigmaPoints.h"
-PoseEstimator = "frc/estimator/PoseEstimator.h"
-PoseEstimator3d = "frc/estimator/PoseEstimator3d.h"
-SwerveDrivePoseEstimator = "frc/estimator/SwerveDrivePoseEstimator.h"
-SwerveDrivePoseEstimator3d = "frc/estimator/SwerveDrivePoseEstimator3d.h"
-# UnscentedKalmanFilter = "frc/estimator/UnscentedKalmanFilter.h"
-# UnscentedTransform = "frc/estimator/UnscentedTransform.h"
+# AngleStatistics = "wpi/math/estimator/AngleStatistics.hpp"
+DifferentialDrivePoseEstimator = "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
+DifferentialDrivePoseEstimator3d = "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
+ExtendedKalmanFilter = "wpi/math/estimator/ExtendedKalmanFilter.hpp"
+KalmanFilter = "wpi/math/estimator/KalmanFilter.hpp"
+# KalmanFilterLatencyCompensator = "wpi/math/estimator/KalmanFilterLatencyCompensator.hpp"
+MecanumDrivePoseEstimator = "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
+MecanumDrivePoseEstimator3d = "wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp"
+# MerweScaledSigmaPoints = "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
+PoseEstimator = "wpi/math/estimator/PoseEstimator.hpp"
+PoseEstimator3d = "wpi/math/estimator/PoseEstimator3d.hpp"
+SwerveDrivePoseEstimator = "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
+SwerveDrivePoseEstimator3d = "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
+# UnscentedKalmanFilter = "wpi/math/estimator/UnscentedKalmanFilter.hpp"
+# UnscentedTransform = "wpi/math/estimator/UnscentedTransform.hpp"
 
 # frc/optimization
-SimulatedAnnealing = "frc/optimization/SimulatedAnnealing.h"
+SimulatedAnnealing = "wpi/math/optimization/SimulatedAnnealing.hpp"
 
 # frc/path
-TravelingSalesman = "frc/path/TravelingSalesman.h"
+TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
 
 # frc/system
-# Discretization = "frc/system/Discretization.h"
-LinearSystem = "frc/system/LinearSystem.h"
-LinearSystemLoop = "frc/system/LinearSystemLoop.h"
-# NumericalIntegration = "frc/system/NumericalIntegration.h"
-# NumericalJacobian = "frc/system/NumericalJacobian.h"
+# Discretization = "wpi/math/system/Discretization.hpp"
+LinearSystem = "wpi/math/system/LinearSystem.hpp"
+LinearSystemLoop = "wpi/math/system/LinearSystemLoop.hpp"
+# NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
+# NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
 
 # frc/system/plant
-DCMotor = "frc/system/plant/DCMotor.h"
-LinearSystemId = "frc/system/plant/LinearSystemId.h"
+DCMotor = "wpi/math/system/plant/DCMotor.hpp"
+LinearSystemId = "wpi/math/system/plant/LinearSystemId.hpp"
 
 # frc/trajectory
-ExponentialProfile = "frc/trajectory/ExponentialProfile.h"
-Trajectory = "frc/trajectory/Trajectory.h"
-TrajectoryConfig = "frc/trajectory/TrajectoryConfig.h"
-TrajectoryGenerator = "frc/trajectory/TrajectoryGenerator.h"
-TrajectoryParameterizer = "frc/trajectory/TrajectoryParameterizer.h"
-TrapezoidProfile = "frc/trajectory/TrapezoidProfile.h"
+ExponentialProfile = "wpi/math/trajectory/ExponentialProfile.hpp"
+Trajectory = "wpi/math/trajectory/Trajectory.hpp"
+TrajectoryConfig = "wpi/math/trajectory/TrajectoryConfig.hpp"
+TrajectoryGenerator = "wpi/math/trajectory/TrajectoryGenerator.hpp"
+TrajectoryParameterizer = "wpi/math/trajectory/TrajectoryParameterizer.hpp"
+TrapezoidProfile = "wpi/math/trajectory/TrapezoidProfile.hpp"
 
 # frc/trajectory/constraint
-CentripetalAccelerationConstraint = "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
-DifferentialDriveKinematicsConstraint = "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
-DifferentialDriveVoltageConstraint = "frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h"
-EllipticalRegionConstraint = "frc/trajectory/constraint/EllipticalRegionConstraint.h"
-MaxVelocityConstraint = "frc/trajectory/constraint/MaxVelocityConstraint.h"
-MecanumDriveKinematicsConstraint = "frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h"
-RectangularRegionConstraint = "frc/trajectory/constraint/RectangularRegionConstraint.h"
-SwerveDriveKinematicsConstraint = "frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h"
-TrajectoryConstraint = "frc/trajectory/constraint/TrajectoryConstraint.h"
+CentripetalAccelerationConstraint = "wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp"
+DifferentialDriveKinematicsConstraint = "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
+DifferentialDriveVoltageConstraint = "wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp"
+EllipticalRegionConstraint = "wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp"
+MaxVelocityConstraint = "wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp"
+MecanumDriveKinematicsConstraint = "wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp"
+RectangularRegionConstraint = "wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp"
+SwerveDriveKinematicsConstraint = "wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp"
+TrajectoryConstraint = "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
diff --git a/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml b/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
index cb83c6530a..52ce29a3a1 100644
--- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
@@ -2,11 +2,11 @@ defaults:
   subpackage: estimator
 
 extra_includes:
-- frc/kinematics/DifferentialDriveWheelPositions.h
-- frc/kinematics/DifferentialDriveWheelSpeeds.h
-- frc/kinematics/MecanumDriveWheelPositions.h
-- frc/kinematics/MecanumDriveWheelSpeeds.h
-- frc/kinematics/SwerveDriveKinematics.h
+- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+- wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 
 classes:
diff --git a/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
index c035480369..3ad301abb3 100644
--- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
+++ b/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
@@ -2,11 +2,11 @@ defaults:
   subpackage: estimator
 
 extra_includes:
-- frc/kinematics/DifferentialDriveWheelPositions.h
-- frc/kinematics/DifferentialDriveWheelSpeeds.h
-- frc/kinematics/MecanumDriveWheelPositions.h
-- frc/kinematics/MecanumDriveWheelSpeeds.h
-- frc/kinematics/SwerveDriveKinematics.h
+- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+- wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
   frc::PoseEstimator3d:
diff --git a/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml b/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml
index 5b4e567b0f..156613020b 100644
--- a/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: controller
 
 extra_includes:
-- units/dimensionless.h
+- wpi/units/dimensionless.hpp
 
 classes:
   frc::SimpleMotorFeedforward:
diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
index eb7f14c0f9..5f8d1cd8c7 100644
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 extra_includes:
-- frc/kinematics/SwerveModuleState.h
+- wpi/math/kinematics/SwerveModuleState.hpp
 
 classes:
   frc::SwerveDrivePoseEstimator:
diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
index 10300ad46d..48115a785d 100644
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 extra_includes:
-- frc/kinematics/SwerveModuleState.h
+- wpi/math/kinematics/SwerveModuleState.hpp
 
 classes:
   frc::SwerveDrivePoseEstimator3d:
diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml b/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml
index eb441e29fe..91ab346f3f 100644
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml
@@ -2,8 +2,8 @@ defaults:
   subpackage: trajectory
 
 extra_includes:
-- frc/spline/CubicHermiteSpline.h
-- frc/spline/QuinticHermiteSpline.h
+- wpi/math/spline/CubicHermiteSpline.hpp
+- wpi/math/spline/QuinticHermiteSpline.hpp
 
 classes:
   frc::TrajectoryGenerator:
diff --git a/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml b/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml
index e32caec75e..20f40e76cf 100644
--- a/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml
+++ b/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- frc/geometry/Pose2d.h
+- wpi/math/geometry/Pose2d.hpp
 - rpy/geometryToString.h
 - wpystruct.h
 
diff --git a/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml b/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml
index 2269cb0185..7141466337 100644
--- a/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml
+++ b/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- "frc/geometry/Pose3d.h"
+- "wpi/math/geometry/Pose3d.hpp"
 
 classes:
   frc::TimeInterpolatableBuffer:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml b/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
index 286c65756e..77da465c25 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml
@@ -1,9 +1,9 @@
 extra_includes:
-- frc/kinematics/DifferentialDriveWheelPositions.h
-- frc/kinematics/DifferentialDriveWheelSpeeds.h
-- frc/kinematics/MecanumDriveWheelPositions.h
-- frc/kinematics/MecanumDriveWheelSpeeds.h
-- frc/kinematics/SwerveDriveKinematics.h
+- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+- wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 
 classes:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml b/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml
index d11548e0c6..84ff9fa136 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml
@@ -1,9 +1,9 @@
 extra_includes:
-- frc/kinematics/DifferentialDriveWheelPositions.h
-- frc/kinematics/DifferentialDriveWheelSpeeds.h
-- frc/kinematics/MecanumDriveWheelPositions.h
-- frc/kinematics/MecanumDriveWheelSpeeds.h
-- frc/kinematics/SwerveDriveKinematics.h
+- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+- wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
   frc::Odometry:
diff --git a/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml b/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml
index 8c5d9eefa8..f68f512703 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml
@@ -1,9 +1,9 @@
 extra_includes:
-- frc/kinematics/DifferentialDriveWheelPositions.h
-- frc/kinematics/DifferentialDriveWheelSpeeds.h
-- frc/kinematics/MecanumDriveWheelPositions.h
-- frc/kinematics/MecanumDriveWheelSpeeds.h
-- frc/kinematics/SwerveDriveKinematics.h
+- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+- wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
   frc::Odometry3d:
diff --git a/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h b/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h
index 8d91ed04c6..e4930f3bf8 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <frc/trajectory/constraint/TrajectoryConstraint.h>
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include <semiwrap.h>
 
 namespace frc {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h
index 503fec4142..f75f93a2ac 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_acceleration_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/acceleration.h>
+#include "wpi/units/acceleration.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h
index 11e5456d22..14dfa0c690 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angle_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/angle.h>
+#include "wpi/units/angle.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h
index 6ccff80ec1..c633786416 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_acceleration_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/angular_acceleration.h>
+#include "wpi/units/angular_acceleration.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h
index f441ec17c6..3c3f857351 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_angular_velocity_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/angular_velocity.h>
+#include "wpi/units/angular_velocity.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h
index e50d135655..ed0fc9c69d 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_area_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/area.h>
+#include "wpi/units/area.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h
index 2dfcb1be5e..46d1063b01 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_capacitance_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/capacitance.h>
+#include "wpi/units/capacitance.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h
index 0ddb1ed318..f3e3a7ab4e 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_charge_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/charge.h>
+#include "wpi/units/charge.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h
index bafe8b19de..41c9cb13d3 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_compound_type_caster.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <units/acceleration.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
-#include <units/length.h>
-#include <units/time.h>
-#include <units/voltage.h>
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h
index fb2eb41709..160f3a2202 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_concentration_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/concentration.h>
+#include "wpi/units/concentration.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h
index 331d44d601..0b7f48bbf3 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_conductance_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/conductance.h>
+#include "wpi/units/conductance.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h
index a617364c4c..56952e11f6 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_current_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/current.h>
+#include "wpi/units/current.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h
index 86211701a8..2aebbbc968 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_transfer_rate_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/data_transfer_rate.h>
+#include "wpi/units/data_transfer_rate.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h
index 0d6c085e57..e89cfd2442 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_data_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/data.h>
+#include "wpi/units/data.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h
index 387d916ca1..1fd3272838 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_density_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/density.h>
+#include "wpi/units/density.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h
index e747cd80e2..0d7e785c34 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_energy_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/energy.h>
+#include "wpi/units/energy.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h
index 2b1f692d2c..1d6c1e5f3e 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_force_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/force.h>
+#include "wpi/units/force.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h
index 3618eb71a0..75c3caf554 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_frequency_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/frequency.h>
+#include "wpi/units/frequency.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h
index d242178157..8df5e1f48c 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_illuminance_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/illuminance.h>
+#include "wpi/units/illuminance.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h
index b4af8ad029..d4a89edb45 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_impedance_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/impedance.h>
+#include "wpi/units/impedance.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h
index 59700cf085..8585c0dc1d 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_inductance_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/inductance.h>
+#include "wpi/units/inductance.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h
index 9f0cee4022..f85fd206dd 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_length_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/length.h>
+#include "wpi/units/length.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h
index bfb2209bfc..7a4c3cc79d 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_flux_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/luminous_flux.h>
+#include "wpi/units/luminous_flux.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h
index 4d4a382b7e..d6a9bc6e55 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_luminous_intensity_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/luminous_intensity.h>
+#include "wpi/units/luminous_intensity.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h
index f52feb6cd3..bb30e25ccf 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_field_strength_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/magnetic_field_strength.h>
+#include "wpi/units/magnetic_field_strength.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h
index 6d0b9a7b30..942a473f72 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_magnetic_flux_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/magnetic_flux.h>
+#include "wpi/units/magnetic_flux.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h
index 27f091234b..07edf38f17 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_mass_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/mass.h>
+#include "wpi/units/mass.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h
index 9bd4dd775c..da662ee9d8 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_misc_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/mass.h>
+#include "wpi/units/mass.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h
index ff9e370788..b9f3daa822 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_moment_of_inertia_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/moment_of_inertia.h>
+#include "wpi/units/moment_of_inertia.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h
index 6082e37cfa..16788f6910 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_power_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/power.h>
+#include "wpi/units/power.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h
index c12ffb1d43..46f578f269 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_pressure_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/pressure.h>
+#include "wpi/units/pressure.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h
index 0e8c268dc7..67d50c3148 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_radiation_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/radiation.h>
+#include "wpi/units/radiation.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h
index 9e32b50068..1ef6a3f491 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_solid_angle_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/solid_angle.h>
+#include "wpi/units/solid_angle.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h
index 08e29242e7..11b04a039a 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_substance_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/substance.h>
+#include "wpi/units/substance.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h
index 3d068c7eb2..32003c0f30 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_temperature_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/temperature.h>
+#include "wpi/units/temperature.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h
index 4edfa26aef..0caeca2c1e 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_time_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h
index 7954423a23..a68aa3f523 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_torque_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/torque.h>
+#include "wpi/units/torque.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h
index 7c1e2e5642..115803f2aa 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_velocity_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/velocity.h>
+#include "wpi/units/velocity.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h
index 67faeec08e..16f3ac2e95 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_voltage_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/voltage.h>
+#include "wpi/units/voltage.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h
index c294c3b31d..d6b9218837 100644
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/units_volume_type_caster.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <units/volume.h>
+#include "wpi/units/volume.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h b/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h
index 4ba07ad5b9..2c3a9e776e 100644
--- a/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h
+++ b/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h
@@ -1,13 +1,13 @@
 #include <string>
 
-#include <frc/geometry/Ellipse2d.h>
-#include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Pose3d.h>
-#include <frc/geometry/Rectangle2d.h>
-#include <frc/geometry/Rotation2d.h>
-#include <frc/geometry/Rotation3d.h>
-#include <frc/geometry/Translation2d.h>
-#include <frc/geometry/Translation3d.h>
+#include "wpi/math/geometry/Ellipse2d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rectangle2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 namespace rpy {
 
diff --git a/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp b/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp
index bbada9e322..18c790e6a6 100644
--- a/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/ComputerVisionUtil.h"
+#include "wpi/math/util/ComputerVisionUtil.hpp"
 
 TEST(ComputerVisionUtilTest, ObjectToRobotPose) {
   frc::Pose3d robot{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 30_deg}};
diff --git a/wpimath/src/test/native/cpp/DARETest.cpp b/wpimath/src/test/native/cpp/DARETest.cpp
index d5d087f509..4ba82bed34 100644
--- a/wpimath/src/test/native/cpp/DARETest.cpp
+++ b/wpimath/src/test/native/cpp/DARETest.cpp
@@ -7,12 +7,12 @@
 #include <Eigen/Core>
 #include <Eigen/Eigenvalues>
 #include <gtest/gtest.h>
-#include <wpi/expected>
-#include <wpi/print.h>
+#include "wpi/util/expected"
+#include "wpi/util/print.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/fmt/Eigen.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
 
 // 2x1
 extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp
index 94d3a33a50..f73f25aa39 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
 frc::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp
index c84cc99220..097f3be2cc 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
 frc::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp
index 9de4ea4c8e..c2ea60250a 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
 frc::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,
diff --git a/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp b/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp
index 4d8f8fc558..176b3796d9 100644
--- a/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp
+++ b/wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/expected>
+#include "wpi/util/expected"
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 4, 4>, frc::DAREError>
 frc::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,
diff --git a/wpimath/src/test/native/cpp/EigenTest.cpp b/wpimath/src/test/native/cpp/EigenTest.cpp
index 74c8577aaa..15644545e0 100644
--- a/wpimath/src/test/native/cpp/EigenTest.cpp
+++ b/wpimath/src/test/native/cpp/EigenTest.cpp
@@ -5,7 +5,7 @@
 #include <Eigen/LU>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 TEST(EigenTest, Multiplication) {
   frc::Matrixd<2, 2> m1{{2, 1}, {0, 1}};
diff --git a/wpimath/src/test/native/cpp/FormatterTest.cpp b/wpimath/src/test/native/cpp/FormatterTest.cpp
index f1d2d46594..877dba8c69 100644
--- a/wpimath/src/test/native/cpp/FormatterTest.cpp
+++ b/wpimath/src/test/native/cpp/FormatterTest.cpp
@@ -7,8 +7,8 @@
 #include <fmt/format.h>
 #include <gtest/gtest.h>
 
-#include "frc/fmt/Eigen.h"
-#include "units/velocity.h"
+#include "wpi/math/fmt/Eigen.hpp"
+#include "wpi/units/velocity.hpp"
 
 TEST(FormatterTest, Eigen) {
   Eigen::Matrix<double, 3, 2> A{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
diff --git a/wpimath/src/test/native/cpp/MathUtilTest.cpp b/wpimath/src/test/native/cpp/MathUtilTest.cpp
index 1222bc4073..7f4ec2806a 100644
--- a/wpimath/src/test/native/cpp/MathUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/MathUtilTest.cpp
@@ -7,13 +7,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/MathUtil.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/geometry/Translation3d.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 #define EXPECT_UNITS_EQ(a, b) EXPECT_DOUBLE_EQ((a).value(), (b).value())
 
diff --git a/wpimath/src/test/native/cpp/ProtoTestBase.hpp b/wpimath/src/test/native/cpp/ProtoTestBase.hpp
index c2fbef75b9..45bce36fe2 100644
--- a/wpimath/src/test/native/cpp/ProtoTestBase.hpp
+++ b/wpimath/src/test/native/cpp/ProtoTestBase.hpp
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 template <typename T>
 class ProtoTest : public testing::Test {};
diff --git a/wpimath/src/test/native/cpp/StateSpaceTest.cpp b/wpimath/src/test/native/cpp/StateSpaceTest.cpp
index eb3f3a4dd2..2f300d3963 100644
--- a/wpimath/src/test/native/cpp/StateSpaceTest.cpp
+++ b/wpimath/src/test/native/cpp/StateSpaceTest.cpp
@@ -7,15 +7,15 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/controller/LinearQuadraticRegulator.h"
-#include "frc/estimator/KalmanFilter.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/LinearSystemLoop.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/LinearSystemLoop.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
index 434524cd91..4fcccefefa 100644
--- a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 
 TEST(StateSpaceUtilTest, CostParameterPack) {
   constexpr frc::Matrixd<3, 3> mat = frc::MakeCostMatrix(1.0, 2.0, 3.0);
diff --git a/wpimath/src/test/native/cpp/StructTestBase.hpp b/wpimath/src/test/native/cpp/StructTestBase.hpp
index ef120ec9a8..383cbb61e5 100644
--- a/wpimath/src/test/native/cpp/StructTestBase.hpp
+++ b/wpimath/src/test/native/cpp/StructTestBase.hpp
@@ -5,7 +5,7 @@
 #pragma once
 
 #include <gtest/gtest.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/struct/Struct.hpp"
 
 template <typename T>
 class StructTest : public testing::Test {};
diff --git a/wpimath/src/test/native/cpp/UnitsTest.cpp b/wpimath/src/test/native/cpp/UnitsTest.cpp
index 3b6cd606e3..f61623287d 100644
--- a/wpimath/src/test/native/cpp/UnitsTest.cpp
+++ b/wpimath/src/test/native/cpp/UnitsTest.cpp
@@ -8,48 +8,48 @@
 #include <type_traits>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "units/acceleration.h"
-#include "units/angle.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_jerk.h"
-#include "units/angular_velocity.h"
-#include "units/area.h"
-#include "units/capacitance.h"
-#include "units/charge.h"
-#include "units/concentration.h"
-#include "units/conductance.h"
-#include "units/constants.h"
-#include "units/current.h"
-#include "units/data.h"
-#include "units/data_transfer_rate.h"
-#include "units/density.h"
-#include "units/dimensionless.h"
-#include "units/energy.h"
-#include "units/force.h"
-#include "units/frequency.h"
-#include "units/illuminance.h"
-#include "units/impedance.h"
-#include "units/inductance.h"
-#include "units/length.h"
-#include "units/luminous_flux.h"
-#include "units/luminous_intensity.h"
-#include "units/magnetic_field_strength.h"
-#include "units/magnetic_flux.h"
-#include "units/mass.h"
-#include "units/math.h"
-#include "units/power.h"
-#include "units/pressure.h"
-#include "units/radiation.h"
-#include "units/solid_angle.h"
-#include "units/substance.h"
-#include "units/temperature.h"
-#include "units/time.h"
-#include "units/torque.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
-#include "units/volume.h"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_jerk.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/area.hpp"
+#include "wpi/units/capacitance.hpp"
+#include "wpi/units/charge.hpp"
+#include "wpi/units/concentration.hpp"
+#include "wpi/units/conductance.hpp"
+#include "wpi/units/constants.hpp"
+#include "wpi/units/current.hpp"
+#include "wpi/units/data.hpp"
+#include "wpi/units/data_transfer_rate.hpp"
+#include "wpi/units/density.hpp"
+#include "wpi/units/dimensionless.hpp"
+#include "wpi/units/energy.hpp"
+#include "wpi/units/force.hpp"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/illuminance.hpp"
+#include "wpi/units/impedance.hpp"
+#include "wpi/units/inductance.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/luminous_flux.hpp"
+#include "wpi/units/luminous_intensity.hpp"
+#include "wpi/units/magnetic_field_strength.hpp"
+#include "wpi/units/magnetic_flux.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/power.hpp"
+#include "wpi/units/pressure.hpp"
+#include "wpi/units/radiation.hpp"
+#include "wpi/units/solid_angle.hpp"
+#include "wpi/units/substance.hpp"
+#include "wpi/units/temperature.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/torque.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/units/volume.hpp"
 
 using namespace units::acceleration;
 using namespace units::angle;
diff --git a/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
index 157b10da75..35ce225def 100644
--- a/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
@@ -7,13 +7,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/ArmFeedforward.h"
-#include "frc/system/NumericalIntegration.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_velocity.h"
-#include "units/time.h"
-#include "units/voltage.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/ArmFeedforward.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace {
 
diff --git a/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
index ee8c0c2ab0..4d0069cfb9 100644
--- a/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/BangBangController.h"
+#include "wpi/math/controller/BangBangController.hpp"
 
 TEST(BangBangInputOutputTest, ShouldOutput) {
   frc::BangBangController controller;
diff --git a/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp b/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
index 6eeac0f7e5..9a2fbe60c7 100644
--- a/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/BangBangController.h"
+#include "wpi/math/controller/BangBangController.hpp"
 
 TEST(BangBangToleranceTest, InTolerance) {
   frc::BangBangController controller{0.1};
diff --git a/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
index e05720455d..c2bbedfaeb 100644
--- a/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/ControlAffinePlantInversionFeedforward.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
index fe22274228..4fa9ba29e6 100644
--- a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/DifferentialDriveAccelerationLimiter.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/math.h"
+#include "wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
index c0a0cdb02e..56bdc0b0b2 100644
--- a/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
@@ -7,12 +7,12 @@
 #include <Eigen/Core>
 #include <gtest/gtest.h>
 
-#include "frc/controller/DifferentialDriveFeedforward.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 TEST(DifferentialDriveFeedforwardTest, CalculateWithTrackwidth) {
   constexpr auto kVLinear = 1_V / 1_mps;
diff --git a/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp
index e4048c0d0b..b18febdad3 100644
--- a/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp
@@ -6,12 +6,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/ElevatorFeedforward.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 static constexpr auto Ks = 0.5_V;
 static constexpr auto Kv = 1.5_V * 1_s / 1_m;
diff --git a/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp b/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
index 7994c84526..7f43e2a80d 100644
--- a/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ImplicitModelFollower.h"
-#include "frc/system/plant/LinearSystemId.h"
+#include "wpi/math/controller/ImplicitModelFollower.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp b/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
index f602c70244..c20886715a 100644
--- a/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
@@ -6,12 +6,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/MathUtil.h"
-#include "frc/controller/LTVDifferentialDriveController.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/math.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/controller/LTVDifferentialDriveController.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)
diff --git a/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp b/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
index bb7914dc51..25aafc0b15 100644
--- a/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
@@ -4,10 +4,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/MathUtil.h"
-#include "frc/controller/LTVUnicycleController.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/math.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/controller/LTVUnicycleController.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)
diff --git a/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
index a92d4f0c83..f2ce30bb07 100644
--- a/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
@@ -6,9 +6,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp b/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
index 7f4a4e049a..c4b6534650 100644
--- a/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
@@ -6,12 +6,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearQuadraticRegulator.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
index 2f36c75209..c91bcc9a6c 100644
--- a/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/PIDController.h"
+#include "wpi/math/controller/PIDController.hpp"
 
 TEST(PIDInputOutputTest, ContinuousInput) {
   frc::PIDController controller{0.0, 0.0, 0.0};
diff --git a/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp b/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
index 5ea4112d6e..5b13d5e6ef 100644
--- a/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/PIDController.h"
+#include "wpi/math/controller/PIDController.hpp"
 
 static constexpr double kSetpoint = 50.0;
 static constexpr double kRange = 200;
diff --git a/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
index 2fb46fae2f..23e9940e1f 100644
--- a/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ProfiledPIDController.h"
-#include "units/angle.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_velocity.h"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 TEST(ProfiledPIDInputOutputTest, ContinuousInput1) {
   frc::ProfiledPIDController<units::degree> controller{
diff --git a/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp
index 7fc3d65b8e..c34d6c5489 100644
--- a/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp
@@ -6,13 +6,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
index ef4f612d8c..d22423e0c5 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp
index e711f97db2..ded81ce33c 100644
--- a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
index bc7a099a42..7cbf08e41e 100644
--- a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
index be0cc42518..9cdaf1cd5f 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
index ff3ee3a75a..627f0ba25e 100644
--- a/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
@@ -4,11 +4,11 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "frc/controller/proto/SimpleMotorFeedforwardProto.h"
-#include "units/acceleration.h"
-#include "units/velocity.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp
index ee1c8d2435..5106c5e4cf 100644
--- a/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp
index 14c0b3fbb0..c702a35040 100644
--- a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp
index c72ac4aac9..13679b84b7 100644
--- a/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp
index e554891ba2..b324271c6c 100644
--- a/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
index cb8aec9e97..ede414fc04 100644
--- a/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
@@ -4,11 +4,11 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "frc/controller/struct/SimpleMotorFeedforwardStruct.h"
-#include "units/acceleration.h"
-#include "units/velocity.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp b/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
index 747223a6b8..4b64d95d68 100644
--- a/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/estimator/AngleStatistics.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
 
 TEST(AngleStatisticsTest, Mean) {
   frc::Matrixd<3, 3> sigmas{
diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
index e43f662fdd..2987a3f190 100644
--- a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp
@@ -9,17 +9,17 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/DifferentialDrivePoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 void testFollowTrajectory(
     const frc::DifferentialDriveKinematics& kinematics,
diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
index 80986ea442..974c51c122 100644
--- a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
@@ -10,17 +10,17 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/DifferentialDrivePoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 void testFollowTrajectory(
     const frc::DifferentialDriveKinematics& kinematics,
diff --git a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
index e54c8bb32c..dcaf24248c 100644
--- a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
@@ -8,13 +8,13 @@
 #include <Eigen/QR>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/ExtendedKalmanFilter.h"
-#include "frc/system/NumericalJacobian.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/moment_of_inertia.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/ExtendedKalmanFilter.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 namespace {
 
diff --git a/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp
index 6697ec07da..4e0444ce97 100644
--- a/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp
@@ -8,11 +8,11 @@
 #include <Eigen/Core>
 #include <gtest/gtest.h>
 
-#include "frc/estimator/KalmanFilter.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/moment_of_inertia.h"
-#include "units/time.h"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
+#include "wpi/units/time.hpp"
 
 TEST(KalmanFilterTest, Flywheel) {
   auto motor = frc::DCMotor::NEO();
diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp
index 7ba98c9f99..33f8bba7e1 100644
--- a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp
@@ -8,12 +8,12 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/estimator/MecanumDrivePoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::MecanumDriveKinematics& kinematics,
diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
index bd3ce4f6ca..965628632b 100644
--- a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
@@ -9,12 +9,12 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/estimator/MecanumDrivePoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::MecanumDriveKinematics& kinematics,
diff --git a/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp b/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
index 4471dc946c..ec9b1d551c 100644
--- a/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/estimator/MerweScaledSigmaPoints.h"
+#include "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
 
 TEST(MerweScaledSigmaPointsTest, ZeroMean) {
   frc::MerweScaledSigmaPoints<2> sigmaPoints;
diff --git a/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp b/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp
index 67b2d43155..a50b45209b 100644
--- a/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp
@@ -10,17 +10,17 @@
 #include <Eigen/QR>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/AngleStatistics.h"
-#include "frc/estimator/MerweUKF.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/moment_of_inertia.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
+#include "wpi/math/estimator/MerweUKF.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 namespace {
 
diff --git a/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp b/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp
index 00926d1ef4..f8857a70ef 100644
--- a/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/estimator/S3SigmaPoints.h"
+#include "wpi/math/estimator/S3SigmaPoints.hpp"
 
 TEST(S3SigmaPointsTest, Simplex) {
   constexpr double alpha = 1e-3;
diff --git a/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp b/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp
index fb38c0f3d5..159da83d56 100644
--- a/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp
@@ -10,17 +10,17 @@
 #include <Eigen/QR>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/AngleStatistics.h"
-#include "frc/estimator/S3UKF.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/moment_of_inertia.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
+#include "wpi/math/estimator/S3UKF.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 namespace {
 
diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp
index 612862f4f1..21544f7dc4 100644
--- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp
@@ -9,13 +9,13 @@
 
 #include <fmt/format.h>
 #include <gtest/gtest.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/estimator/SwerveDrivePoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::SwerveDriveKinematics<4>& kinematics,
diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
index 1655074209..3179f363b4 100644
--- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
@@ -10,13 +10,13 @@
 
 #include <fmt/format.h>
 #include <gtest/gtest.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/estimator/SwerveDrivePoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::SwerveDriveKinematics<4>& kinematics,
diff --git a/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp b/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
index 8b0e56cd96..656ee19d23 100644
--- a/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "frc/filter/Debouncer.h"
-#include "units/time.h"
+#include "wpi/math/filter/Debouncer.hpp"
+#include "wpi/units/time.hpp"
 
 static units::second_t now = 0_s;
 
diff --git a/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp b/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp
index e0dea2df15..aaf250edc0 100644
--- a/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/filter/LinearFilter.h"  // NOLINT(build/include_order)
+#include "wpi/math/filter/LinearFilter.hpp"  // NOLINT(build/include_order)
 
 #include <cmath>
 #include <numbers>
@@ -10,7 +10,7 @@
 
 #include <gtest/gtest.h>
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 // Filter constants
 static constexpr auto kFilterStep = 5_ms;
diff --git a/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp b/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
index c69e3f8f50..cd48f4ef57 100644
--- a/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/filter/LinearFilter.h"  // NOLINT(build/include_order)
+#include "wpi/math/filter/LinearFilter.hpp"  // NOLINT(build/include_order)
 
 #include <cmath>
 #include <functional>
@@ -11,9 +11,9 @@
 #include <random>
 
 #include <gtest/gtest.h>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 // Filter constants
 static constexpr auto kFilterStep = 5_ms;
diff --git a/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp b/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp
index f0f7d991dd..c341d8b8b1 100644
--- a/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/filter/MedianFilter.h"
+#include "wpi/math/filter/MedianFilter.hpp"
 
 TEST(MedianFilterTest, MedianFilterNotFullTestEven) {
   frc::MedianFilter<double> filter{10};
diff --git a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
index aabd6ad0c3..32cf579358 100644
--- a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
@@ -3,12 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "frc/filter/SlewRateLimiter.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 static units::second_t now = 0_s;
 
diff --git a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
index 198f90f7a6..e326f50de8 100644
--- a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/CoordinateSystem.h"
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/CoordinateSystem.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp
index 1ee79e7ac6..bda14d8623 100644
--- a/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 TEST(Ellipse2dTest, FocalPoints) {
   constexpr frc::Pose2d center{1_m, 2_m, 0_deg};
diff --git a/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
index eb5c3bef99..e7402d9c1e 100644
--- a/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
index 045870c792..447c80d21b 100644
--- a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
@@ -5,9 +5,9 @@
 #include <cmath>
 
 #include <gtest/gtest.h>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp b/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp
index ef0e95ea5a..0291407bf2 100644
--- a/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp
@@ -6,9 +6,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Quaternion.h"
-#include "units/angle.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Quaternion.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/math.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp
index 90ac72f51a..af15a23f94 100644
--- a/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 TEST(Rectangle2dTest, NewWithCorners) {
   constexpr frc::Translation2d cornerA{1_m, 2_m};
diff --git a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
index d9d1502471..a3c6bb5dfe 100644
--- a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
index 903d4144bc..1bc1be254a 100644
--- a/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp
@@ -7,9 +7,9 @@
 
 #include <Eigen/Core>
 #include <gtest/gtest.h>
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
index 5a562405cc..fb7efd1665 100644
--- a/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Transform2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
index 9aa7eda331..94c9ce9936 100644
--- a/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Transform3d.h"
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
index e44e334aec..f946168364 100644
--- a/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
index cdc7a6ebb7..b7e0a93a6e 100644
--- a/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
index d4a03b7a8e..8068f2a8da 100644
--- a/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
index ddf429a8fe..d890287552 100644
--- a/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
index 09294f3689..470c2de32c 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
index 3a746f8180..c6313ada06 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
index 70106995ee..89d0ce9bbf 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
index a063125bf8..df1456319a 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
index f434762a73..23d6b40991 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
index 7b6aacaf91..87108f0b33 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
index 83bfd89499..dcc93b6c68 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
index a11586f995..2dadf88160 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
index ac05d6c12b..cfff4a6419 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
index ed6c1ecdef..1dd9875217 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
index ba01a74de9..5e0f6f2a61 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
index 91d7b06791..1dea023c99 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
index d2ee74cce9..b2f2524c78 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp
index 7603b961e2..831e5c5c0e 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
index f8763a6cea..f01d4aa3b9 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
index 19a503a8de..268a13f92a 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
index d21eaf15f5..1264dfecee 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp
index 8743c96e1b..3605ebac34 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
index b215c9ef4f..672fdf5b9c 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
index 9d7dd6c97d..fd1bc84208 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
index e3841e243e..e820d6e252 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
index a98fd7961c..328d8d8bd2 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
index bc081dc26e..c75c28cb7e 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
index 41a58ed659..e4f68c9cf2 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
index 7bdc8b03f8..dd1a082fdf 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp b/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
index eb72b54550..4b5aac4ff6 100644
--- a/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp b/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
index b41ba3bef1..6c3550e209 100644
--- a/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
+++ b/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "units/time.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/units/time.hpp"
 
 TEST(TimeInterpolatableBufferTest, AddSample) {
   frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};
diff --git a/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp b/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
index 60c76aca54..e07018d559 100644
--- a/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 static constexpr double kEpsilon = 1E-9;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
index 782fed05db..7e5e9897fe 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
@@ -6,11 +6,11 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "units/angular_velocity.h"
-#include "units/length.h"
-#include "units/velocity.h"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp
index 76f5f3292c..e5f8fd3ab1 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveOdometry3d.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
 
 static constexpr double kEpsilon = 1E-9;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
index a228357f50..a9289d53f9 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveOdometry.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
 
 static constexpr double kEpsilon = 1E-9;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp
index 92cc583644..dcf68acff7 100644
--- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveWheelSpeedsTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 
 TEST(DifferentialDriveWheelSpeedsTest, Plus) {
   const frc::DifferentialDriveWheelSpeeds left{1.0_mps, 0.5_mps};
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
index 38496ba710..7587986bb3 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
@@ -6,9 +6,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation2d.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "units/angular_velocity.h"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp
index b195e8507b..5f0785112a 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp
@@ -7,8 +7,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/MecanumDriveOdometry3d.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
index 18e786cb71..3b796c0888 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
@@ -7,8 +7,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/MecanumDriveOdometry.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp
index c10cfb5f85..70ff02a545 100644
--- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveWheelSpeedsTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 
 TEST(MecanumDriveWheelSpeedsTest, Plus) {
   const frc::MecanumDriveWheelSpeeds left{1.0_mps, 0.5_mps, 2.0_mps, 1.5_mps};
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
index a851e562c2..647754b8b6 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -6,9 +6,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "units/angular_velocity.h"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp
index d9fd52a559..6f61d74890 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp
@@ -7,11 +7,11 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/SwerveDriveOdometry3d.h"
-#include "frc/trajectory/Trajectory.h"
-#include "frc/trajectory/TrajectoryConfig.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/trajectory/TrajectoryConfig.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
index 80a3c85cd7..8e88f22b9d 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
@@ -7,11 +7,11 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/SwerveDriveOdometry.h"
-#include "frc/trajectory/Trajectory.h"
-#include "frc/trajectory/TrajectoryConfig.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/SwerveDriveOdometry.hpp"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/trajectory/TrajectoryConfig.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp
index 14155f1d47..9baf909d38 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveModulePositionTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/SwerveModulePosition.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
 
 TEST(SwerveModulePositionTest, Equality) {
   frc::SwerveModulePosition position1{2_m, 90_deg};
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp
index 9d13eeca4e..63a8f03ab7 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/SwerveModuleState.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
 
 static constexpr double kEpsilon = 1E-9;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
index 008c86b610..58e5f69952 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
index 247d220fb3..b358f5903e 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
index b09317117a..8bcbb46840 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
index c217cfe4d3..e96e684c01 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/MecanumDriveKinematics.h"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
index 6cac10f2db..67da458f58 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
+#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
index 2744b24d4d..75e547e94b 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
index 80af48935f..bc6de1a0df 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/proto/SwerveDriveKinematicsProto.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/proto/SwerveDriveKinematicsProto.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
index 6cf9c06a69..179e94cefc 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/SwerveModulePosition.h"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
index 9fc3407335..0d9ca442b7 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/kinematics/SwerveModuleState.h"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
index 79f2a35c90..a22de755e6 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/ChassisSpeedsStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
index 4395992783..a0e6cf693f 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveKinematicsStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
index 59b52c25fb..75b83e4f59 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
index 8635197c76..9d68fc9e7a 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
index 920c668ae1..492ba94fae 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/MecanumDriveKinematics.h"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
index 085f69b052..c9ba803810 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelPositionsStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
+#include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
index 83a234961d..42122c192b 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveWheelSpeedsStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp
index f05a8ae387..6261ec16b2 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveDriveKinematicsStructTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/struct/SwerveDriveKinematicsStruct.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/kinematics/struct/SwerveDriveKinematicsStruct.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
index 2f92bf7449..6bd9ebd3e7 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModulePositionStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/SwerveModulePosition.h"
+#include "wpi/math/kinematics/SwerveModulePosition.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
index 5edc99c450..752d28d8a2 100644
--- a/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/SwerveModuleStateStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/SwerveModuleState.h"
+#include "wpi/math/kinematics/SwerveModuleState.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp b/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp
index 5c7748a120..56ccc88338 100644
--- a/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp
+++ b/wpimath/src/test/native/cpp/optimization/SimulatedAnnealingTest.cpp
@@ -8,7 +8,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/optimization/SimulatedAnnealing.h"
+#include "wpi/math/optimization/SimulatedAnnealing.hpp"
 
 TEST(SimulatedAnnealingTest, DoubleFunctionOptimizationHeartBeat) {
   auto function = [](double x) {
diff --git a/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp b/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
index f46eb2040f..94525df4f4 100644
--- a/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
+++ b/wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
@@ -7,13 +7,13 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/array.h>
-#include <wpi/circular_buffer.h>
+#include "wpi/util/array.hpp"
+#include "wpi/util/circular_buffer.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/path/TravelingSalesman.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/path/TravelingSalesman.hpp"
 
 /**
  * Returns true if the cycles represented by the two lists match.
diff --git a/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp b/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp
index 0ef91f7420..0023afae8b 100644
--- a/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/proto/MatrixProtoTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../ProtoTestBase.h"
-#include "frc/EigenCore.h"
-#include "frc/proto/MatrixProto.h"
+#include "../ProtoTestBase.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/linalg/proto/MatrixProto.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp b/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp
index 8ea244e6ac..5b0881230f 100644
--- a/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/proto/VectorProtoTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../ProtoTestBase.h"
-#include "frc/EigenCore.h"
-#include "frc/proto/VectorProto.h"
+#include "../ProtoTestBase.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/linalg/proto/VectorProto.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp b/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
index 744680bd03..d66a2717f2 100644
--- a/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
@@ -7,12 +7,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/spline/QuinticHermiteSpline.h"
-#include "frc/spline/SplineHelper.h"
-#include "frc/spline/SplineParameterizer.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/spline/QuinticHermiteSpline.hpp"
+#include "wpi/math/spline/SplineHelper.hpp"
+#include "wpi/math/spline/SplineParameterizer.hpp"
+#include "wpi/units/length.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp b/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
index 8a6d2653ef..556edef50c 100644
--- a/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
@@ -6,13 +6,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/spline/QuinticHermiteSpline.h"
-#include "frc/spline/SplineHelper.h"
-#include "frc/spline/SplineParameterizer.h"
-#include "units/angle.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/spline/QuinticHermiteSpline.hpp"
+#include "wpi/math/spline/SplineHelper.hpp"
+#include "wpi/math/spline/SplineParameterizer.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp b/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp
index 4e9439858a..1f2eb5626f 100644
--- a/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/proto/CubicHermiteSplineProtoTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/spline/CubicHermiteSpline.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/spline/CubicHermiteSpline.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp b/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp
index 13c83e82dc..6efc580e17 100644
--- a/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/proto/QuinticHermiteSplineProtoTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/spline/QuinticHermiteSpline.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/spline/QuinticHermiteSpline.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp b/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp
index fce52ee3c3..3f269a1731 100644
--- a/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/struct/CubicHermiteSplineStructTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/spline/CubicHermiteSpline.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/spline/CubicHermiteSpline.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp b/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp
index 33f3380abf..2deb6dee37 100644
--- a/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/struct/QuinticHermiteSplineStructTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/spline/QuinticHermiteSpline.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/spline/QuinticHermiteSpline.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp b/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp
index 5445b3b0d1..6faf3600f4 100644
--- a/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp
+++ b/wpimath/src/test/native/cpp/struct/MatrixStructTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../StructTestBase.h"
-#include "frc/EigenCore.h"
-#include "frc/struct/MatrixStruct.h"
+#include "../StructTestBase.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/linalg/struct/StructProto.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp b/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp
index cae75d8a56..29ab7779b1 100644
--- a/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp
+++ b/wpimath/src/test/native/cpp/struct/VectorStructTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../StructTestBase.h"
-#include "frc/EigenCore.h"
-#include "frc/struct/VectorStruct.h"
+#include "../StructTestBase.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/linalg/struct/VectorStruct.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
index fec4447531..f0eccfa6a9 100644
--- a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
+++ b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
@@ -7,9 +7,9 @@
 #include <Eigen/Eigenvalues>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
 
 // Check that for a simple second-order system that we can easily analyze
 // analytically,
diff --git a/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp b/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
index 6aec204fc7..f9a6bbd2e7 100644
--- a/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
+++ b/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/system/LinearSystem.h>
-#include <frc/system/plant/DCMotor.h>
-#include <frc/system/plant/LinearSystemId.h>
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 #include <gtest/gtest.h>
 
-#include "units/length.h"
-#include "units/mass.h"
+#include "wpi/units/length.hpp"
+#include "wpi/units/mass.hpp"
 
 TEST(LinearSystemIDTest, IdentifyDrivetrainVelocitySystem) {
 #if __GNUC__ <= 11
diff --git a/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp b/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
index 05ec0a4826..f384bd2cb0 100644
--- a/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
+++ b/wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/system/NumericalIntegration.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
 
 // Test that integrating dx/dt = eˣ works
 TEST(NumericalIntegrationTest, Exponential) {
diff --git a/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp b/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp
index 0529fe285d..db5325feb4 100644
--- a/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp
+++ b/wpimath/src/test/native/cpp/system/NumericalJacobianTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/system/NumericalJacobian.h"
+#include "wpi/math/system/NumericalJacobian.hpp"
 
 frc::Matrixd<4, 4> A{{1, 2, 4, 1}, {5, 2, 3, 4}, {5, 1, 3, 2}, {1, 1, 3, 7}};
 frc::Matrixd<4, 2> B{{1, 1}, {2, 1}, {3, 2}, {3, 7}};
diff --git a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
index cb395f91fe..c3c0a7dc9c 100644
--- a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp b/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp
index e7e229b90e..8be94a9e7f 100644
--- a/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp
+++ b/wpimath/src/test/native/cpp/system/plant/struct/DCMotorStructTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/system/plant/DCMotor.h"
+#include "wpi/math/system/plant/DCMotor.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp b/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp
index 7a504050f1..9cf93ee8c9 100644
--- a/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/system/proto/LinearSystemProtoTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/proto/LinearSystemProto.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/proto/LinearSystemProto.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp b/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp
index b1d01b01ec..fbe57dbfc7 100644
--- a/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp
+++ b/wpimath/src/test/native/cpp/system/struct/LinearSystemStructTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/struct/LinearSystemStruct.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/struct/LinearSystemStruct.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp b/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
index fafcbd4e74..71c36fbb98 100644
--- a/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
@@ -7,13 +7,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "trajectory/TestTrajectory.h"
-#include "units/acceleration.h"
-#include "units/angle.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/math/trajectory/TestTrajectory.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
index 09abc76de1..97ed3d2c56 100644
--- a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
@@ -7,10 +7,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
-#include "trajectory/TestTrajectory.h"
-#include "units/time.h"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
+#include "wpi/math/trajectory/TestTrajectory.hpp"
+#include "wpi/units/time.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
index 6c60385489..5b991b9ab6 100644
--- a/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
@@ -7,16 +7,16 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h"
-#include "trajectory/TestTrajectory.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp"
+#include "wpi/math/trajectory/TestTrajectory.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp b/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
index 72eacb7778..067c15930e 100644
--- a/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
@@ -4,13 +4,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/trajectory/constraint/EllipticalRegionConstraint.h"
-#include "frc/trajectory/constraint/MaxVelocityConstraint.h"
-#include "trajectory/TestTrajectory.h"
-#include "units/acceleration.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/velocity.h"
+#include "wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp"
+#include "wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp"
+#include "wpi/math/trajectory/TestTrajectory.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
index 8bb39cecdb..2b2e57cddf 100644
--- a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/trajectory/ExponentialProfile.h"  // NOLINT(build/include_order)
+#include "wpi/math/trajectory/ExponentialProfile.hpp"  // NOLINT(build/include_order)
 
 #include <chrono>
 #include <cmath>
@@ -11,13 +11,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "units/acceleration.h"
-#include "units/frequency.h"
-#include "units/length.h"
-#include "units/math.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 static constexpr auto kDt = 10_ms;
 static constexpr auto kV = 2.5629_V / 1_mps;
diff --git a/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp b/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
index 68cb3885c6..a7bc689919 100644
--- a/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
@@ -4,13 +4,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/trajectory/constraint/MaxVelocityConstraint.h"
-#include "frc/trajectory/constraint/RectangularRegionConstraint.h"
-#include "trajectory/TestTrajectory.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp"
+#include "wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp"
+#include "wpi/math/trajectory/TestTrajectory.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp
index 2bfd5413a5..5d191c1334 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/trajectory/TrajectoryConfig.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/trajectory/TrajectoryConfig.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 TEST(TrajectoryConcatenateTest, States) {
   auto t1 = frc::TrajectoryGenerator::GenerateTrajectory(
diff --git a/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
index ad7173ae9b..4c3f598ee6 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
@@ -6,12 +6,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/trajectory/Trajectory.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "trajectory/TestTrajectory.h"
-#include "units/math.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
+#include "wpi/math/trajectory/TestTrajectory.hpp"
+#include "wpi/units/math.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp
index f088fa34b6..ec5234cf59 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp
@@ -6,9 +6,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/trajectory/Trajectory.h"
-#include "frc/trajectory/TrajectoryConfig.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/trajectory/TrajectoryConfig.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void TestSameShapedTrajectory(std::vector<frc::Trajectory::State> statesA,
                               std::vector<frc::Trajectory::State> statesB) {
diff --git a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
index 0846e8b74c..38dab55968 100644
--- a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/trajectory/TrapezoidProfile.h"  // NOLINT(build/include_order)
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"  // NOLINT(build/include_order)
 
 #include <chrono>
 #include <cmath>
 
 #include <gtest/gtest.h>
 
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 static constexpr auto kDt = 10_ms;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
index 2a5c46cfbc..ebcac091b2 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/trajectory/Trajectory.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
index 4b2529c9ea..fb5451bac8 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/trajectory/Trajectory.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp b/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp
index 89e735cf44..af9f9e9b73 100644
--- a/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp
+++ b/wpimath/src/test/native/include/wpi/math/trajectory/TestTrajectory.hpp
@@ -8,9 +8,9 @@
 #include <utility>
 #include <vector>
 
-#include "frc/trajectory/Trajectory.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+#include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 
 namespace frc {
 class TestTrajectory {
diff --git a/wpimath/src/test/python/cpp/wpimath_test/include/module.h b/wpimath/src/test/python/cpp/wpimath_test/include/module.h
index a4afe39d39..7d2f256f50 100644
--- a/wpimath/src/test/python/cpp/wpimath_test/include/module.h
+++ b/wpimath/src/test/python/cpp/wpimath_test/include/module.h
@@ -1,8 +1,8 @@
 
 #pragma once
 
-#include <units/time.h>
-#include <units/length.h>
+#include "wpi/units/time.hpp"
+#include "wpi/units/length.hpp"
 
 struct SomeClass {
     static constexpr auto s_constant = 2_s;
diff --git a/wpinet/examples/dsclient/dsclient.cpp b/wpinet/examples/dsclient/dsclient.cpp
index 087743482e..a749711198 100644
--- a/wpinet/examples/dsclient/dsclient.cpp
+++ b/wpinet/examples/dsclient/dsclient.cpp
@@ -5,11 +5,11 @@
 #include <cstdio>
 #include <memory>
 
-#include <wpi/Logger.h>
-#include <wpi/print.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/print.hpp"
 
-#include "wpinet/DsClient.h"
-#include "wpinet/EventLoopRunner.h"
+#include "wpi/net/DsClient.hpp"
+#include "wpi/net/EventLoopRunner.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/wpinet/examples/parallelconnect/parallelconnect.cpp b/wpinet/examples/parallelconnect/parallelconnect.cpp
index f01e53450b..640af54f31 100644
--- a/wpinet/examples/parallelconnect/parallelconnect.cpp
+++ b/wpinet/examples/parallelconnect/parallelconnect.cpp
@@ -5,12 +5,12 @@
 #include <cstdio>
 #include <memory>
 
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
-#include "wpinet/EventLoopRunner.h"
-#include "wpinet/ParallelTcpConnector.h"
-#include "wpinet/uv/Error.h"
-#include "wpinet/uv/Tcp.h"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/ParallelTcpConnector.hpp"
+#include "wpi/net/uv/Error.hpp"
+#include "wpi/net/uv/Tcp.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/wpinet/examples/webserver/webserver.cpp b/wpinet/examples/webserver/webserver.cpp
index 9fe29097b6..1494911eb5 100644
--- a/wpinet/examples/webserver/webserver.cpp
+++ b/wpinet/examples/webserver/webserver.cpp
@@ -5,13 +5,13 @@
 #include <cstdio>
 #include <memory>
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "wpinet/EventLoopRunner.h"
-#include "wpinet/HttpServerConnection.h"
-#include "wpinet/UrlParser.h"
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Tcp.h"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/HttpServerConnection.hpp"
+#include "wpi/net/UrlParser.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Tcp.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/wpinet/src/dev/native/cpp/main.cpp b/wpinet/src/dev/native/cpp/main.cpp
index 8b9f30a6ae..74f17fbfea 100644
--- a/wpinet/src/dev/native/cpp/main.cpp
+++ b/wpinet/src/dev/native/cpp/main.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/SmallString.h>
-#include <wpi/print.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/print.hpp"
 
 int main() {
   wpi::SmallString<128> v1("Hello");
diff --git a/wpinet/src/main/native/cpp/DsClient.cpp b/wpinet/src/main/native/cpp/DsClient.cpp
index 02a19c6008..cc8b7653fc 100644
--- a/wpinet/src/main/native/cpp/DsClient.cpp
+++ b/wpinet/src/main/native/cpp/DsClient.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/DsClient.h"
+#include "wpi/net/DsClient.hpp"
 
 #include <memory>
 
 #include <fmt/format.h>
-#include <wpi/Logger.h>
-#include <wpi/StringExtras.h>
-#include <wpi/json.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/json.hpp"
 
-#include "wpinet/uv/Tcp.h"
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/EventLoopRunner.cpp b/wpinet/src/main/native/cpp/EventLoopRunner.cpp
index 8ee976c0d6..12afcca253 100644
--- a/wpinet/src/main/native/cpp/EventLoopRunner.cpp
+++ b/wpinet/src/main/native/cpp/EventLoopRunner.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/EventLoopRunner.h"
+#include "wpi/net/EventLoopRunner.hpp"
 
 #include <memory>
 #include <utility>
 
-#include <wpi/SmallVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "wpinet/uv/AsyncFunction.h"
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/AsyncFunction.hpp"
+#include "wpi/net/uv/Loop.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/HttpParser.cpp b/wpinet/src/main/native/cpp/HttpParser.cpp
index c428da2606..ab7bf0547d 100644
--- a/wpinet/src/main/native/cpp/HttpParser.cpp
+++ b/wpinet/src/main/native/cpp/HttpParser.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/HttpParser.h"
+#include "wpi/net/HttpParser.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/HttpServerConnection.cpp b/wpinet/src/main/native/cpp/HttpServerConnection.cpp
index 8e8b5d0ffe..34ca600c86 100644
--- a/wpinet/src/main/native/cpp/HttpServerConnection.cpp
+++ b/wpinet/src/main/native/cpp/HttpServerConnection.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/HttpServerConnection.h"
+#include "wpi/net/HttpServerConnection.hpp"
 
 #include <memory>
 
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/SpanExtras.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fmt/raw_ostream.h>
-#include <wpi/print.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/SpanExtras.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fmt/raw_ostream.hpp"
+#include "wpi/util/print.hpp"
 
-#include "wpinet/raw_uv_ostream.h"
+#include "wpi/net/raw_uv_ostream.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/HttpUtil.cpp b/wpinet/src/main/native/cpp/HttpUtil.cpp
index 5a63039fdf..9afc89940d 100644
--- a/wpinet/src/main/native/cpp/HttpUtil.cpp
+++ b/wpinet/src/main/native/cpp/HttpUtil.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/HttpUtil.h"
+#include "wpi/net/HttpUtil.hpp"
 
 #include <cctype>
 #include <string>
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/Base64.h>
-#include <wpi/StringExtras.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/Base64.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/cpp/MimeTypes.cpp b/wpinet/src/main/native/cpp/MimeTypes.cpp
index 4279633632..0eb58cfee0 100644
--- a/wpinet/src/main/native/cpp/MimeTypes.cpp
+++ b/wpinet/src/main/native/cpp/MimeTypes.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/MimeTypes.h"
+#include "wpi/net/MimeTypes.hpp"
 
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/StringMap.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/cpp/MulticastHandleManager.cpp b/wpinet/src/main/native/cpp/MulticastHandleManager.cpp
index ab44da895a..5d6c8ac3ea 100644
--- a/wpinet/src/main/native/cpp/MulticastHandleManager.cpp
+++ b/wpinet/src/main/native/cpp/MulticastHandleManager.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "MulticastHandleManager.h"
+#include "MulticastHandleManager.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/MulticastHandleManager.hpp b/wpinet/src/main/native/cpp/MulticastHandleManager.hpp
index 9925e84ff0..c3fdfc3f48 100644
--- a/wpinet/src/main/native/cpp/MulticastHandleManager.hpp
+++ b/wpinet/src/main/native/cpp/MulticastHandleManager.hpp
@@ -6,11 +6,11 @@
 
 #include <memory>
 
-#include <wpi/DenseMap.h>
-#include <wpi/UidVector.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/UidVector.hpp"
 
-#include "wpinet/MulticastServiceAnnouncer.h"
-#include "wpinet/MulticastServiceResolver.h"
+#include "wpi/net/MulticastServiceAnnouncer.h"
+#include "wpi/net/MulticastServiceResolver.h"
 
 namespace wpi {
 struct MulticastHandleManager {
diff --git a/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
index 3885d93f28..04c98c41ce 100644
--- a/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/MulticastServiceAnnouncer.h"
+#include "wpi/net/MulticastServiceAnnouncer.h"
 
 #include <memory>
 #include <utility>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "MulticastHandleManager.h"
+#include "MulticastHandleManager.hpp"
 
 extern "C" {
 WPI_MulticastServiceAnnouncerHandle WPI_CreateMulticastServiceAnnouncer(
diff --git a/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp b/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
index 4a32089945..6634aa907d 100644
--- a/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/MulticastServiceResolver.h"
+#include "wpi/net/MulticastServiceResolver.h"
 
 #include <memory>
 #include <utility>
 #include <vector>
 
-#include <wpi/MemAlloc.h>
+#include "wpi/util/MemAlloc.hpp"
 
-#include "MulticastHandleManager.h"
+#include "MulticastHandleManager.hpp"
 
 extern "C" {
 WPI_MulticastServiceResolverHandle WPI_CreateMulticastServiceResolver(
diff --git a/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp b/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
index 02ea5c9140..45c6f6fc12 100644
--- a/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
+++ b/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/ParallelTcpConnector.h"
+#include "wpi/net/ParallelTcpConnector.hpp"
 
 #include <cstring>
 #include <functional>
@@ -11,13 +11,13 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
-#include "wpinet/uv/GetAddrInfo.h"
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Tcp.h"
-#include "wpinet/uv/Timer.h"
-#include "wpinet/uv/util.h"
+#include "wpi/net/uv/GetAddrInfo.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Timer.hpp"
+#include "wpi/net/uv/util.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/PortForwarder.cpp b/wpinet/src/main/native/cpp/PortForwarder.cpp
index d0e085df03..a48505a2ab 100644
--- a/wpinet/src/main/native/cpp/PortForwarder.cpp
+++ b/wpinet/src/main/native/cpp/PortForwarder.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/PortForwarder.h"
+#include "wpi/net/PortForwarder.hpp"
 
 #include <memory>
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/DenseMap.h>
-#include <wpi/print.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/print.hpp"
 
-#include "wpinet/EventLoopRunner.h"
-#include "wpinet/uv/GetAddrInfo.h"
-#include "wpinet/uv/Tcp.h"
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/uv/GetAddrInfo.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/SocketError.cpp b/wpinet/src/main/native/cpp/SocketError.cpp
index 26a43efe2a..27c4f43169 100644
--- a/wpinet/src/main/native/cpp/SocketError.cpp
+++ b/wpinet/src/main/native/cpp/SocketError.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/SocketError.h"
+#include "wpi/net/SocketError.hpp"
 
 #include <string>
 
diff --git a/wpinet/src/main/native/cpp/UDPClient.cpp b/wpinet/src/main/native/cpp/UDPClient.cpp
index 6a438b15f3..2538346083 100644
--- a/wpinet/src/main/native/cpp/UDPClient.cpp
+++ b/wpinet/src/main/native/cpp/UDPClient.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/UDPClient.h"
+#include "wpi/net/UDPClient.hpp"
 
 #ifdef _WIN32
 #include <WinSock2.h>
@@ -18,10 +18,10 @@
 
 #include <utility>
 
-#include <wpi/Logger.h>
-#include <wpi/SmallString.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallString.hpp"
 
-#include "wpinet/SocketError.h"
+#include "wpi/net/SocketError.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/WebServer.cpp b/wpinet/src/main/native/cpp/WebServer.cpp
index baa8b9b4b1..738426ef0c 100644
--- a/wpinet/src/main/native/cpp/WebServer.cpp
+++ b/wpinet/src/main/native/cpp/WebServer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WebServer.h"
+#include "wpi/net/WebServer.hpp"
 
 #ifndef _WIN32
 #include <unistd.h>
@@ -13,25 +13,25 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <wpi/DenseMap.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/SmallString.h>
-#include <wpi/Signal.h>
-#include <wpi/StringMap.h>
-#include <wpi/fs.h>
-#include <wpi/json.h>
-#include <wpi/print.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/Signal.h"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "wpinet/EventLoopRunner.h"
-#include "wpinet/HttpServerConnection.h"
-#include "wpinet/HttpUtil.h"
-#include "wpinet/UrlParser.h"
-#include "wpinet/raw_uv_ostream.h"
-#include "wpinet/uv/GetAddrInfo.h"
-#include "wpinet/uv/Stream.h"
-#include "wpinet/uv/Tcp.h"
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/HttpServerConnection.hpp"
+#include "wpi/net/HttpUtil.hpp"
+#include "wpi/net/UrlParser.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/GetAddrInfo.hpp"
+#include "wpi/net/uv/Stream.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/WebSocket.cpp b/wpinet/src/main/native/cpp/WebSocket.cpp
index 142369c1da..02a82e865b 100644
--- a/wpinet/src/main/native/cpp/WebSocket.cpp
+++ b/wpinet/src/main/native/cpp/WebSocket.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WebSocket.h"
+#include "wpi/net/WebSocket.hpp"
 
 #include <functional>
 #include <memory>
@@ -12,19 +12,19 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/Base64.h>
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
-#include <wpi/print.h>
-#include <wpi/raw_ostream.h>
-#include <wpi/sha1.h>
+#include "wpi/util/Base64.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/sha1.hpp"
 
-#include "WebSocketDebug.h"
-#include "WebSocketSerializer.h"
-#include "wpinet/HttpParser.h"
-#include "wpinet/raw_uv_ostream.h"
-#include "wpinet/uv/Stream.h"
+#include "WebSocketDebug.hpp"
+#include "WebSocketSerializer.hpp"
+#include "wpi/net/HttpParser.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/Stream.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/WebSocketDebug.hpp b/wpinet/src/main/native/cpp/WebSocketDebug.hpp
index 3f588361a3..db34348dac 100644
--- a/wpinet/src/main/native/cpp/WebSocketDebug.hpp
+++ b/wpinet/src/main/native/cpp/WebSocketDebug.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/Logger.h>
+#include "wpi/util/Logger.hpp"
 
 #define WPINET_WEBSOCKET_VERBOSE_DEBUG_CONTENT
 
diff --git a/wpinet/src/main/native/cpp/WebSocketSerializer.cpp b/wpinet/src/main/native/cpp/WebSocketSerializer.cpp
index c5d9548f39..dc1946ba69 100644
--- a/wpinet/src/main/native/cpp/WebSocketSerializer.cpp
+++ b/wpinet/src/main/native/cpp/WebSocketSerializer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WebSocketSerializer.h"
+#include "WebSocketSerializer.hpp"
 
 #include <random>
 
diff --git a/wpinet/src/main/native/cpp/WebSocketSerializer.hpp b/wpinet/src/main/native/cpp/WebSocketSerializer.hpp
index 3a8e6b46b9..315b6a0e1a 100644
--- a/wpinet/src/main/native/cpp/WebSocketSerializer.hpp
+++ b/wpinet/src/main/native/cpp/WebSocketSerializer.hpp
@@ -8,12 +8,12 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/SmallVector.h>
-#include <wpi/SpanExtras.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/SpanExtras.hpp"
 
-#include "WebSocketDebug.h"
-#include "wpinet/WebSocket.h"
-#include "wpinet/uv/Buffer.h"
+#include "WebSocketDebug.hpp"
+#include "wpi/net/WebSocket.hpp"
+#include "wpi/net/uv/Buffer.hpp"
 
 namespace wpi::detail {
 
diff --git a/wpinet/src/main/native/cpp/WebSocketServer.cpp b/wpinet/src/main/native/cpp/WebSocketServer.cpp
index 45413884fc..3981c4e38f 100644
--- a/wpinet/src/main/native/cpp/WebSocketServer.cpp
+++ b/wpinet/src/main/native/cpp/WebSocketServer.cpp
@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WebSocketServer.h"
+#include "wpi/net/WebSocketServer.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
-#include <wpi/StringExtras.h>
-#include <wpi/fmt/raw_ostream.h>
-#include <wpi/print.h>
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/fmt/raw_ostream.hpp"
+#include "wpi/util/print.hpp"
 
-#include "wpinet/raw_uv_ostream.h"
-#include "wpinet/uv/Buffer.h"
-#include "wpinet/uv/Stream.h"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Stream.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/hostname.cpp b/wpinet/src/main/native/cpp/hostname.cpp
index ae25b29bc8..252cc93e5b 100644
--- a/wpinet/src/main/native/cpp/hostname.cpp
+++ b/wpinet/src/main/native/cpp/hostname.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/hostname.h"
+#include "wpi/net/hostname.hpp"
 
 #include <cstdlib>
 #include <string>
 #include <string_view>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
 #include "uv.h"
 
diff --git a/wpinet/src/main/native/cpp/http_parser.cpp b/wpinet/src/main/native/cpp/http_parser.cpp
index 1fa1589814..d9e12a70da 100644
--- a/wpinet/src/main/native/cpp/http_parser.cpp
+++ b/wpinet/src/main/native/cpp/http_parser.cpp
@@ -18,7 +18,7 @@
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
  */
-#include "wpinet/http_parser.h"
+#include "wpi/net/http_parser.hpp"
 #include <assert.h>
 #include <stddef.h>
 #include <ctype.h>
diff --git a/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp b/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
index fb6351bee6..b497324ee3 100644
--- a/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
+++ b/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
@@ -9,14 +9,14 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/jni_util.h>
+#include "wpi/util/jni_util.hpp"
 
-#include "../MulticastHandleManager.h"
+#include "../MulticastHandleManager.hpp"
 #include "org_wpilib_net_WPINetJNI.h"
-#include "wpinet/MulticastServiceAnnouncer.h"
-#include "wpinet/MulticastServiceResolver.h"
-#include "wpinet/PortForwarder.h"
-#include "wpinet/WebServer.h"
+#include "wpi/net/MulticastServiceAnnouncer.h"
+#include "wpi/net/MulticastServiceResolver.h"
+#include "wpi/net/PortForwarder.hpp"
+#include "wpi/net/WebServer.hpp"
 
 using namespace wpi::java;
 
diff --git a/wpinet/src/main/native/cpp/raw_socket_istream.cpp b/wpinet/src/main/native/cpp/raw_socket_istream.cpp
index b57d83d76e..e687aefcb6 100644
--- a/wpinet/src/main/native/cpp/raw_socket_istream.cpp
+++ b/wpinet/src/main/native/cpp/raw_socket_istream.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/raw_socket_istream.h"
+#include "wpi/net/raw_socket_istream.hpp"
 
-#include "wpinet/NetworkStream.h"
+#include "wpi/net/NetworkStream.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/raw_socket_ostream.cpp b/wpinet/src/main/native/cpp/raw_socket_ostream.cpp
index 5eb0b2b0af..ae0fe3d2c0 100644
--- a/wpinet/src/main/native/cpp/raw_socket_ostream.cpp
+++ b/wpinet/src/main/native/cpp/raw_socket_ostream.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/raw_socket_ostream.h"
+#include "wpi/net/raw_socket_ostream.hpp"
 
-#include "wpinet/NetworkStream.h"
+#include "wpi/net/NetworkStream.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/cpp/raw_uv_ostream.cpp b/wpinet/src/main/native/cpp/raw_uv_ostream.cpp
index fdbd1b0084..facb9e2adb 100644
--- a/wpinet/src/main/native/cpp/raw_uv_ostream.cpp
+++ b/wpinet/src/main/native/cpp/raw_uv_ostream.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/raw_uv_ostream.h"
+#include "wpi/net/raw_uv_ostream.hpp"
 
 #include <cstring>
 
diff --git a/wpinet/src/main/native/cpp/uv/Async.cpp b/wpinet/src/main/native/cpp/uv/Async.cpp
index 17f7c57f69..bd444bbfa1 100644
--- a/wpinet/src/main/native/cpp/uv/Async.cpp
+++ b/wpinet/src/main/native/cpp/uv/Async.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Async.h"
+#include "wpi/net/uv/Async.hpp"
 
 #include <memory>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Check.cpp b/wpinet/src/main/native/cpp/uv/Check.cpp
index 25c3ed4158..0a8dbf415e 100644
--- a/wpinet/src/main/native/cpp/uv/Check.cpp
+++ b/wpinet/src/main/native/cpp/uv/Check.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Check.h"
+#include "wpi/net/uv/Check.hpp"
 
 #include <memory>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/FsEvent.cpp b/wpinet/src/main/native/cpp/uv/FsEvent.cpp
index 65d1af5703..9d85a26a39 100644
--- a/wpinet/src/main/native/cpp/uv/FsEvent.cpp
+++ b/wpinet/src/main/native/cpp/uv/FsEvent.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/FsEvent.h"
+#include "wpi/net/uv/FsEvent.hpp"
 
 #include <cstdlib>
 #include <memory>
 #include <string>
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp b/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
index 93b36468f9..96f53dd62a 100644
--- a/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
+++ b/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
@@ -2,15 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/GetAddrInfo.h"
+#include "wpi/net/uv/GetAddrInfo.hpp"
 
 #include <functional>
 #include <memory>
 #include <utility>
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp b/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
index 0a4b4a4d0e..d123e509e1 100644
--- a/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
+++ b/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/GetNameInfo.h"
+#include "wpi/net/uv/GetNameInfo.hpp"
 
 #include <functional>
 #include <memory>
 #include <utility>
 
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/util.h"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/util.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Handle.cpp b/wpinet/src/main/native/cpp/uv/Handle.cpp
index 04af133c23..4b20a20819 100644
--- a/wpinet/src/main/native/cpp/uv/Handle.cpp
+++ b/wpinet/src/main/native/cpp/uv/Handle.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 using namespace wpi::uv;
 
diff --git a/wpinet/src/main/native/cpp/uv/Idle.cpp b/wpinet/src/main/native/cpp/uv/Idle.cpp
index 665f4f2e2b..027145f0b2 100644
--- a/wpinet/src/main/native/cpp/uv/Idle.cpp
+++ b/wpinet/src/main/native/cpp/uv/Idle.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Idle.h"
+#include "wpi/net/uv/Idle.hpp"
 
 #include <memory>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Loop.cpp b/wpinet/src/main/native/cpp/uv/Loop.cpp
index 2aee216ed0..0e68e2704e 100644
--- a/wpinet/src/main/native/cpp/uv/Loop.cpp
+++ b/wpinet/src/main/native/cpp/uv/Loop.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 #include <memory>
 
diff --git a/wpinet/src/main/native/cpp/uv/NameToAddr.cpp b/wpinet/src/main/native/cpp/uv/NameToAddr.cpp
index 2f3a003248..304e3eca5e 100644
--- a/wpinet/src/main/native/cpp/uv/NameToAddr.cpp
+++ b/wpinet/src/main/native/cpp/uv/NameToAddr.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/util.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/util.hpp"  // NOLINT(build/include_order)
 
 #include <cstring>
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/NetworkStream.cpp b/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
index 8dc7e54457..1e4c217fa3 100644
--- a/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
+++ b/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/NetworkStream.h"
+#include "wpi/net/uv/NetworkStream.hpp"
 
 #include <functional>
 #include <utility>
diff --git a/wpinet/src/main/native/cpp/uv/Pipe.cpp b/wpinet/src/main/native/cpp/uv/Pipe.cpp
index ad93687e89..9f809a5c4d 100644
--- a/wpinet/src/main/native/cpp/uv/Pipe.cpp
+++ b/wpinet/src/main/native/cpp/uv/Pipe.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Pipe.h"
+#include "wpi/net/uv/Pipe.hpp"
 
 #include <cstdlib>
 #include <functional>
@@ -10,7 +10,7 @@
 #include <string>
 #include <utility>
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Poll.cpp b/wpinet/src/main/native/cpp/uv/Poll.cpp
index 5967bbd298..748fc4e434 100644
--- a/wpinet/src/main/native/cpp/uv/Poll.cpp
+++ b/wpinet/src/main/native/cpp/uv/Poll.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Poll.h"
+#include "wpi/net/uv/Poll.hpp"
 
 #include <functional>
 #include <memory>
 #include <utility>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Prepare.cpp b/wpinet/src/main/native/cpp/uv/Prepare.cpp
index 88e146e7f0..f1849a2bd6 100644
--- a/wpinet/src/main/native/cpp/uv/Prepare.cpp
+++ b/wpinet/src/main/native/cpp/uv/Prepare.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Prepare.h"
+#include "wpi/net/uv/Prepare.hpp"
 
 #include <memory>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Process.cpp b/wpinet/src/main/native/cpp/uv/Process.cpp
index 7a653078e9..7938527f56 100644
--- a/wpinet/src/main/native/cpp/uv/Process.cpp
+++ b/wpinet/src/main/native/cpp/uv/Process.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Process.h"
+#include "wpi/net/uv/Process.hpp"
 
 #include <memory>
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Pipe.h"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Pipe.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Signal.cpp b/wpinet/src/main/native/cpp/uv/Signal.cpp
index c8fde756b0..bb5fbae7a6 100644
--- a/wpinet/src/main/native/cpp/uv/Signal.cpp
+++ b/wpinet/src/main/native/cpp/uv/Signal.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Signal.h"
+#include "wpi/net/uv/Signal.hpp"
 
 #include <memory>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Stream.cpp b/wpinet/src/main/native/cpp/uv/Stream.cpp
index 79c333d5e7..e018bd8afd 100644
--- a/wpinet/src/main/native/cpp/uv/Stream.cpp
+++ b/wpinet/src/main/native/cpp/uv/Stream.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Stream.h"
+#include "wpi/net/uv/Stream.hpp"
 
 #include <functional>
 #include <memory>
 #include <string>
 #include <utility>
 
-#include <wpi/Logger.h>
-#include <wpi/SmallVector.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 using namespace wpi;
 using namespace wpi::uv;
diff --git a/wpinet/src/main/native/cpp/uv/Tcp.cpp b/wpinet/src/main/native/cpp/uv/Tcp.cpp
index 5b54edd4f1..1f13080247 100644
--- a/wpinet/src/main/native/cpp/uv/Tcp.cpp
+++ b/wpinet/src/main/native/cpp/uv/Tcp.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Tcp.h"
+#include "wpi/net/uv/Tcp.hpp"
 
 #include <cstring>
 #include <functional>
 #include <memory>
 #include <utility>
 
-#include "wpinet/uv/util.h"
+#include "wpi/net/uv/util.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Timer.cpp b/wpinet/src/main/native/cpp/uv/Timer.cpp
index fa5e3bce6e..7f7d326cbf 100644
--- a/wpinet/src/main/native/cpp/uv/Timer.cpp
+++ b/wpinet/src/main/native/cpp/uv/Timer.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/uv/Timer.hpp"
 
 #include <functional>
 #include <memory>
 #include <utility>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Tty.cpp b/wpinet/src/main/native/cpp/uv/Tty.cpp
index 58f3a072c0..5337fa14a8 100644
--- a/wpinet/src/main/native/cpp/uv/Tty.cpp
+++ b/wpinet/src/main/native/cpp/uv/Tty.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Tty.h"
+#include "wpi/net/uv/Tty.hpp"
 
 #include <memory>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/Udp.cpp b/wpinet/src/main/native/cpp/uv/Udp.cpp
index f9b9896379..4131e18457 100644
--- a/wpinet/src/main/native/cpp/uv/Udp.cpp
+++ b/wpinet/src/main/native/cpp/uv/Udp.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Udp.h"
+#include "wpi/net/uv/Udp.hpp"
 
 #include <cstring>
 #include <functional>
 #include <memory>
 #include <utility>
 
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
 
-#include "wpinet/uv/util.h"
+#include "wpi/net/uv/util.hpp"
 
 namespace {
 
diff --git a/wpinet/src/main/native/cpp/uv/Work.cpp b/wpinet/src/main/native/cpp/uv/Work.cpp
index c19f2f4db0..4e81c1ecff 100644
--- a/wpinet/src/main/native/cpp/uv/Work.cpp
+++ b/wpinet/src/main/native/cpp/uv/Work.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Work.h"
+#include "wpi/net/uv/Work.hpp"
 
 #include <functional>
 #include <memory>
 #include <utility>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/DsClient.hpp b/wpinet/src/main/native/include/wpi/net/DsClient.hpp
index dcebe2f377..19b71e9b80 100644
--- a/wpinet/src/main/native/include/wpi/net/DsClient.hpp
+++ b/wpinet/src/main/native/include/wpi/net/DsClient.hpp
@@ -8,7 +8,7 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp b/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp
index 896bae3e05..3c60588521 100644
--- a/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp
+++ b/wpinet/src/main/native/include/wpi/net/EventLoopRunner.hpp
@@ -8,9 +8,9 @@
 #include <functional>
 #include <memory>
 
-#include <wpi/SafeThread.h>
+#include "wpi/util/SafeThread.hpp"
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/HttpParser.hpp b/wpinet/src/main/native/include/wpi/net/HttpParser.hpp
index a2a6ea7404..d3537c5f23 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpParser.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpParser.hpp
@@ -9,10 +9,10 @@
 
 #include <string_view>
 
-#include <wpi/Signal.h>
-#include <wpi/SmallString.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/SmallString.hpp"
 
-#include "wpinet/http_parser.h"
+#include "wpi/net/http_parser.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp b/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
index 486f36ed64..1fad9cdf70 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
@@ -9,8 +9,8 @@
 #include <span>
 #include <string_view>
 
-#include "wpinet/HttpParser.h"
-#include "wpinet/uv/Stream.h"
+#include "wpi/net/HttpParser.hpp"
+#include "wpi/net/uv/Stream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp b/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp
index dca5225809..8e5039cc41 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpUtil.hpp
@@ -14,14 +14,14 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringMap.h>
-#include <wpi/raw_istream.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/raw_istream.hpp"
 
-#include "wpinet/NetworkStream.h"
-#include "wpinet/raw_socket_istream.h"
-#include "wpinet/raw_socket_ostream.h"
+#include "wpi/net/NetworkStream.hpp"
+#include "wpi/net/raw_socket_istream.hpp"
+#include "wpi/net/raw_socket_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp b/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp
index 0b273ee730..b53aed912c 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpWebSocketServerConnection.hpp
@@ -11,12 +11,12 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "wpinet/HttpServerConnection.h"
-#include "wpinet/WebSocket.h"
-#include "wpinet/WebSocketServer.h"
-#include "wpinet/uv/Stream.h"
+#include "wpi/net/HttpServerConnection.hpp"
+#include "wpi/net/WebSocket.hpp"
+#include "wpi/net/WebSocketServer.hpp"
+#include "wpi/net/uv/Stream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h b/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h
index 4f05d59be3..edf15acc10 100644
--- a/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h
+++ b/wpinet/src/main/native/include/wpi/net/MulticastServiceResolver.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/Synchronization.h>
+#include "wpi/util/Synchronization.h"
 
 #ifdef __cplusplus
 #include <functional>
@@ -14,7 +14,7 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 namespace wpi {
 class MulticastServiceResolver {
  public:
diff --git a/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp b/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp
index 6fe2e3bb18..b763e8fbb0 100644
--- a/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp
+++ b/wpinet/src/main/native/include/wpi/net/NetworkAcceptor.hpp
@@ -7,7 +7,7 @@
 
 #include <memory>
 
-#include "wpinet/NetworkStream.h"
+#include "wpi/net/NetworkStream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp b/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
index 352cf77088..9f06c33f36 100644
--- a/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
+++ b/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
@@ -13,7 +13,7 @@
 #include <utility>
 #include <vector>
 
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/uv/Timer.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/UDPClient.hpp b/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
index 55e5702f30..45f9fe46fc 100644
--- a/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
+++ b/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
@@ -9,8 +9,8 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/SmallVector.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/mutex.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/UrlParser.hpp b/wpinet/src/main/native/include/wpi/net/UrlParser.hpp
index 1a962e2cff..0f2cef8a4e 100644
--- a/wpinet/src/main/native/include/wpi/net/UrlParser.hpp
+++ b/wpinet/src/main/native/include/wpi/net/UrlParser.hpp
@@ -7,9 +7,9 @@
 
 #include <string_view>
 
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "wpinet/http_parser.h"
+#include "wpi/net/http_parser.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/WebSocket.hpp b/wpinet/src/main/native/include/wpi/net/WebSocket.hpp
index ef7cbdb2c4..b7f1785f1a 100644
--- a/wpinet/src/main/native/include/wpi/net/WebSocket.hpp
+++ b/wpinet/src/main/native/include/wpi/net/WebSocket.hpp
@@ -15,12 +15,12 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/Signal.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/SmallVector.hpp"
 
-#include "wpinet/uv/Buffer.h"
-#include "wpinet/uv/Error.h"
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Error.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp b/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp
index 469a3ca3d0..242847b2ee 100644
--- a/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp
+++ b/wpinet/src/main/native/include/wpi/net/WebSocketServer.hpp
@@ -13,12 +13,12 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/Signal.h>
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
 
-#include "wpinet/HttpParser.h"
-#include "wpinet/WebSocket.h"
+#include "wpi/net/HttpParser.hpp"
+#include "wpi/net/WebSocket.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp b/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp
index b5438cc60b..6fcb248895 100644
--- a/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp
+++ b/wpinet/src/main/native/include/wpi/net/WorkerThread.hpp
@@ -11,10 +11,10 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SafeThread.h>
-#include <wpi/future.h>
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/future.hpp"
 
-#include "wpinet/uv/Async.h"
+#include "wpi/net/uv/Async.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp b/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp
index f8f41e32c6..485b9c4c88 100644
--- a/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/raw_socket_istream.hpp
@@ -5,7 +5,7 @@
 #ifndef WPINET_RAW_SOCKET_ISTREAM_H_
 #define WPINET_RAW_SOCKET_ISTREAM_H_
 
-#include <wpi/raw_istream.h>
+#include "wpi/util/raw_istream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp b/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp
index 51e0104027..1ef1b6c7b1 100644
--- a/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/raw_socket_ostream.hpp
@@ -5,7 +5,7 @@
 #ifndef WPINET_RAW_SOCKET_OSTREAM_H_
 #define WPINET_RAW_SOCKET_OSTREAM_H_
 
-#include <wpi/raw_ostream.h>
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp b/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp
index aa45297b75..4fc82db61a 100644
--- a/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/raw_uv_ostream.hpp
@@ -9,10 +9,10 @@
 #include <span>
 #include <utility>
 
-#include <wpi/SmallVector.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-#include "wpinet/uv/Buffer.h"
+#include "wpi/net/uv/Buffer.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Async.hpp b/wpinet/src/main/native/include/wpi/net/uv/Async.hpp
index 56a735dfb6..1cc95fc8e7 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Async.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Async.hpp
@@ -13,11 +13,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/Signal.h>
-#include <wpi/mutex.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/mutex.hpp"
 
-#include "wpinet/uv/Handle.h"
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Handle.hpp"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp b/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp
index f59875a372..2d8ec65e50 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/AsyncFunction.hpp
@@ -16,11 +16,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/future.h>
-#include <wpi/mutex.h>
+#include "wpi/util/future.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "wpinet/uv/Handle.h"
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Handle.hpp"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp b/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp
index 01dc881a65..6baadb7c0d 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Buffer.hpp
@@ -13,7 +13,7 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Check.hpp b/wpinet/src/main/native/include/wpi/net/uv/Check.hpp
index 8f5aa2f57a..d68f8ab4aa 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Check.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Check.hpp
@@ -9,9 +9,9 @@
 
 #include <memory>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp b/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp
index 1eb604da91..89014c77ef 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/FsEvent.hpp
@@ -11,9 +11,9 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp b/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp
index e446337664..91176831af 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/GetAddrInfo.hpp
@@ -13,9 +13,9 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Request.h"
+#include "wpi/net/uv/Request.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp b/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp
index 794c8d7bf2..062626c55c 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/GetNameInfo.hpp
@@ -12,9 +12,9 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Request.h"
+#include "wpi/net/uv/Request.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp b/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
index 9da00b5e3a..f98cf36def 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
@@ -13,11 +13,11 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Buffer.h"
-#include "wpinet/uv/Error.h"
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Error.hpp"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi {
 class Logger;
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp b/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp
index 5cb46255be..58e69470e5 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Idle.hpp
@@ -9,9 +9,9 @@
 
 #include <memory>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp b/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp
index 275bdf1d4f..d9f270bffc 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Loop.hpp
@@ -14,10 +14,10 @@
 #include <thread>
 #include <utility>
 
-#include <wpi/Signal.h>
-#include <wpi/function_ref.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/function_ref.hpp"
 
-#include "wpinet/uv/Error.h"
+#include "wpi/net/uv/Error.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp b/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp
index 42b0a8ab83..55b37e45ab 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/NetworkStream.hpp
@@ -11,9 +11,9 @@
 #include <functional>
 #include <memory>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Stream.h"
+#include "wpi/net/uv/Stream.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp b/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp
index d7ab044242..82983e7e75 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Pipe.hpp
@@ -12,7 +12,7 @@
 #include <string>
 #include <string_view>
 
-#include "wpinet/uv/NetworkStream.h"
+#include "wpi/net/uv/NetworkStream.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp b/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp
index 3ba9a2c5a6..29d3854f53 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Poll.hpp
@@ -10,9 +10,9 @@
 #include <functional>
 #include <memory>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp b/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp
index e19dd30e74..1ada073849 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Prepare.hpp
@@ -9,9 +9,9 @@
 
 #include <memory>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Process.hpp b/wpinet/src/main/native/include/wpi/net/uv/Process.hpp
index 3d84bde0b6..c3581ee8e7 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Process.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Process.hpp
@@ -13,10 +13,10 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/Signal.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/Signal.h"
+#include "wpi/util/SmallVector.hpp"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Request.hpp b/wpinet/src/main/native/include/wpi/net/uv/Request.hpp
index d16d289dce..15ed28f3b1 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Request.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Request.hpp
@@ -11,7 +11,7 @@
 #include <memory>
 #include <utility>
 
-#include "wpinet/uv/Error.h"
+#include "wpi/net/uv/Error.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp b/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp
index 12b6839376..ab8acc912b 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Signal.hpp
@@ -9,9 +9,9 @@
 
 #include <memory>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp b/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp
index 3455d7a216..aa14d0d316 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Stream.hpp
@@ -14,11 +14,11 @@
 #include <span>
 #include <utility>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Buffer.h"
-#include "wpinet/uv/Handle.h"
-#include "wpinet/uv/Request.h"
+#include "wpi/net/uv/Buffer.hpp"
+#include "wpi/net/uv/Handle.hpp"
+#include "wpi/net/uv/Request.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp b/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp
index dc554dbf2a..c7fc764766 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Tcp.hpp
@@ -13,7 +13,7 @@
 #include <string_view>
 #include <utility>
 
-#include "wpinet/uv/NetworkStream.h"
+#include "wpi/net/uv/NetworkStream.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp b/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp
index 4a1cf545de..7592c6ca7d 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Timer.hpp
@@ -12,9 +12,9 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
+#include "wpi/net/uv/Handle.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp b/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp
index 647f4b587c..55773a87ef 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Tty.hpp
@@ -10,7 +10,7 @@
 #include <memory>
 #include <utility>
 
-#include "wpinet/uv/Stream.h"
+#include "wpi/net/uv/Stream.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp b/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp
index f696b06286..91115ddf34 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Udp.hpp
@@ -13,10 +13,10 @@
 #include <string_view>
 #include <utility>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Handle.h"
-#include "wpinet/uv/Request.h"
+#include "wpi/net/uv/Handle.hpp"
+#include "wpi/net/uv/Request.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Work.hpp b/wpinet/src/main/native/include/wpi/net/uv/Work.hpp
index 72293d0c35..3fb89eb42a 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Work.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Work.hpp
@@ -11,9 +11,9 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/Signal.h>
+#include "wpi/util/Signal.h"
 
-#include "wpinet/uv/Request.h"
+#include "wpi/net/uv/Request.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/linux/AvahiClient.cpp b/wpinet/src/main/native/linux/AvahiClient.cpp
index 7a5f56092c..e039f6f200 100644
--- a/wpinet/src/main/native/linux/AvahiClient.cpp
+++ b/wpinet/src/main/native/linux/AvahiClient.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "AvahiClient.h"
+#include "AvahiClient.hpp"
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 #include <thread>
 
diff --git a/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
index d6cbcb83a2..0365055222 100644
--- a/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/MulticastServiceAnnouncer.h"
+#include "wpi/net/MulticastServiceAnnouncer.h"
 
 #include <memory>
 #include <string>
@@ -10,9 +10,9 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "AvahiClient.h"
+#include "AvahiClient.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/linux/MulticastServiceResolver.cpp b/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
index ba8e4d6ac7..8709298793 100644
--- a/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/MulticastServiceResolver.h"
+#include "wpi/net/MulticastServiceResolver.h"
 
 #include <arpa/inet.h>
 
@@ -10,11 +10,11 @@
 #include <string>
 #include <utility>
 
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "AvahiClient.h"
+#include "AvahiClient.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
index 3fcb585f8c..9ad32e0891 100644
--- a/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/MulticastServiceAnnouncer.h"
+#include "wpi/net/MulticastServiceAnnouncer.h"
 
 #include <arpa/inet.h>
 
@@ -10,7 +10,7 @@
 #include <string>
 #include <utility>
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
 #include "dns_sd.h"
 
diff --git a/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp b/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
index bbd0ac4103..d4781fdfd7 100644
--- a/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
@@ -4,7 +4,7 @@
 
 #if defined(__APPLE__)
 
-#include "wpinet/MulticastServiceResolver.h"
+#include "wpi/net/MulticastServiceResolver.h"
 
 #include <netinet/in.h>
 #include <poll.h>
@@ -16,9 +16,9 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "ResolverThread.h"
+#include "ResolverThread.hpp"
 #include "dns_sd.h"
 
 using namespace wpi;
diff --git a/wpinet/src/main/native/macOS/ResolverThread.cpp b/wpinet/src/main/native/macOS/ResolverThread.cpp
index 259cf47074..a5ac1e1c4d 100644
--- a/wpinet/src/main/native/macOS/ResolverThread.cpp
+++ b/wpinet/src/main/native/macOS/ResolverThread.cpp
@@ -4,14 +4,14 @@
 
 #if defined(__APPLE__)
 
-#include "ResolverThread.h"
+#include "ResolverThread.hpp"
 
 #include <algorithm>
 #include <memory>
 #include <utility>
 #include <vector>
 
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/macOS/ResolverThread.hpp b/wpinet/src/main/native/macOS/ResolverThread.hpp
index 158cda832d..657326bc83 100644
--- a/wpinet/src/main/native/macOS/ResolverThread.hpp
+++ b/wpinet/src/main/native/macOS/ResolverThread.hpp
@@ -15,8 +15,8 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/Synchronization.h>
-#include <wpi/mutex.h>
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/mutex.hpp"
 
 #include "dns_sd.h"
 
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp
index fb82ce79e9..743a9aaef2 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp
@@ -21,7 +21,7 @@
    limitations under the License.
 */
 
-#include "wpinet/TCPAcceptor.h"
+#include "wpi/net/TCPAcceptor.h"
 
 #include <cstdio>
 #include <cstring>
@@ -38,10 +38,10 @@
 #include <unistd.h>
 #endif
 
-#include <wpi/Logger.h>
-#include <wpi/SmallString.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallString.hpp"
 
-#include "wpinet/SocketError.h"
+#include "wpi/net/SocketError.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp
index 52b9c98d6a..db17dfd37b 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp
@@ -21,7 +21,7 @@
    limitations under the License
 */
 
-#include "wpinet/TCPConnector.h"
+#include "wpi/net/TCPConnector.h"
 
 #include <fcntl.h>
 
@@ -40,11 +40,11 @@
 #include <unistd.h>
 #endif
 
-#include <wpi/Logger.h>
-#include <wpi/SmallString.h>
+#include "wpi/util/Logger.hpp"
+#include "wpi/util/SmallString.hpp"
 
-#include "wpinet/SocketError.h"
-#include "wpinet/TCPStream.h"
+#include "wpi/net/SocketError.hpp"
+#include "wpi/net/TCPStream.h"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp
index 32654e90eb..94ab2079a7 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector_parallel.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/TCPConnector.h"  // NOLINT(build/include_order)
+#include "wpi/net/TCPConnector.h"  // NOLINT(build/include_order)
 
 #include <atomic>
 #include <chrono>
 #include <thread>
 #include <tuple>
 
-#include <wpi/SmallSet.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/SmallSet.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp
index ccd7591940..082b2a7a54 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPStream.cpp
@@ -21,7 +21,7 @@
    limitations under the License.
 */
 
-#include "wpinet/TCPStream.h"
+#include "wpi/net/TCPStream.h"
 
 #include <fcntl.h>
 
@@ -36,7 +36,7 @@
 
 #include <cerrno>
 
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
index 5ba7ce5da0..d1fe60eaa7 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
@@ -29,8 +29,8 @@
 #include <string>
 #include <string_view>
 
-#include "wpinet/NetworkAcceptor.h"
-#include "wpinet/TCPStream.h"
+#include "wpi/net/NetworkAcceptor.hpp"
+#include "wpi/net/TCPStream.h"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
index d9c3ad9819..5dc09c8b37 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
@@ -28,7 +28,7 @@
 #include <span>
 #include <utility>
 
-#include "wpinet/NetworkStream.h"
+#include "wpi/net/NetworkStream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h
index f54da48822..d8959bfe54 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPStream.h
@@ -28,7 +28,7 @@
 #include <string>
 #include <string_view>
 
-#include "wpinet/NetworkStream.h"
+#include "wpi/net/NetworkStream.hpp"
 
 struct sockaddr_in;
 
diff --git a/wpinet/src/main/native/windows/DynamicDns.cpp b/wpinet/src/main/native/windows/DynamicDns.cpp
index c59d554566..cf9458d00c 100644
--- a/wpinet/src/main/native/windows/DynamicDns.cpp
+++ b/wpinet/src/main/native/windows/DynamicDns.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "DynamicDns.h"
+#include "DynamicDns.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
index 21a103d712..e0a8103322 100644
--- a/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
@@ -6,20 +6,20 @@
 #define UNICODE
 #endif
 
-#include "wpinet/MulticastServiceAnnouncer.h"
+#include "wpi/net/MulticastServiceAnnouncer.h"
 
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include <wpi/ConvertUTF.h>
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/ConvertUTF.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "DynamicDns.h"
-#include "wpinet/hostname.h"
+#include "DynamicDns.hpp"
+#include "wpi/net/hostname.hpp"
 
 using namespace wpi;
 
diff --git a/wpinet/src/main/native/windows/MulticastServiceResolver.cpp b/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
index 3842088655..d11a016d77 100644
--- a/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
@@ -6,18 +6,18 @@
 #define UNICODE
 #endif
 
-#include "wpinet/MulticastServiceResolver.h"
+#include "wpi/net/MulticastServiceResolver.h"
 
 #include <memory>
 #include <string>
 #include <utility>
 
-#include <wpi/ConvertUTF.h>
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
+#include "wpi/util/ConvertUTF.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
 
-#include "DynamicDns.h"
+#include "DynamicDns.hpp"
 
 #pragma comment(lib, "dnsapi")
 
diff --git a/wpinet/src/main/python/pyproject.toml b/wpinet/src/main/python/pyproject.toml
index 837ff08a4e..1ebeca60ad 100644
--- a/wpinet/src/main/python/pyproject.toml
+++ b/wpinet/src/main/python/pyproject.toml
@@ -52,5 +52,5 @@ depends = ["wpiutil"]
 
 [tool.semiwrap.extension_modules."wpinet._wpinet".headers]
 # wpinet
-PortForwarder = "wpinet/PortForwarder.h"
-WebServer = "wpinet/WebServer.h"
+PortForwarder = "wpi/net/PortForwarder.hpp"
+WebServer = "wpi/net/WebServer.hpp"
diff --git a/wpinet/src/netconsoleServer/native/cpp/main.cpp b/wpinet/src/netconsoleServer/native/cpp/main.cpp
index 8c6a162685..520784c38f 100644
--- a/wpinet/src/netconsoleServer/native/cpp/main.cpp
+++ b/wpinet/src/netconsoleServer/native/cpp/main.cpp
@@ -14,20 +14,20 @@
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "wpinet/raw_uv_ostream.h"
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Pipe.h"
-#include "wpinet/uv/Process.h"
-#include "wpinet/uv/Signal.h"
-#include "wpinet/uv/Tcp.h"
-#include "wpinet/uv/Tty.h"
-#include "wpinet/uv/Udp.h"
-#include "wpinet/uv/util.h"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Pipe.hpp"
+#include "wpi/net/uv/Process.hpp"
+#include "wpi/net/uv/Signal.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Tty.hpp"
+#include "wpi/net/uv/Udp.hpp"
+#include "wpi/net/uv/util.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/wpinet/src/netconsoleTee/native/cpp/main.cpp b/wpinet/src/netconsoleTee/native/cpp/main.cpp
index 142719ba75..8130d0a49a 100644
--- a/wpinet/src/netconsoleTee/native/cpp/main.cpp
+++ b/wpinet/src/netconsoleTee/native/cpp/main.cpp
@@ -8,17 +8,17 @@
 #include <string>
 
 #include <fmt/format.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "wpinet/raw_uv_ostream.h"
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Tcp.h"
-#include "wpinet/uv/Tty.h"
-#include "wpinet/uv/Udp.h"
-#include "wpinet/uv/util.h"
+#include "wpi/net/raw_uv_ostream.hpp"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Tcp.hpp"
+#include "wpi/net/uv/Tty.hpp"
+#include "wpi/net/uv/Udp.hpp"
+#include "wpi/net/uv/util.hpp"
 
 namespace uv = wpi::uv;
 
diff --git a/wpinet/src/test/native/cpp/HttpParserTest.cpp b/wpinet/src/test/native/cpp/HttpParserTest.cpp
index 02a17d9a86..793ea5f386 100644
--- a/wpinet/src/test/native/cpp/HttpParserTest.cpp
+++ b/wpinet/src/test/native/cpp/HttpParserTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/HttpParser.h"  // NOLINT(build/include_order)
+#include "wpi/net/HttpParser.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpinet/src/test/native/cpp/HttpUtilTest.cpp b/wpinet/src/test/native/cpp/HttpUtilTest.cpp
index f36235b75a..a8fdacc2bf 100644
--- a/wpinet/src/test/native/cpp/HttpUtilTest.cpp
+++ b/wpinet/src/test/native/cpp/HttpUtilTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/HttpUtil.h"  // NOLINT(build/include_order)
+#include "wpi/net/HttpUtil.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp b/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
index d6b10633b1..46ae45c907 100644
--- a/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
+++ b/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/HttpWebSocketServerConnection.h"  // NOLINT(build/include_order)
+#include "wpi/net/HttpWebSocketServerConnection.hpp"  // NOLINT(build/include_order)
 
 #include <memory>
 
diff --git a/wpinet/src/test/native/cpp/MulticastTest.cpp b/wpinet/src/test/native/cpp/MulticastTest.cpp
index b05d7bbb1e..40e1acd19a 100644
--- a/wpinet/src/test/native/cpp/MulticastTest.cpp
+++ b/wpinet/src/test/native/cpp/MulticastTest.cpp
@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpinet/MulticastServiceAnnouncer.h>
-#include <wpinet/MulticastServiceResolver.h>
+#include "wpi/net/MulticastServiceAnnouncer.h"
+#include "wpi/net/MulticastServiceResolver.h"
 
 #include <array>
 #include <chrono>
@@ -13,7 +13,7 @@
 #include <utility>
 
 #include <gtest/gtest.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
 TEST(MulticastServiceAnnouncerTest, EmptyText) {
   const std::string_view serviceName = "TestServiceNoText";
diff --git a/wpinet/src/test/native/cpp/WebSocketClientTest.cpp b/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
index c5bff34ff2..ead8af3a3f 100644
--- a/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
@@ -2,21 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WebSocket.h"  // NOLINT(build/include_order)
+#include "wpi/net/WebSocket.hpp"  // NOLINT(build/include_order)
 
 #include <functional>
 #include <memory>
 #include <string>
 #include <vector>
 
-#include <wpi/Base64.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/sha1.h>
+#include "wpi/util/Base64.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/sha1.hpp"
 
-#include "WebSocketTest.h"
-#include "wpinet/HttpParser.h"
-#include "wpinet/raw_uv_ostream.h"
+#include "WebSocketTest.hpp"
+#include "wpi/net/HttpParser.hpp"
+#include "wpi/net/raw_uv_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp b/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
index 1105a23076..0b0e10206f 100644
--- a/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WebSocketServer.h"  // NOLINT(build/include_order)
+#include "wpi/net/WebSocketServer.hpp"  // NOLINT(build/include_order)
 
 #include <vector>
 
-#include <wpi/SmallString.h>
+#include "wpi/util/SmallString.hpp"
 
-#include "WebSocketTest.h"
+#include "WebSocketTest.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp b/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
index e82f887551..c108f76422 100644
--- a/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WebSocketSerializer.h"  // NOLINT(build/include_order)
+#include "WebSocketSerializer.hpp"  // NOLINT(build/include_order)
 
 #include <algorithm>
 #include <array>
@@ -14,10 +14,10 @@
 #include <vector>
 
 #include <gmock/gmock.h>
-#include <wpi/SpanMatcher.h>
+#include "wpi/util/SpanMatcher.hpp"
 
-#include "WebSocketTest.h"
-#include "wpinet/uv/Buffer.h"
+#include "WebSocketTest.hpp"
+#include "wpi/net/uv/Buffer.hpp"
 
 using ::testing::_;
 using ::testing::AnyOf;
diff --git a/wpinet/src/test/native/cpp/WebSocketServerTest.cpp b/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
index 51b6f3d080..44ab4f529d 100644
--- a/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WebSocket.h"  // NOLINT(build/include_order)
+#include "wpi/net/WebSocket.hpp"  // NOLINT(build/include_order)
 
 #include <functional>
 #include <memory>
 #include <vector>
 
-#include <wpi/Base64.h>
-#include <wpi/SmallString.h>
-#include <wpi/sha1.h>
+#include "wpi/util/Base64.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/sha1.hpp"
 
-#include "WebSocketTest.h"
-#include "wpinet/HttpParser.h"
+#include "WebSocketTest.hpp"
+#include "wpi/net/HttpParser.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/WebSocketTest.cpp b/wpinet/src/test/native/cpp/WebSocketTest.cpp
index fad6b3660b..17f30a75f9 100644
--- a/wpinet/src/test/native/cpp/WebSocketTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketTest.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WebSocket.h"  // NOLINT(build/include_order)
+#include "wpi/net/WebSocket.hpp"  // NOLINT(build/include_order)
 
-#include "WebSocketTest.h"
+#include "WebSocketTest.hpp"
 
 #include <utility>
 #include <vector>
 
-#include <wpi/StringExtras.h>
+#include "wpi/util/StringExtras.hpp"
 
-#include "wpinet/HttpParser.h"
+#include "wpi/net/HttpParser.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/WebSocketTest.hpp b/wpinet/src/test/native/cpp/WebSocketTest.hpp
index 1c904a8b84..bf4aa52297 100644
--- a/wpinet/src/test/native/cpp/WebSocketTest.hpp
+++ b/wpinet/src/test/native/cpp/WebSocketTest.hpp
@@ -11,9 +11,9 @@
 
 #include <gtest/gtest.h>
 
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Pipe.h"
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Pipe.hpp"
+#include "wpi/net/uv/Timer.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/WorkerThreadTest.cpp b/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
index d4f462d890..ae3b0b24c0 100644
--- a/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
+++ b/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/WorkerThread.h"  // NOLINT(build/include_order)
+#include "wpi/net/WorkerThread.hpp"  // NOLINT(build/include_order)
 
 #include <thread>
 
 #include <gtest/gtest.h>
-#include <wpi/condition_variable.h>
-#include <wpi/mutex.h>
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
-#include "wpinet/EventLoopRunner.h"
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/EventLoopRunner.hpp"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/hostname.cpp b/wpinet/src/test/native/cpp/hostname.cpp
index df7e2f0486..803835e11a 100644
--- a/wpinet/src/test/native/cpp/hostname.cpp
+++ b/wpinet/src/test/native/cpp/hostname.cpp
@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/hostname.h"
+#include "wpi/net/hostname.hpp"
 
 #include <gtest/gtest.h>
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
 
 namespace wpi {
 TEST(HostNameTest, HostNameNotEmpty) {
diff --git a/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp b/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp
index 4b33b17381..13a3cd133d 100644
--- a/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp
+++ b/wpinet/src/test/native/cpp/raw_uv_stream_test.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/raw_uv_ostream.h"  // NOLINT(build/include_order)
+#include "wpi/net/raw_uv_ostream.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp b/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
index 0f488f8d04..ca20fdbee7 100644
--- a/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/AsyncFunction.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/AsyncFunction.hpp"  // NOLINT(build/include_order)
 
 #include <memory>
 #include <thread>
@@ -10,8 +10,8 @@
 
 #include <gtest/gtest.h>
 
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Prepare.h"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Prepare.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp b/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
index bfecb7594c..40c1e332fc 100644
--- a/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
@@ -23,17 +23,17 @@
  * IN THE SOFTWARE.
  */
 
-#include "wpinet/uv/Async.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/Async.hpp"  // NOLINT(build/include_order)
 
 #include <atomic>
 #include <functional>
 #include <thread>
 
 #include <gtest/gtest.h>
-#include <wpi/mutex.h>
+#include "wpi/util/mutex.hpp"
 
-#include "wpinet/uv/Loop.h"
-#include "wpinet/uv/Prepare.h"
+#include "wpi/net/uv/Loop.hpp"
+#include "wpi/net/uv/Prepare.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp b/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp
index f349d51337..f9801a8bf7 100644
--- a/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvBufferTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Buffer.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/Buffer.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp b/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp
index 365a27f362..ef392e9c0a 100644
--- a/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvGetAddrInfoTest.cpp
@@ -23,11 +23,11 @@
  * IN THE SOFTWARE.
  */
 
-#include "wpinet/uv/GetAddrInfo.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/GetAddrInfo.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 #define CONCURRENT_COUNT 10
 
diff --git a/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp b/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp
index dfb813b7d7..63aefa5d8a 100644
--- a/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvGetNameInfoTest.cpp
@@ -23,11 +23,11 @@
  * IN THE SOFTWARE.
  */
 
-#include "wpinet/uv/GetNameInfo.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/GetNameInfo.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "wpinet/uv/Loop.h"
+#include "wpi/net/uv/Loop.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp b/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp
index 3cb1c9fc69..8cd32e5a7e 100644
--- a/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvLoopWalkTest.cpp
@@ -23,11 +23,11 @@
  * IN THE SOFTWARE.
  */
 
-#include "wpinet/uv/Loop.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/Loop.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
-#include "wpinet/uv/Timer.h"
+#include "wpi/net/uv/Timer.hpp"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp b/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp
index ea6188bf26..b18857f66a 100644
--- a/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvTimerTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpinet/uv/Timer.h"  // NOLINT(build/include_order)
+#include "wpi/net/uv/Timer.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/dev/native/cpp/main.cpp b/wpiutil/src/dev/native/cpp/main.cpp
index 4c053de387..ecbcf497ba 100644
--- a/wpiutil/src/dev/native/cpp/main.cpp
+++ b/wpiutil/src/dev/native/cpp/main.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "wpi/SmallString.h"
+#include "wpi/util/SmallString.hpp"
 
 int main() {
   wpi::SmallString<128> v1("Hello");
diff --git a/wpiutil/src/main/native/cpp/Base64.cpp b/wpiutil/src/main/native/cpp/Base64.cpp
index b70298d12d..43266f2519 100644
--- a/wpiutil/src/main/native/cpp/Base64.cpp
+++ b/wpiutil/src/main/native/cpp/Base64.cpp
@@ -55,13 +55,13 @@
  *
  */
 
-#include "wpi/Base64.h"
+#include "wpi/util/Base64.hpp"
 
 #include <string>
 #include <vector>
 
-#include "wpi/SmallVector.h"
-#include "wpi/raw_ostream.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/cpp/Logger.cpp b/wpiutil/src/main/native/cpp/Logger.cpp
index 2b8ec6d7c2..96e298fbaa 100644
--- a/wpiutil/src/main/native/cpp/Logger.cpp
+++ b/wpiutil/src/main/native/cpp/Logger.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/Logger.h"
+#include "wpi/util/Logger.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/cpp/MappedFileRegion.cpp b/wpiutil/src/main/native/cpp/MappedFileRegion.cpp
index 006e3951b6..88bdc5bd01 100644
--- a/wpiutil/src/main/native/cpp/MappedFileRegion.cpp
+++ b/wpiutil/src/main/native/cpp/MappedFileRegion.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/MappedFileRegion.h"
+#include "wpi/util/MappedFileRegion.hpp"
 
 #include <sys/types.h>
 
@@ -28,7 +28,7 @@
 #endif
 
 #ifdef _WIN32
-#include "wpi/WindowsError.h"
+#include "wpi/util/WindowsError.hpp"
 #endif
 
 using namespace wpi;
diff --git a/wpiutil/src/main/native/cpp/MessagePack.cpp b/wpiutil/src/main/native/cpp/MessagePack.cpp
index 192476bfdc..7adc261c8c 100644
--- a/wpiutil/src/main/native/cpp/MessagePack.cpp
+++ b/wpiutil/src/main/native/cpp/MessagePack.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/MessagePack.h"
+#include "wpi/util/MessagePack.hpp"
 
 #include <string>
 
diff --git a/wpiutil/src/main/native/cpp/RawFrame.cpp b/wpiutil/src/main/native/cpp/RawFrame.cpp
index 2bc36ed160..fdd0bb3398 100644
--- a/wpiutil/src/main/native/cpp/RawFrame.cpp
+++ b/wpiutil/src/main/native/cpp/RawFrame.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/RawFrame.h"
+#include "wpi/util/RawFrame.h"
 
-#include <wpi/MemAlloc.h>
+#include "wpi/util/MemAlloc.hpp"
 
 #include <cstring>
 
diff --git a/wpiutil/src/main/native/cpp/RuntimeCheck.cpp b/wpiutil/src/main/native/cpp/RuntimeCheck.cpp
index 79ed623580..17626237ca 100644
--- a/wpiutil/src/main/native/cpp/RuntimeCheck.cpp
+++ b/wpiutil/src/main/native/cpp/RuntimeCheck.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/RuntimeCheck.h"
+#include "wpi/util/RuntimeCheck.h"
 
 #ifdef _WIN32
 #include <cstdio>
diff --git a/wpiutil/src/main/native/cpp/SafeThread.cpp b/wpiutil/src/main/native/cpp/SafeThread.cpp
index aefbd231c2..f288cacf98 100644
--- a/wpiutil/src/main/native/cpp/SafeThread.cpp
+++ b/wpiutil/src/main/native/cpp/SafeThread.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/SafeThread.h"
+#include "wpi/util/SafeThread.hpp"
 
 #include <atomic>
 #include <memory>
diff --git a/wpiutil/src/main/native/cpp/StackTraceWrap.cpp b/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
index 4d52a59398..1c2c461b0d 100644
--- a/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
+++ b/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
@@ -5,7 +5,7 @@
 #include <atomic>
 #include <string>
 
-#include "wpi/StackTrace.h"
+#include "wpi/util/StackTrace.hpp"
 
 static std::atomic<std::string (*)(int offset)> gStackTraceImpl{
     wpi::GetStackTraceDefault};
diff --git a/wpiutil/src/main/native/cpp/Synchronization.cpp b/wpiutil/src/main/native/cpp/Synchronization.cpp
index 1c37aefd81..defc48bc25 100644
--- a/wpiutil/src/main/native/cpp/Synchronization.cpp
+++ b/wpiutil/src/main/native/cpp/Synchronization.cpp
@@ -2,18 +2,18 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/Synchronization.h"
+#include "wpi/util/Synchronization.h"
 
 #include <algorithm>
 #include <atomic>
 #include <cstring>
 #include <mutex>
 
-#include "wpi/DenseMap.h"
-#include "wpi/SmallVector.h"
-#include "wpi/UidVector.h"
-#include "wpi/condition_variable.h"
-#include "wpi/mutex.h"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/UidVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/cpp/fs.cpp b/wpiutil/src/main/native/cpp/fs.cpp
index 82bd3857ee..fe5acd97c4 100644
--- a/wpiutil/src/main/native/cpp/fs.cpp
+++ b/wpiutil/src/main/native/cpp/fs.cpp
@@ -34,7 +34,7 @@
 #include <shellapi.h>
 #include <shlobj.h>
 
-#include "wpi/WindowsError.h"
+#include "wpi/util/WindowsError.hpp"
 
 #else  // _WIN32
 
@@ -43,10 +43,10 @@
 
 #endif  // _WIN32
 
-#include "wpi/Errno.h"
-#include "wpi/ErrorHandling.h"
-#include "wpi/WindowsError.h"
-#include "wpi/fs.h"
+#include "wpi/util/Errno.hpp"
+#include "wpi/util/ErrorHandling.hpp"
+#include "wpi/util/WindowsError.hpp"
+#include "wpi/util/fs.hpp"
 
 namespace fs {
 
diff --git a/wpiutil/src/main/native/cpp/future.cpp b/wpiutil/src/main/native/cpp/future.cpp
index df26872ce1..ac6afac038 100644
--- a/wpiutil/src/main/native/cpp/future.cpp
+++ b/wpiutil/src/main/native/cpp/future.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/future.h"
+#include "wpi/util/future.hpp"
 
 #include <utility>
 
diff --git a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
index 805cc14486..58e619ff2f 100644
--- a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
+++ b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
@@ -2,17 +2,17 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "WPIUtilJNI.h"
+#include "WPIUtilJNI.hpp"
 
 #include <jni.h>
 
 #include "org_wpilib_util_WPIUtilJNI.h"
-#include "wpi/RawFrame.h"
-#include "wpi/RuntimeCheck.h"
-#include "wpi/Synchronization.h"
-#include "wpi/jni_util.h"
-#include "wpi/print.h"
-#include "wpi/timestamp.h"
+#include "wpi/util/RawFrame.h"
+#include "wpi/util/RuntimeCheck.h"
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/jni_util.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
 using namespace wpi::java;
 
diff --git a/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp b/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
index b822776b37..b08ff53f04 100644
--- a/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
+++ b/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/protobuf/Protobuf.h"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include <string>
 #include <vector>
 
 #include <fmt/format.h>
 
-#include "wpi/SmallVector.h"
+#include "wpi/util/SmallVector.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/cpp/raw_istream.cpp b/wpiutil/src/main/native/cpp/raw_istream.cpp
index a179b982ba..65e104a4d6 100644
--- a/wpiutil/src/main/native/cpp/raw_istream.cpp
+++ b/wpiutil/src/main/native/cpp/raw_istream.cpp
@@ -4,7 +4,7 @@
 
 #define _CRT_NONSTDC_NO_WARNINGS
 
-#include "wpi/raw_istream.h"
+#include "wpi/util/raw_istream.hpp"
 
 #ifdef _WIN32
 #include <io.h>
@@ -16,8 +16,8 @@
 #include <cstring>
 #include <string_view>
 
-#include "wpi/SmallVector.h"
-#include "wpi/fs.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/fs.hpp"
 
 #if defined(_MSC_VER)
 #ifndef STDIN_FILENO
diff --git a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
index ebb7fb0e8c..65e940a225 100644
--- a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
+++ b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/sendable/SendableRegistry.h"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
 #include <memory>
 #include <string>
@@ -10,12 +10,12 @@
 
 #include <fmt/format.h>
 
-#include "wpi/DenseMap.h"
-#include "wpi/SmallVector.h"
-#include "wpi/UidVector.h"
-#include "wpi/mutex.h"
-#include "wpi/sendable/Sendable.h"
-#include "wpi/sendable/SendableBuilder.h"
+#include "wpi/util/DenseMap.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/UidVector.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/cpp/sha1.cpp b/wpiutil/src/main/native/cpp/sha1.cpp
index 8204114492..97b287b543 100644
--- a/wpiutil/src/main/native/cpp/sha1.cpp
+++ b/wpiutil/src/main/native/cpp/sha1.cpp
@@ -17,14 +17,14 @@
         -- Eugene Hopkinson <slowriot at voxelstorm dot com>
 */
 
-#include "wpi/sha1.h"
+#include "wpi/util/sha1.hpp"
 
 #include <string>
 
-#include "wpi/SmallVector.h"
-#include "wpi/StringExtras.h"
-#include "wpi/raw_istream.h"
-#include "wpi/raw_ostream.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/raw_istream.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/cpp/string.cpp b/wpiutil/src/main/native/cpp/string.cpp
index 3c5d47067f..602624820e 100644
--- a/wpiutil/src/main/native/cpp/string.cpp
+++ b/wpiutil/src/main/native/cpp/string.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "string"
-#include "wpi/string.h"
+#include "wpi/util/string.h"
 
-#include <wpi/MemAlloc.h>
+#include "wpi/util/MemAlloc.hpp"
 
 #include <string_view>
 
diff --git a/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp b/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
index 120590d5f4..a61a615e59 100644
--- a/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
+++ b/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/struct/DynamicStruct.h"
+#include "wpi/util/struct/DynamicStruct.hpp"
 
 #include <algorithm>
 #include <string>
@@ -10,11 +10,11 @@
 
 #include <fmt/format.h>
 
-#include "wpi/Endian.h"
-#include "wpi/SmallString.h"
-#include "wpi/SmallVector.h"
-#include "wpi/raw_ostream.h"
-#include "wpi/struct/SchemaParser.h"
+#include "wpi/util/Endian.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/struct/SchemaParser.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp b/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
index ffce8e62e8..49cf3530e6 100644
--- a/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
+++ b/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/struct/SchemaParser.h"
+#include "wpi/util/struct/SchemaParser.hpp"
 
 #include <string>
 #include <utility>
 
 #include <fmt/format.h>
 
-#include "wpi/StringExtras.h"
+#include "wpi/util/StringExtras.hpp"
 
 using namespace wpi::structparser;
 
diff --git a/wpiutil/src/main/native/cpp/timestamp.cpp b/wpiutil/src/main/native/cpp/timestamp.cpp
index 4dc352ae38..6215bd5ab1 100644
--- a/wpiutil/src/main/native/cpp/timestamp.cpp
+++ b/wpiutil/src/main/native/cpp/timestamp.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/timestamp.h"
+#include "wpi/util/timestamp.h"
 
 #include <atomic>
 #include <optional>
@@ -19,7 +19,7 @@
 
 #include <cstdio>
 
-#include "wpi/print.h"
+#include "wpi/util/print.hpp"
 
 // offset in microseconds
 static uint64_t time_since_epoch() noexcept {
diff --git a/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp b/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp
index 32e2adddc7..1875dc0b28 100644
--- a/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/CallbackManager.hpp
@@ -13,11 +13,11 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/SafeThread.h"
-#include "wpi/UidVector.h"
-#include "wpi/condition_variable.h"
-#include "wpi/mutex.h"
-#include "wpi/raw_ostream.h"
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/UidVector.hpp"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/EventVector.hpp b/wpiutil/src/main/native/include/wpi/util/EventVector.hpp
index fc54df709d..a0750d2a03 100644
--- a/wpiutil/src/main/native/include/wpi/util/EventVector.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/EventVector.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include "wpi/SmallVector.h"
-#include "wpi/Synchronization.h"
-#include "wpi/mutex.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/mutex.hpp"
 
 namespace wpi {
 struct EventVector {
diff --git a/wpiutil/src/main/native/include/wpi/util/MessagePack.hpp b/wpiutil/src/main/native/include/wpi/util/MessagePack.hpp
index 2250c47527..a01b180c2d 100644
--- a/wpiutil/src/main/native/include/wpi/util/MessagePack.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/MessagePack.hpp
@@ -10,7 +10,7 @@
 #include <string>
 #include <string_view>
 
-#include "wpi/mpack.h"
+#include "wpi/util/mpack.h"
 
 namespace mpack {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/RawFrame.h b/wpiutil/src/main/native/include/wpi/util/RawFrame.h
index 1fbfd4da84..c164751db0 100644
--- a/wpiutil/src/main/native/include/wpi/util/RawFrame.h
+++ b/wpiutil/src/main/native/include/wpi/util/RawFrame.h
@@ -17,7 +17,7 @@
 #endif
 
 #ifdef WPI_RAWFRAME_JNI
-#include "wpi/jni_util.h"
+#include "wpi/util/jni_util.hpp"
 #endif
 
 // NOLINT
diff --git a/wpiutil/src/main/native/include/wpi/util/RuntimeCheck.h b/wpiutil/src/main/native/include/wpi/util/RuntimeCheck.h
index c3b223166f..56ac0e32c7 100644
--- a/wpiutil/src/main/native/include/wpi/util/RuntimeCheck.h
+++ b/wpiutil/src/main/native/include/wpi/util/RuntimeCheck.h
@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include "wpi/string.h"
+#include "wpi/util/string.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp b/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp
index 753dc6c877..3b1123cfac 100644
--- a/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/SafeThread.hpp
@@ -10,9 +10,9 @@
 #include <thread>
 #include <utility>
 
-#include "wpi/Synchronization.h"
-#include "wpi/condition_variable.h"
-#include "wpi/mutex.h"
+#include "wpi/util/Synchronization.h"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp b/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp
index 7c97ec8f09..e21157a238 100644
--- a/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/condition_variable.hpp
@@ -6,7 +6,7 @@
 
 #include <condition_variable>
 
-#include "wpi/priority_mutex.h"
+#include "wpi/util/priority_mutex.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp b/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp
index 72de549b62..78faae6b65 100644
--- a/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/fmt/raw_ostream.hpp
@@ -7,7 +7,7 @@
 
 #include <fmt/format.h>
 
-#include "wpi/raw_ostream.h"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/future.hpp b/wpiutil/src/main/native/include/wpi/util/future.hpp
index 70dc60f2ab..20c98b8445 100644
--- a/wpiutil/src/main/native/include/wpi/util/future.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/future.hpp
@@ -15,8 +15,8 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/condition_variable.h"
-#include "wpi/mutex.h"
+#include "wpi/util/condition_variable.hpp"
+#include "wpi/util/mutex.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/jni_util.hpp b/wpiutil/src/main/native/include/wpi/util/jni_util.hpp
index cd3eeedd64..52d4792420 100644
--- a/wpiutil/src/main/native/include/wpi/util/jni_util.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/jni_util.hpp
@@ -15,15 +15,15 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/ConvertUTF.h"
-#include "wpi/SafeThread.h"
-#include "wpi/SmallString.h"
-#include "wpi/SmallVector.h"
-#include "wpi/StringExtras.h"
-#include "wpi/mutex.h"
-#include "wpi/print.h"
-#include "wpi/raw_ostream.h"
-#include "wpi/string.h"
+#include "wpi/util/ConvertUTF.hpp"
+#include "wpi/util/SafeThread.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/print.hpp"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/string.h"
 
 /** Java Native Interface (JNI) utility functions */
 namespace wpi::java {
diff --git a/wpiutil/src/main/native/include/wpi/util/mutex.hpp b/wpiutil/src/main/native/include/wpi/util/mutex.hpp
index 4bb1377b75..f4a07bbbe4 100644
--- a/wpiutil/src/main/native/include/wpi/util/mutex.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/mutex.hpp
@@ -6,7 +6,7 @@
 
 #include <mutex>
 
-#include "wpi/priority_mutex.h"
+#include "wpi/util/priority_mutex.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp b/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp
index 4541e5521c..99aa6f1953 100644
--- a/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/protobuf/Protobuf.hpp
@@ -17,8 +17,8 @@
 #include "pb.h"
 #include "pb_decode.h"
 #include "pb_encode.h"
-#include "wpi/array.h"
-#include "wpi/function_ref.h"
+#include "wpi/util/array.hpp"
+#include "wpi/util/function_ref.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp b/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp
index 277329ebaa..05fdd899ec 100644
--- a/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/protobuf/ProtobufCallbacks.hpp
@@ -11,9 +11,9 @@
 #include <fmt/format.h>
 
 #include "pb.h"
-#include "wpi/SmallVector.h"
-#include "wpi/array.h"
-#include "wpi/protobuf/Protobuf.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/array.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp b/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp
index 2f278c86a0..26d8b70b8b 100644
--- a/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/raw_istream.hpp
@@ -15,7 +15,7 @@
 #include <system_error>
 #include <vector>
 
-#include "wpi/SmallVector.h"
+#include "wpi/util/SmallVector.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp b/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp
index fc012b2869..3a78ddf2b8 100644
--- a/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sendable/Sendable.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "wpi/SymbolExports.h"
+#include "wpi/util/SymbolExports.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp b/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp
index 5b7d29f409..36e8df4068 100644
--- a/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sendable/SendableBuilder.hpp
@@ -11,7 +11,7 @@
 #include <string_view>
 #include <vector>
 
-#include "wpi/SmallVector.h"
+#include "wpi/util/SmallVector.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp b/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp
index 8b3f4b1b21..9e8ec0596e 100644
--- a/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/sendable/SendableHelper.hpp
@@ -6,7 +6,7 @@
 
 #include <type_traits>
 
-#include "wpi/sendable/SendableRegistry.h"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/spinlock.hpp b/wpiutil/src/main/native/include/wpi/util/spinlock.hpp
index 7128a182ef..bf9046d033 100644
--- a/wpiutil/src/main/native/include/wpi/util/spinlock.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/spinlock.hpp
@@ -9,7 +9,7 @@
 #include <mutex>
 #include <thread>
 
-#include "wpi/Compiler.h"
+#include "wpi/util/Compiler.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp b/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp
index ff8b4be527..fd0e6c2e34 100644
--- a/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/struct/DynamicStruct.hpp
@@ -13,8 +13,8 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/StringMap.h"
-#include "wpi/bit.h"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/bit.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp b/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp
index d0d0dddc86..d2734ca0e8 100644
--- a/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/struct/Struct.hpp
@@ -17,13 +17,13 @@
 
 #include <fmt/format.h>
 
-#include "wpi/Endian.h"
-#include "wpi/array.h"
-#include "wpi/bit.h"
-#include "wpi/ct_string.h"
-#include "wpi/function_ref.h"
-#include "wpi/mutex.h"
-#include "wpi/type_traits.h"
+#include "wpi/util/Endian.hpp"
+#include "wpi/util/array.hpp"
+#include "wpi/util/bit.hpp"
+#include "wpi/util/ct_string.hpp"
+#include "wpi/util/function_ref.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/type_traits.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp
index 927db74e09..1564ebbe0e 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/adl_serializer.hpp
@@ -10,10 +10,10 @@
 
 #include <utility>
 
-#include <wpi/detail/abi_macros.h>
-#include <wpi/detail/conversions/from_json.h>
-#include <wpi/detail/conversions/to_json.h>
-#include <wpi/detail/meta/identity_tag.h>
+#include "wpi/util/detail/abi_macros.hpp"
+#include "wpi/util/detail/conversions/from_json.hpp"
+#include "wpi/util/detail/conversions/to_json.hpp"
+#include "wpi/util/detail/meta/identity_tag.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/byte_container_with_subtype.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/byte_container_with_subtype.hpp
index a31d5d5384..b72bae5fb2 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/byte_container_with_subtype.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/byte_container_with_subtype.hpp
@@ -12,7 +12,7 @@
 #include <tuple> // tie
 #include <utility> // move
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/from_json.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/from_json.hpp
index f8a01fbceb..3492f32335 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/from_json.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/from_json.hpp
@@ -20,14 +20,14 @@
 #include <utility> // pair, declval
 #include <valarray> // valarray
 
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/meta/identity_tag.h>
-#include <wpi/detail/meta/std_fs.h>
-#include <wpi/detail/meta/type_traits.h>
-#include <wpi/detail/string_concat.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/meta/identity_tag.hpp"
+#include "wpi/util/detail/meta/std_fs.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
+#include "wpi/util/detail/string_concat.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_chars.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_chars.hpp
index 4989c00883..30a02674f1 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_chars.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_chars.hpp
@@ -16,7 +16,7 @@
 #include <limits> // numeric_limits
 #include <type_traits> // conditional
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_json.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_json.hpp
index 968d459a12..1cf5b6e424 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_json.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/conversions/to_json.hpp
@@ -17,12 +17,12 @@
 #include <valarray> // valarray
 #include <vector> // vector
 
-#include <wpi/detail/iterators/iteration_proxy.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/meta/std_fs.h>
-#include <wpi/detail/meta/type_traits.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/iterators/iteration_proxy.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/meta/std_fs.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/exceptions.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/exceptions.hpp
index 4b5f6f2cd1..76052341d8 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/exceptions.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/exceptions.hpp
@@ -17,13 +17,13 @@
 #include <string> // to_string
 #include <vector> // vector
 
-#include <wpi/detail/value_t.h>
-#include <wpi/detail/string_escape.h>
-#include <wpi/detail/input/position_t.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/meta/type_traits.h>
-#include <wpi/detail/string_concat.h>
+#include "wpi/util/detail/value_t.hpp"
+#include "wpi/util/detail/string_escape.hpp"
+#include "wpi/util/detail/input/position_t.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
+#include "wpi/util/detail/string_concat.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/hash.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/hash.hpp
index de314678a3..ed014b31fe 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/hash.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/hash.hpp
@@ -12,8 +12,8 @@
 #include <cstddef> // size_t
 #include <functional> // hash
 
-#include <wpi/detail/abi_macros.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/abi_macros.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/binary_reader.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/binary_reader.hpp
index 26231fc48e..3fdfb52dc1 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/binary_reader.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/binary_reader.hpp
@@ -21,15 +21,15 @@
 #include <utility> // make_pair, move
 #include <vector> // vector
 
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/input/input_adapters.h>
-#include <wpi/detail/input/json_sax.h>
-#include <wpi/detail/input/lexer.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/is_sax.h>
-#include <wpi/detail/meta/type_traits.h>
-#include <wpi/detail/string_concat.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/input/input_adapters.hpp"
+#include "wpi/util/detail/input/json_sax.hpp"
+#include "wpi/util/detail/input/lexer.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/is_sax.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
+#include "wpi/util/detail/string_concat.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/input_adapters.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/input_adapters.hpp
index fe524ff946..88078b8b70 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/input_adapters.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/input_adapters.hpp
@@ -23,9 +23,9 @@
     #include <istream>  // istream
 #endif                  // JSON_NO_IO
 
-#include <wpi/detail/iterators/iterator_traits.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/type_traits.h>
+#include "wpi/util/detail/iterators/iterator_traits.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp
index 6dd347b772..e754e8ee19 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/json_sax.hpp
@@ -13,9 +13,9 @@
 #include <utility> // move
 #include <vector> // vector
 
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/string_concat.h>
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/string_concat.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/lexer.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/lexer.hpp
index a6ef687de5..6ca401bd7f 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/lexer.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/lexer.hpp
@@ -18,10 +18,10 @@
 #include <utility> // move
 #include <vector> // vector
 
-#include <wpi/detail/input/input_adapters.h>
-#include <wpi/detail/input/position_t.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/type_traits.h>
+#include "wpi/util/detail/input/input_adapters.hpp"
+#include "wpi/util/detail/input/position_t.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/parser.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/parser.hpp
index 6ba4eceaaf..8afa99db02 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/parser.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/parser.hpp
@@ -15,14 +15,14 @@
 #include <utility> // move
 #include <vector> // vector
 
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/input/input_adapters.h>
-#include <wpi/detail/input/json_sax.h>
-#include <wpi/detail/input/lexer.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/is_sax.h>
-#include <wpi/detail/string_concat.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/input/input_adapters.hpp"
+#include "wpi/util/detail/input/json_sax.hpp"
+#include "wpi/util/detail/input/lexer.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/is_sax.hpp"
+#include "wpi/util/detail/string_concat.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/position_t.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/position_t.hpp
index 0ba6a8d9f1..f994bb5275 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/position_t.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/input/position_t.hpp
@@ -10,7 +10,7 @@
 
 #include <cstddef> // size_t
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/internal_iterator.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/internal_iterator.hpp
index 486afa46d3..dbe25c8130 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/internal_iterator.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/internal_iterator.hpp
@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include <wpi/detail/abi_macros.h>
-#include <wpi/detail/iterators/primitive_iterator.h>
+#include "wpi/util/detail/abi_macros.hpp"
+#include "wpi/util/detail/iterators/primitive_iterator.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iter_impl.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iter_impl.hpp
index f355f03862..035c63df4a 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iter_impl.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iter_impl.hpp
@@ -11,13 +11,13 @@
 #include <iterator> // iterator, random_access_iterator_tag, bidirectional_iterator_tag, advance, next
 #include <type_traits> // conditional, is_const, remove_const
 
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/iterators/internal_iterator.h>
-#include <wpi/detail/iterators/primitive_iterator.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/meta/type_traits.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/iterators/internal_iterator.hpp"
+#include "wpi/util/detail/iterators/primitive_iterator.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp
index d6334f6f8b..b44a83f467 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iteration_proxy.hpp
@@ -18,9 +18,9 @@
     #include <ranges> // enable_borrowed_range
 #endif
 
-#include <wpi/detail/abi_macros.h>
-#include <wpi/detail/meta/type_traits.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/abi_macros.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iterator_traits.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iterator_traits.hpp
index 13f08316e1..b67df89eb5 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iterator_traits.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/iterator_traits.hpp
@@ -10,9 +10,9 @@
 
 #include <iterator> // random_access_iterator_tag
 
-#include <wpi/detail/abi_macros.h>
-#include <wpi/detail/meta/void_t.h>
-#include <wpi/detail/meta/cpp_future.h>
+#include "wpi/util/detail/abi_macros.hpp"
+#include "wpi/util/detail/meta/void_t.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/json_reverse_iterator.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/json_reverse_iterator.hpp
index 8991038fba..106c28b01f 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/json_reverse_iterator.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/json_reverse_iterator.hpp
@@ -12,7 +12,7 @@
 #include <iterator> // reverse_iterator
 #include <utility> // declval
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/primitive_iterator.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/primitive_iterator.hpp
index 5fc4b933a7..c0181a610b 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/primitive_iterator.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/iterators/primitive_iterator.hpp
@@ -11,7 +11,7 @@
 #include <cstddef> // ptrdiff_t
 #include <limits>  // numeric_limits
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_custom_base_class.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_custom_base_class.hpp
index b6b113c293..c5a63b2fdc 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_custom_base_class.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_custom_base_class.hpp
@@ -10,7 +10,7 @@
 
 #include <type_traits> // conditional, is_same
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_pointer.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_pointer.hpp
index b5737c8e49..0a1c45d3c2 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_pointer.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_pointer.hpp
@@ -21,11 +21,11 @@
 #include <utility> // move
 #include <vector> // vector
 
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/string_concat.h>
-#include <wpi/detail/string_escape.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/string_concat.hpp"
+#include "wpi/util/detail/string_escape.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_ref.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_ref.hpp
index 3c575b7e80..e2c4a28b8d 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_ref.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/json_ref.hpp
@@ -11,8 +11,8 @@
 #include <initializer_list>
 #include <utility>
 
-#include <wpi/detail/abi_macros.h>
-#include <wpi/detail/meta/type_traits.h>
+#include "wpi/util/detail/abi_macros.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp
index b7119a8528..9b5eeb4747 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_scope.hpp
@@ -9,13 +9,13 @@
 #pragma once
 
 #include <utility> // declval, pair
-#include <wpi/detail/meta/detected.h>
-#include <wpi/thirdparty/hedley/hedley.h>
+#include "wpi/util/detail/meta/detected.hpp"
+#include "wpi/util/thirdparty/hedley/hedley.hpp"
 
 // This file contains all internal macro definitions (except those affecting ABI)
 // You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 // exclude unsupported compilers
 #if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK)
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_unscope.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_unscope.hpp
index 0cbe315521..f7fcc189f2 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_unscope.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/macro_unscope.hpp
@@ -42,4 +42,4 @@
     #undef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
 #endif
 
-#include <wpi/thirdparty/hedley/hedley_undef.h>
+#include "wpi/util/thirdparty/hedley/hedley_undef.hpp"
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/begin.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/begin.hpp
index 2ba6538941..542702ea95 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/begin.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/begin.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/end.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/end.hpp
index b4b1a0d114..60bdf1c4cd 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/end.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/call_std/end.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/cpp_future.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/cpp_future.hpp
index cba4363345..1619b1a116 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/cpp_future.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/cpp_future.hpp
@@ -14,7 +14,7 @@
 #include <type_traits> // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type
 #include <utility> // index_sequence, make_index_sequence, index_sequence_for
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/detected.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/detected.hpp
index ad8813fdac..eefba15af3 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/detected.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/detected.hpp
@@ -10,7 +10,7 @@
 
 #include <type_traits>
 
-#include <wpi/detail/meta/void_t.h>
+#include "wpi/util/detail/meta/void_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/identity_tag.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/identity_tag.hpp
index 7214c8f427..d50f6dbac0 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/identity_tag.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/identity_tag.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/is_sax.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/is_sax.hpp
index 562e63e0aa..ec1dfe8b01 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/is_sax.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/is_sax.hpp
@@ -12,9 +12,9 @@
 #include <utility> // declval
 #include <string> // string
 
-#include <wpi/detail/abi_macros.h>
-#include <wpi/detail/meta/detected.h>
-#include <wpi/detail/meta/type_traits.h>
+#include "wpi/util/detail/abi_macros.hpp"
+#include "wpi/util/detail/meta/detected.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/std_fs.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/std_fs.hpp
index 68b18b4481..86fc457379 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/std_fs.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/std_fs.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 
 #if JSON_HAS_EXPERIMENTAL_FILESYSTEM
 #include <experimental/filesystem>
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp
index 511d49a744..2218a45644 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/type_traits.hpp
@@ -14,13 +14,13 @@
 #include <tuple> // tuple
 #include <string> // char_traits
 
-#include <wpi/detail/iterators/iterator_traits.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/call_std/begin.h>
-#include <wpi/detail/meta/call_std/end.h>
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/meta/detected.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/detail/iterators/iterator_traits.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/call_std/begin.hpp"
+#include "wpi/util/detail/meta/call_std/end.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/meta/detected.hpp"
+#include "wpi/util/json_fwd.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 /*!
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/void_t.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/void_t.hpp
index fd25530af2..eab70012b1 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/void_t.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/meta/void_t.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/binary_writer.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/binary_writer.hpp
index bc35ba61da..8a9b687404 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/binary_writer.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/binary_writer.hpp
@@ -19,10 +19,10 @@
 #include <utility> // move
 #include <vector> // vector
 
-#include <wpi/detail/input/binary_reader.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/output/output_adapters.h>
-#include <wpi/detail/string_concat.h>
+#include "wpi/util/detail/input/binary_reader.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/output/output_adapters.hpp"
+#include "wpi/util/detail/string_concat.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/output_adapters.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/output_adapters.hpp
index c27df91c6c..25e242054c 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/output_adapters.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/output_adapters.hpp
@@ -20,9 +20,9 @@
     #include <ostream>  // basic_ostream
 #endif  // JSON_NO_IO
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 
-#include <wpi/raw_ostream.h>
+#include "wpi/util/raw_ostream.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp
index 809a46f4b6..1b1394879a 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/output/serializer.hpp
@@ -22,14 +22,14 @@
 #include <type_traits> // is_same
 #include <utility> // move
 
-#include <wpi/detail/conversions/to_chars.h>
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/output/binary_writer.h>
-#include <wpi/detail/output/output_adapters.h>
-#include <wpi/detail/string_concat.h>
-#include <wpi/detail/value_t.h>
+#include "wpi/util/detail/conversions/to_chars.hpp"
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/output/binary_writer.hpp"
+#include "wpi/util/detail/output/output_adapters.hpp"
+#include "wpi/util/detail/string_concat.hpp"
+#include "wpi/util/detail/value_t.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_concat.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_concat.hpp
index a5d40f590b..19241cb315 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_concat.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_concat.hpp
@@ -12,8 +12,8 @@
 #include <string> // string
 #include <utility> // forward
 
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/meta/detected.h>
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/meta/detected.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_escape.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_escape.hpp
index 98adbc1a6a..54b10207a9 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_escape.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/string_escape.hpp
@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 namespace detail
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/value_t.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/value_t.hpp
index 98beb5eb0b..971f9e9bf2 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/value_t.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/detail/value_t.hpp
@@ -13,7 +13,7 @@
 #include <cstdint> // uint8_t
 #include <string> // string
 
-#include <wpi/detail/macro_scope.h>
+#include "wpi/util/detail/macro_scope.hpp"
 #if JSON_HAS_THREE_WAY_COMPARISON
     #include <compare> // partial_ordering
 #endif
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp
index aba5397add..c486ed3cdb 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json.hpp
@@ -31,35 +31,35 @@
 #include <utility> // declval, forward, move, pair, swap
 #include <vector> // vector
 
-#include <wpi/adl_serializer.h>
-#include <wpi/byte_container_with_subtype.h>
-#include <wpi/detail/conversions/from_json.h>
-#include <wpi/detail/conversions/to_json.h>
-#include <wpi/detail/exceptions.h>
-#include <wpi/detail/hash.h>
-#include <wpi/detail/input/binary_reader.h>
-#include <wpi/detail/input/input_adapters.h>
-#include <wpi/detail/input/lexer.h>
-#include <wpi/detail/input/parser.h>
-#include <wpi/detail/iterators/internal_iterator.h>
-#include <wpi/detail/iterators/iter_impl.h>
-#include <wpi/detail/iterators/iteration_proxy.h>
-#include <wpi/detail/iterators/json_reverse_iterator.h>
-#include <wpi/detail/iterators/primitive_iterator.h>
-#include <wpi/detail/json_custom_base_class.h>
-#include <wpi/detail/json_pointer.h>
-#include <wpi/detail/json_ref.h>
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/string_concat.h>
-#include <wpi/detail/string_escape.h>
-#include <wpi/detail/meta/cpp_future.h>
-#include <wpi/detail/meta/type_traits.h>
-#include <wpi/detail/output/binary_writer.h>
-#include <wpi/detail/output/output_adapters.h>
-#include <wpi/detail/output/serializer.h>
-#include <wpi/detail/value_t.h>
-#include <wpi/json_fwd.h>
-#include <wpi/ordered_map.h>
+#include "wpi/util/adl_serializer.hpp"
+#include "wpi/util/byte_container_with_subtype.hpp"
+#include "wpi/util/detail/conversions/from_json.hpp"
+#include "wpi/util/detail/conversions/to_json.hpp"
+#include "wpi/util/detail/exceptions.hpp"
+#include "wpi/util/detail/hash.hpp"
+#include "wpi/util/detail/input/binary_reader.hpp"
+#include "wpi/util/detail/input/input_adapters.hpp"
+#include "wpi/util/detail/input/lexer.hpp"
+#include "wpi/util/detail/input/parser.hpp"
+#include "wpi/util/detail/iterators/internal_iterator.hpp"
+#include "wpi/util/detail/iterators/iter_impl.hpp"
+#include "wpi/util/detail/iterators/iteration_proxy.hpp"
+#include "wpi/util/detail/iterators/json_reverse_iterator.hpp"
+#include "wpi/util/detail/iterators/primitive_iterator.hpp"
+#include "wpi/util/detail/json_custom_base_class.hpp"
+#include "wpi/util/detail/json_pointer.hpp"
+#include "wpi/util/detail/json_ref.hpp"
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/string_concat.hpp"
+#include "wpi/util/detail/string_escape.hpp"
+#include "wpi/util/detail/meta/cpp_future.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
+#include "wpi/util/detail/output/binary_writer.hpp"
+#include "wpi/util/detail/output/output_adapters.hpp"
+#include "wpi/util/detail/output/serializer.hpp"
+#include "wpi/util/detail/value_t.hpp"
+#include "wpi/util/json_fwd.hpp"
+#include "wpi/util/ordered_map.hpp"
 
 #if defined(JSON_HAS_CPP_17)
     #if JSON_HAS_STATIC_RTTI
@@ -5257,6 +5257,6 @@ inline void swap(wpi::WPI_BASIC_JSON_TPL& j1, wpi::WPI_BASIC_JSON_TPL& j2) noexc
     #endif
 #endif
 
-#include <wpi/detail/macro_unscope.h>
+#include "wpi/util/detail/macro_unscope.hpp"
 
 #endif  // INCLUDE_WPI_JSON_HPP_
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp
index e00a60e133..23ff736628 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/json_fwd.hpp
@@ -15,7 +15,7 @@
 #include <string> // string
 #include <vector> // vector
 
-#include <wpi/detail/abi_macros.h>
+#include "wpi/util/detail/abi_macros.hpp"
 
 /*!
 @brief namespace for Niels Lohmann
diff --git a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp
index 263360a7a5..190a929228 100644
--- a/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp
+++ b/wpiutil/src/main/native/thirdparty/json/include/wpi/util/ordered_map.hpp
@@ -17,8 +17,8 @@
 #include <utility> // pair
 #include <vector> // vector
 
-#include <wpi/detail/macro_scope.h>
-#include <wpi/detail/meta/type_traits.h>
+#include "wpi/util/detail/macro_scope.hpp"
+#include "wpi/util/detail/meta/type_traits.hpp"
 
 WPI_JSON_NAMESPACE_BEGIN
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp
index d9aed15c7b..e50f614eed 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTF.cpp
@@ -61,14 +61,14 @@
 
 ------------------------------------------------------------------------ */
 
-#include "wpi/ConvertUTF.h"
+#include "wpi/util/ConvertUTF.hpp"
 #ifdef CVTUTF_DEBUG
 #include <stdio.h>
 #endif
 #include <assert.h>
 
 #ifdef _WIN32
-#include "wpi/WindowsError.h"
+#include "wpi/util/WindowsError.hpp"
 #include "Windows/WindowsSupport.h"
 #endif
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp
index 10267efa3e..50034b489e 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ConvertUTFWrapper.cpp
@@ -6,10 +6,10 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/ConvertUTF.h"
-#include "wpi/SmallVector.h"
-#include "wpi/ErrorHandling.h"
-#include "wpi/SwapByteOrder.h"
+#include "wpi/util/ConvertUTF.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/ErrorHandling.hpp"
+#include "wpi/util/SwapByteOrder.hpp"
 #include <span>
 #include <string>
 #include <string_view>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp
index 6e0def1b43..9618911c1f 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp
@@ -11,11 +11,11 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/ErrorHandling.h"
-#include "wpi/SmallVector.h"
-#include "wpi/Errc.h"
-#include "wpi/WindowsError.h"
-#include "wpi/print.h"
+#include "wpi/util/ErrorHandling.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/Errc.hpp"
+#include "wpi/util/WindowsError.hpp"
+#include "wpi/util/print.hpp"
 #include <cassert>
 #include <cstdlib>
 #include <mutex>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp
index 9f01631a45..93fa1c0439 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemAlloc.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/MemAlloc.h"
+#include "wpi/util/MemAlloc.hpp"
 #include <new>
 
 // These are out of line to have __cpp_aligned_new not affect ABI.
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
index 158a256855..79e29432d2 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
@@ -15,7 +15,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/MemoryBuffer.h"
+#include "wpi/util/MemoryBuffer.hpp"
 
 #ifdef _MSC_VER
 // no matching operator delete
@@ -46,16 +46,16 @@
 #include <new>
 #include <system_error>
 
-#include "wpi/Errc.h"
-#include "wpi/Errno.h"
-#include "wpi/MappedFileRegion.h"
-#include "wpi/MathExtras.h"
-#include "wpi/SmallVector.h"
-#include "wpi/SmallVectorMemoryBuffer.h"
-#include "wpi/fs.h"
+#include "wpi/util/Errc.hpp"
+#include "wpi/util/Errno.hpp"
+#include "wpi/util/MappedFileRegion.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/SmallVectorMemoryBuffer.hpp"
+#include "wpi/util/fs.hpp"
 
 #ifdef _WIN32
-#include "wpi/WindowsError.h"
+#include "wpi/util/WindowsError.hpp"
 #endif
 
 using namespace wpi;
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp
index ff91e623e8..7cdb905348 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallPtrSet.cpp
@@ -11,10 +11,10 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/SmallPtrSet.h"
-#include "wpi/DenseMapInfo.h"
-#include "wpi/MathExtras.h"
-#include "wpi/MemAlloc.h"
+#include "wpi/util/SmallPtrSet.hpp"
+#include "wpi/util/DenseMapInfo.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/MemAlloc.hpp"
 #include <algorithm>
 #include <cassert>
 #include <cstdlib>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp
index 1d8f9eae41..dbdafdc822 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/SmallVector.cpp
@@ -10,8 +10,8 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/SmallVector.h"
-#include "wpi/MemAlloc.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/MemAlloc.hpp"
 #include <cstdint>
 #ifdef LLVM_ENABLE_EXCEPTIONS
 #include <stdexcept>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp
index 1503584754..5bfdf86513 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/StringExtras.cpp
@@ -15,13 +15,13 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/StringExtras.h"
+#include "wpi/util/StringExtras.hpp"
 
 #include <algorithm>
 #include <cstdlib>
 #include <string_view>
 
-#include "wpi/SmallString.h"
+#include "wpi/util/SmallString.hpp"
 
 // strncasecmp() is not available on non-POSIX systems, so define an
 // alternative function here.
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp
index 48e0e59fef..3885b468ca 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/Windows/WindowsSupport.hpp
@@ -31,12 +31,12 @@
 #define NOMINMAX
 #endif
 
-#include "wpi/SmallVector.h"
-#include "wpi/StringExtras.h"
-#include "wpi/Chrono.h"
-#include "wpi/Compiler.h"
-#include "wpi/ErrorHandling.h"
-#include "wpi/VersionTuple.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/Chrono.hpp"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/ErrorHandling.hpp"
+#include "wpi/util/VersionTuple.hpp"
 #include <cassert>
 #include <string>
 #include <system_error>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp
index 682a9a06d9..7d6d29fe78 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_os_ostream.cpp
@@ -10,7 +10,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/raw_os_ostream.h"
+#include "wpi/util/raw_os_ostream.hpp"
 #include <ostream>
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp
index d25ddafcae..598059f9f5 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/raw_ostream.cpp
@@ -14,14 +14,14 @@
 #define _CRT_NONSTDC_NO_WARNINGS
 #endif
 
-#include "wpi/raw_ostream.h"
-#include "wpi/SmallString.h"
-#include "wpi/SmallVector.h"
-#include "wpi/StringExtras.h"
-#include "wpi/Compiler.h"
-#include "wpi/ErrorHandling.h"
-#include "wpi/fs.h"
-#include "wpi/MathExtras.h"
+#include "wpi/util/raw_ostream.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/ErrorHandling.hpp"
+#include "wpi/util/fs.hpp"
+#include "wpi/util/MathExtras.hpp"
 #include <algorithm>
 #include <cerrno>
 #include <cstdio>
@@ -53,7 +53,7 @@
 #endif
 
 #ifdef _WIN32
-#include "wpi/ConvertUTF.h"
+#include "wpi/util/ConvertUTF.hpp"
 #include "Windows/WindowsSupport.h"
 #endif
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp
index 97a2f488a7..697e14f7a1 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/AllocatorBase.hpp
@@ -25,8 +25,8 @@
 #define LLVM_ALLOCATORHOLDER_EMPTYBASE
 #endif // _MSC_VER
 
-#include "wpi/Compiler.h"
-#include "wpi/MemAlloc.h"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/MemAlloc.hpp"
 #include <type_traits>
 
 namespace wpi {
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp
index c1471e3b82..8873039185 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Casting.hpp
@@ -14,8 +14,8 @@
 #ifndef WPIUTIL_WPI_CASTING_H
 #define WPIUTIL_WPI_CASTING_H
 
-#include "wpi/Compiler.h"
-#include "wpi/type_traits.h"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/type_traits.hpp"
 #include <cassert>
 #include <memory>
 #include <optional>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp
index 299e822651..70b3befa33 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Chrono.hpp
@@ -9,7 +9,7 @@
 #ifndef WPIUTIL_WPI_CHRONO_H
 #define WPIUTIL_WPI_CHRONO_H
 
-#include "wpi/Compiler.h"
+#include "wpi/util/Compiler.hpp"
 
 #include <chrono>
 #include <ctime>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp
index 7e17d96abd..e384a6af67 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMap.hpp
@@ -14,14 +14,14 @@
 #ifndef WPIUTIL_WPI_DENSEMAP_H
 #define WPIUTIL_WPI_DENSEMAP_H
 
-#include "wpi/DenseMapInfo.h"
-#include "wpi/EpochTracker.h"
-#include "wpi/AlignOf.h"
-#include "wpi/Compiler.h"
-#include "wpi/MathExtras.h"
-#include "wpi/MemAlloc.h"
-#include "wpi/ReverseIteration.h"
-#include "wpi/type_traits.h"
+#include "wpi/util/DenseMapInfo.hpp"
+#include "wpi/util/EpochTracker.hpp"
+#include "wpi/util/AlignOf.hpp"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/ReverseIteration.hpp"
+#include "wpi/util/type_traits.hpp"
 #include <algorithm>
 #include <bit>
 #include <cassert>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp
index b2d9739f0b..a3b0bada99 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/DenseMapInfoVariant.hpp
@@ -14,7 +14,7 @@
 #ifndef WPIUTIL_WPI_DENSEMAPINFOVARIANT_H
 #define WPIUTIL_WPI_DENSEMAPINFOVARIANT_H
 
-#include "wpi/DenseMapInfo.h"
+#include "wpi/util/DenseMapInfo.hpp"
 #include <utility>
 #include <variant>
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp
index 41f1fca416..c038b1916c 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/Endian.hpp
@@ -13,9 +13,9 @@
 #ifndef WPIUTIL_WPI_ENDIAN_H
 #define WPIUTIL_WPI_ENDIAN_H
 
-#include "wpi/bit.h"
-#include "wpi/Compiler.h"
-#include "wpi/SwapByteOrder.h"
+#include "wpi/util/bit.hpp"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/SwapByteOrder.hpp"
 #include <cassert>
 #include <cstddef>
 #include <cstdint>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp
index abc9d7dc39..2be1d269b7 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ErrorHandling.hpp
@@ -14,7 +14,7 @@
 #ifndef WPIUTIL_WPI_ERRORHANDLING_H
 #define WPIUTIL_WPI_ERRORHANDLING_H
 
-#include "wpi/Compiler.h"
+#include "wpi/util/Compiler.hpp"
 #include <string>
 #include <string_view>
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp
index 7283c1aa66..c55d7a467e 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/FunctionExtras.hpp
@@ -32,12 +32,12 @@
 #ifndef WPIUTIL_WPI_FUNCTIONEXTRAS_H
 #define WPIUTIL_WPI_FUNCTIONEXTRAS_H
 
-#include "wpi/PointerIntPair.h"
-#include "wpi/PointerUnion.h"
-#include "wpi/STLForwardCompat.h"
-#include "wpi/Compiler.h"
-#include "wpi/MemAlloc.h"
-#include "wpi/type_traits.h"
+#include "wpi/util/PointerIntPair.hpp"
+#include "wpi/util/PointerUnion.hpp"
+#include "wpi/util/STLForwardCompat.hpp"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/MemAlloc.hpp"
+#include "wpi/util/type_traits.hpp"
 #include <cstring>
 #include <memory>
 #include <type_traits>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp
index 817de2b7ba..56b40bbff8 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MathExtras.hpp
@@ -13,8 +13,8 @@
 #ifndef WPIUTIL_WPI_MATHEXTRAS_H
 #define WPIUTIL_WPI_MATHEXTRAS_H
 
-#include "wpi/bit.h"
-#include "wpi/Compiler.h"
+#include "wpi/util/bit.hpp"
+#include "wpi/util/Compiler.hpp"
 #include <bit>
 #include <cassert>
 #include <climits>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp
index cf5354589e..9469f9794e 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemAlloc.hpp
@@ -16,8 +16,8 @@
 #ifndef WPIUTIL_WPI_MEMALLOC_H
 #define WPIUTIL_WPI_MEMALLOC_H
 
-#include "wpi/Compiler.h"
-#include "wpi/ErrorHandling.h"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/ErrorHandling.hpp"
 #include <cstdlib>
 
 namespace wpi {
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp
index b3b6280960..bfb41ef9f6 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/MemoryBuffer.hpp
@@ -24,7 +24,7 @@
 #include <span>
 #include <string_view>
 #include <system_error>
-#include <wpi/expected>
+#include "wpi/util/expected"
 
 // Duplicated from fs.h to avoid a dependency
 namespace fs {
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp
index 22205c9a71..de133d6c10 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerIntPair.hpp
@@ -14,9 +14,9 @@
 #ifndef WPIUTIL_WPI_POINTERINTPAIR_H
 #define WPIUTIL_WPI_POINTERINTPAIR_H
 
-#include "wpi/Compiler.h"
-#include "wpi/PointerLikeTypeTraits.h"
-#include "wpi/type_traits.h"
+#include "wpi/util/Compiler.hpp"
+#include "wpi/util/PointerLikeTypeTraits.hpp"
+#include "wpi/util/type_traits.hpp"
 #include <cassert>
 #include <cstdint>
 #include <cstring>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp
index 83aa54c061..2b67c5d4e0 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/PointerUnion.hpp
@@ -15,10 +15,10 @@
 #ifndef WPIUTIL_WPI_POINTERUNION_H
 #define WPIUTIL_WPI_POINTERUNION_H
 
-#include "wpi/DenseMapInfo.h"
-#include "wpi/PointerIntPair.h"
-#include "wpi/Casting.h"
-#include "wpi/PointerLikeTypeTraits.h"
+#include "wpi/util/DenseMapInfo.hpp"
+#include "wpi/util/PointerIntPair.hpp"
+#include "wpi/util/Casting.hpp"
+#include "wpi/util/PointerLikeTypeTraits.hpp"
 #include <algorithm>
 #include <cassert>
 #include <cstddef>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp
index 5425cd9570..71e706338d 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/ReverseIteration.hpp
@@ -1,7 +1,7 @@
 #ifndef WPIUTIL_WPI_REVERSEITERATION_H
 #define WPIUTIL_WPI_REVERSEITERATION_H
 
-#include "wpi/PointerLikeTypeTraits.h"
+#include "wpi/util/PointerLikeTypeTraits.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp
index be2c7dd2ee..8620f1b9d4 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallPtrSet.hpp
@@ -15,10 +15,10 @@
 #ifndef WPIUTIL_WPI_SMALLPTRSET_H
 #define WPIUTIL_WPI_SMALLPTRSET_H
 
-#include "wpi/EpochTracker.h"
-#include "wpi/MathExtras.h"
-#include "wpi/ReverseIteration.h"
-#include "wpi/type_traits.h"
+#include "wpi/util/EpochTracker.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/ReverseIteration.hpp"
+#include "wpi/util/type_traits.hpp"
 #include <algorithm>
 #include <cassert>
 #include <cstddef>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp
index cc1e086fc3..2ee6b3b704 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallSet.hpp
@@ -14,9 +14,9 @@
 #ifndef WPIUTIL_WPI_SMALLSET_H
 #define WPIUTIL_WPI_SMALLSET_H
 
-#include "wpi/SmallPtrSet.h"
-#include "wpi/SmallVector.h"
-#include "wpi/iterator.h"
+#include "wpi/util/SmallPtrSet.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/iterator.hpp"
 #include <cstddef>
 #include <functional>
 #include <initializer_list>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp
index 35d0a4a818..ad36915361 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallString.hpp
@@ -14,7 +14,7 @@
 #ifndef WPIUTIL_WPI_SMALLSTRING_H
 #define WPIUTIL_WPI_SMALLSTRING_H
 
-#include "wpi/SmallVector.h"
+#include "wpi/util/SmallVector.hpp"
 #include <cstddef>
 #include <string>
 #include <string_view>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp
index 42d48e74a1..0e97b8aabc 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVector.hpp
@@ -22,7 +22,7 @@
 #pragma GCC diagnostic warning "-Wclass-memaccess"
 #endif
 
-#include "wpi/Compiler.h"
+#include "wpi/util/Compiler.hpp"
 #include <algorithm>
 #include <cassert>
 #include <cstddef>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp
index 61737142a4..10c033da23 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SmallVectorMemoryBuffer.hpp
@@ -22,9 +22,9 @@
 #include <string_view>
 #include <utility>
 
-#include "wpi/MemoryBuffer.h"
-#include "wpi/SmallVector.h"
-#include "wpi/raw_ostream.h"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp
index c908401c4e..2ecc1bc94f 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/SwapByteOrder.hpp
@@ -14,8 +14,8 @@
 #ifndef WPIUTIL_WPI_SWAPBYTEORDER_H
 #define WPIUTIL_WPI_SWAPBYTEORDER_H
 
-#include "wpi/STLForwardCompat.h"
-#include "wpi/bit.h"
+#include "wpi/util/STLForwardCompat.hpp"
+#include "wpi/util/bit.hpp"
 #include <cstdint>
 #include <type_traits>
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp
index 51608fc73b..2c4e474867 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/VersionTuple.hpp
@@ -14,7 +14,7 @@
 #ifndef WPIUTIL_WPI_VERSIONTUPLE_H
 #define WPIUTIL_WPI_VERSIONTUPLE_H
 
-#include "wpi/DenseMapInfo.h"
+#include "wpi/util/DenseMapInfo.hpp"
 #include <optional>
 #include <string>
 #include <tuple>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp
index 8fa495af37..ec39bb7baf 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/bit.hpp
@@ -14,7 +14,7 @@
 #ifndef WPIUTIL_WPI_BIT_H
 #define WPIUTIL_WPI_BIT_H
 
-#include "wpi/Compiler.h"
+#include "wpi/util/Compiler.hpp"
 #include <cstdint>
 #include <limits>
 #include <type_traits>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp
index f959faca45..ca9219f44e 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator.hpp
@@ -9,7 +9,7 @@
 #ifndef WPIUTIL_WPI_ITERATOR_H
 #define WPIUTIL_WPI_ITERATOR_H
 
-#include "wpi/iterator_range.h"
+#include "wpi/util/iterator_range.hpp"
 #include <cstddef>
 #include <iterator>
 #include <type_traits>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp
index 23fe9fefbe..8ee0dc615c 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/iterator_range.hpp
@@ -18,7 +18,7 @@
 #ifndef WPIUTIL_WPI_ITERATOR_RANGE_H
 #define WPIUTIL_WPI_ITERATOR_RANGE_H
 
-#include "wpi/ADL.h"
+#include "wpi/util/ADL.hpp"
 #include <type_traits>
 #include <utility>
 
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp
index 87cd5961a1..55b0bcab3d 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_os_ostream.hpp
@@ -13,7 +13,7 @@
 #ifndef WPIUTIL_WPI_RAW_OS_OSTREAM_H
 #define WPIUTIL_WPI_RAW_OS_OSTREAM_H
 
-#include "wpi/raw_ostream.h"
+#include "wpi/util/raw_ostream.hpp"
 #include <iosfwd>
 
 namespace wpi {
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp
index 6f7072d174..b6d4a66afc 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/raw_ostream.hpp
@@ -13,7 +13,7 @@
 #ifndef WPIUTIL_WPI_RAW_OSTREAM_H
 #define WPIUTIL_WPI_RAW_OSTREAM_H
 
-#include "wpi/SmallVector.h"
+#include "wpi/util/SmallVector.hpp"
 #include <cassert>
 #include <cstddef>
 #include <cstdint>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp
index 5166f2a008..85314f5c4a 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/util/type_traits.hpp
@@ -13,7 +13,7 @@
 #ifndef WPIUTIL_WPI_TYPE_TRAITS_H
 #define WPIUTIL_WPI_TYPE_TRAITS_H
 
-#include "wpi/Compiler.h"
+#include "wpi/util/Compiler.hpp"
 #include <type_traits>
 #include <utility>
 
diff --git a/wpiutil/src/main/native/thirdparty/mpack/src/mpack.cpp b/wpiutil/src/main/native/thirdparty/mpack/src/mpack.cpp
index 1c70ae2e1f..03f6401110 100644
--- a/wpiutil/src/main/native/thirdparty/mpack/src/mpack.cpp
+++ b/wpiutil/src/main/native/thirdparty/mpack/src/mpack.cpp
@@ -32,7 +32,7 @@
 #define MPACK_INTERNAL 1
 #define MPACK_EMIT_INLINE_DEFS 0
 
-#include "wpi/mpack.h"
+#include "wpi/util/mpack.h"
 
 
 /* mpack/mpack-platform.c.c */
diff --git a/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h b/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h
index d4993d9b51..1fff1929ef 100644
--- a/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h
+++ b/wpiutil/src/main/native/thirdparty/sigslot/include/wpi/util/Signal.h
@@ -40,7 +40,7 @@ SOFTWARE.
 #include <type_traits>
 #include <utility>
 
-#include "wpi/mutex.h"
+#include "wpi/util/mutex.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/unix/Demangle.cpp b/wpiutil/src/main/native/unix/Demangle.cpp
index d376879b4c..152c0b6743 100644
--- a/wpiutil/src/main/native/unix/Demangle.cpp
+++ b/wpiutil/src/main/native/unix/Demangle.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/Demangle.h"
+#include "wpi/util/Demangle.hpp"
 
 #include <cxxabi.h>
 
 #include <cstdio>
 #include <string>
 
-#include "wpi/SmallString.h"
+#include "wpi/util/SmallString.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/unix/StackTrace.cpp b/wpiutil/src/main/native/unix/StackTrace.cpp
index ba7156e709..20413b658e 100644
--- a/wpiutil/src/main/native/unix/StackTrace.cpp
+++ b/wpiutil/src/main/native/unix/StackTrace.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/StackTrace.h"
+#include "wpi/util/StackTrace.hpp"
 
 #ifndef __EMSCRIPTEN__
 #include <execinfo.h>
@@ -10,10 +10,10 @@
 
 #include <string>
 
-#include "wpi/Demangle.h"
-#include "wpi/SmallString.h"
-#include "wpi/StringExtras.h"
-#include "wpi/raw_ostream.h"
+#include "wpi/util/Demangle.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/windows/Demangle.cpp b/wpiutil/src/main/native/windows/Demangle.cpp
index f5a51bb3bd..8c2a972d15 100644
--- a/wpiutil/src/main/native/windows/Demangle.cpp
+++ b/wpiutil/src/main/native/windows/Demangle.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/Demangle.h"
+#include "wpi/util/Demangle.hpp"
 
 #include <windows.h>  // NOLINT(build/include_order)
 
@@ -10,8 +10,8 @@
 
 #include <string>
 
-#include "wpi/SmallString.h"
-#include "wpi/mutex.h"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/mutex.hpp"
 
 #pragma comment(lib, "Dbghelp.lib")
 
diff --git a/wpiutil/src/main/native/windows/StackTrace.cpp b/wpiutil/src/main/native/windows/StackTrace.cpp
index ed7cf61afb..145b3768f1 100644
--- a/wpiutil/src/main/native/windows/StackTrace.cpp
+++ b/wpiutil/src/main/native/windows/StackTrace.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/StackTrace.h"
+#include "wpi/util/StackTrace.hpp"
 
 #include <string>
 
diff --git a/wpiutil/src/main/python/pyproject.toml b/wpiutil/src/main/python/pyproject.toml
index de6db1210e..a571826e48 100644
--- a/wpiutil/src/main/python/pyproject.toml
+++ b/wpiutil/src/main/python/pyproject.toml
@@ -67,15 +67,15 @@ depends = ["wpiutil-casters"]
 
 [tool.semiwrap.extension_modules."wpiutil._wpiutil".headers]
 # wpi
-StackTrace = "wpi/StackTrace.h"
-Synchronization = "wpi/Synchronization.h"
-RawFrame = "wpi/RawFrame.h"
+StackTrace = "wpi/util/StackTrace.hpp"
+Synchronization = "wpi/util/Synchronization.h"
+RawFrame = "wpi/util/RawFrame.h"
 
 # wpi/sendable
-Sendable = "wpi/sendable/Sendable.h"
-SendableBuilder = "wpi/sendable/SendableBuilder.h"
-#SendableHelper = "wpi/sendable/SendableHelper.h"
-SendableRegistry = "wpi/sendable/SendableRegistry.h"
+Sendable = "wpi/util/sendable/Sendable.hpp"
+SendableBuilder = "wpi/util/sendable/SendableBuilder.hpp"
+#SendableHelper = "wpi/util/sendable/SendableHelper.hpp"
+SendableRegistry = "wpi/util/sendable/SendableRegistry.hpp"
 
 WPyStruct = "src/wpistruct/wpystruct_fns.h"
 
diff --git a/wpiutil/src/main/python/semiwrap/Sendable.yml b/wpiutil/src/main/python/semiwrap/Sendable.yml
index c146a29110..e67fe280dc 100644
--- a/wpiutil/src/main/python/semiwrap/Sendable.yml
+++ b/wpiutil/src/main/python/semiwrap/Sendable.yml
@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   wpi::Sendable:
diff --git a/wpiutil/src/main/python/semiwrap/SendableRegistry.yml b/wpiutil/src/main/python/semiwrap/SendableRegistry.yml
index 65e97a169f..3c0596b6ea 100644
--- a/wpiutil/src/main/python/semiwrap/SendableRegistry.yml
+++ b/wpiutil/src/main/python/semiwrap/SendableRegistry.yml
@@ -1,6 +1,6 @@
 extra_includes:
-- wpi/sendable/Sendable.h
-- wpi/sendable/SendableBuilder.h
+- wpi/util/sendable/Sendable.hpp
+- wpi/util/sendable/SendableBuilder.hpp
 
 classes:
   wpi::SendableRegistry:
diff --git a/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp b/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp
index 97e5602295..2b902e9467 100644
--- a/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp
+++ b/wpiutil/src/main/python/wpiutil/src/stacktracehook.cpp
@@ -1,6 +1,6 @@
 
 #include <semiwrap.h>
-#include <wpi/StackTrace.h>
+#include "wpi/util/StackTrace.hpp"
 
 py::object &get_hook_ref() {
   static py::object hook;
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
index 0c3d619225..521a559b79 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
@@ -2,7 +2,7 @@
 
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h
index 702afcf52a..b028f073d4 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_ct_string_type_caster.h
@@ -3,7 +3,7 @@
 
 #include <pybind11/pybind11.h>
 
-#include <wpi/ct_string.h>
+#include "wpi/util/ct_string.hpp"
 
 namespace pybind11 {
 namespace detail {
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h
index 66c87ab713..7458b2e59b 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_json_type_caster.h
@@ -36,7 +36,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <string>
 #include <vector>
 
-#include "wpi/json.h"
+#include "wpi/util/json.hpp"
 
 #include "pybind11/pybind11.h"
 
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h
index e3c31e1611..41a712e1e7 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallset_type_caster.h
@@ -4,7 +4,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <wpi/SmallSet.h>
+#include "wpi/util/SmallSet.hpp"
 
 namespace pybind11
 {
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h
index 7c899be47b..296fd608c7 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvector_type_caster.h
@@ -4,7 +4,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
 namespace pybind11
 {
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
index 5ab35e87ef..34f03c0e16 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
@@ -3,7 +3,7 @@
 
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
 namespace pybind11
 {
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
index 99397a5cfd..513f58f12a 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
@@ -4,7 +4,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 #include <span>
 
 namespace pybind11 {
diff --git a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h
index 6ffc2eb724..fa377b56fd 100644
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_string_map_caster.h
@@ -4,7 +4,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include <wpi/StringMap.h>
+#include "wpi/util/StringMap.hpp"
 
 namespace pybind11
 {
diff --git a/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h b/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h
index f9b3876c89..452bacaf26 100644
--- a/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h
+++ b/wpiutil/src/main/python/wpiutil/src/wpistruct/wpystruct.h
@@ -6,7 +6,7 @@
 #include <string_view>
 
 #include <fmt/format.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/struct/Struct.hpp"
 
 #include <pybind11/functional.h>
 #include <pybind11/typing.h>
diff --git a/wpiutil/src/test/native/cpp/ArrayTest.cpp b/wpiutil/src/test/native/cpp/ArrayTest.cpp
index ccc86d4762..f1b087b78c 100644
--- a/wpiutil/src/test/native/cpp/ArrayTest.cpp
+++ b/wpiutil/src/test/native/cpp/ArrayTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/array.h"
+#include "wpi/util/array.hpp"
 
 namespace {
 class MoveOnlyType {
diff --git a/wpiutil/src/test/native/cpp/Base64Test.cpp b/wpiutil/src/test/native/cpp/Base64Test.cpp
index b7ce945c58..1f7e797b76 100644
--- a/wpiutil/src/test/native/cpp/Base64Test.cpp
+++ b/wpiutil/src/test/native/cpp/Base64Test.cpp
@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/Base64.h"
-#include "wpi/SmallString.h"
+#include "wpi/util/Base64.hpp"
+#include "wpi/util/SmallString.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/test/native/cpp/CircularBufferTest.cpp b/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
index 07f050d313..acd134dc80 100644
--- a/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
+++ b/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/circular_buffer.h"  // NOLINT(build/include_order)
+#include "wpi/util/circular_buffer.hpp"  // NOLINT(build/include_order)
 
 #include <array>
 
diff --git a/wpiutil/src/test/native/cpp/FastQueueTest.cpp b/wpiutil/src/test/native/cpp/FastQueueTest.cpp
index 060cf355f7..503760057c 100644
--- a/wpiutil/src/test/native/cpp/FastQueueTest.cpp
+++ b/wpiutil/src/test/native/cpp/FastQueueTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/FastQueue.h"
+#include "wpi/util/FastQueue.hpp"
 
 TEST(FastQueueTest, Basic) {
   wpi::FastQueue<int> q;
diff --git a/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp b/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp
index 4479da5914..59b84a7605 100644
--- a/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp
+++ b/wpiutil/src/test/native/cpp/InterpolatingMapTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/interpolating_map.h"  // NOLINT(build/include_order)
+#include "wpi/util/interpolating_map.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/test/native/cpp/ScopeExitTest.cpp b/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
index 14cad45b8c..d32d8d5268 100644
--- a/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
+++ b/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/scope"
+#include "wpi/util/scope"
 
 TEST(ScopeExitTest, ScopeExit) {
   int exitCount = 0;
diff --git a/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp b/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp
index 23c7eb99d2..150ff1714c 100644
--- a/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp
+++ b/wpiutil/src/test/native/cpp/StaticCircularBufferTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/static_circular_buffer.h"  // NOLINT(build/include_order)
+#include "wpi/util/static_circular_buffer.hpp"  // NOLINT(build/include_order)
 
 #include <array>
 
diff --git a/wpiutil/src/test/native/cpp/StringExtrasTest.cpp b/wpiutil/src/test/native/cpp/StringExtrasTest.cpp
index ac61dba027..da1e4613d2 100644
--- a/wpiutil/src/test/native/cpp/StringExtrasTest.cpp
+++ b/wpiutil/src/test/native/cpp/StringExtrasTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/StringExtras.h"
+#include "wpi/util/StringExtras.hpp"
 
 TEST(StringExtrasTest, RemovePrefix) {
   std::string_view original = "wpilib";
diff --git a/wpiutil/src/test/native/cpp/StringMapTest.cpp b/wpiutil/src/test/native/cpp/StringMapTest.cpp
index 69da187c5a..b8f99d5ac3 100644
--- a/wpiutil/src/test/native/cpp/StringMapTest.cpp
+++ b/wpiutil/src/test/native/cpp/StringMapTest.cpp
@@ -10,7 +10,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/StringMap.h"  // NOLINT(build/include_order)
+#include "wpi/util/StringMap.hpp"  // NOLINT(build/include_order)
 
 #include <string>
 #include <tuple>
diff --git a/wpiutil/src/test/native/cpp/SynchronizationTest.cpp b/wpiutil/src/test/native/cpp/SynchronizationTest.cpp
index 70d6d132e0..39529c4a57 100644
--- a/wpiutil/src/test/native/cpp/SynchronizationTest.cpp
+++ b/wpiutil/src/test/native/cpp/SynchronizationTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/Synchronization.h"  // NOLINT(build/include_order)
+#include "wpi/util/Synchronization.h"  // NOLINT(build/include_order)
 
 #include <thread>
 
diff --git a/wpiutil/src/test/native/cpp/UidVectorTest.cpp b/wpiutil/src/test/native/cpp/UidVectorTest.cpp
index 724afced52..626b5d0565 100644
--- a/wpiutil/src/test/native/cpp/UidVectorTest.cpp
+++ b/wpiutil/src/test/native/cpp/UidVectorTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/UidVector.h"  // NOLINT(build/include_order)
+#include "wpi/util/UidVector.hpp"  // NOLINT(build/include_order)
 
 #include <vector>
 
diff --git a/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp b/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp
index 8b35b9746b..6716ed6b3e 100644
--- a/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp
+++ b/wpiutil/src/test/native/cpp/UnescapeCStringTest.cpp
@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/SmallString.h"
-#include "wpi/StringExtras.h"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/StringExtras.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp b/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
index a0388a8439..a715178247 100644
--- a/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
+++ b/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/argparse.h"
+#include "wpi/util/argparse.hpp"
 
 TEST(ArgparseTest, Basic) {
   wpi::ArgumentParser program("ArgparseTest");
diff --git a/wpiutil/src/test/native/cpp/ct_string_test.cpp b/wpiutil/src/test/native/cpp/ct_string_test.cpp
index 6c3c7d0ef7..13345c2418 100644
--- a/wpiutil/src/test/native/cpp/ct_string_test.cpp
+++ b/wpiutil/src/test/native/cpp/ct_string_test.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/ct_string.h"  // NOLINT(build/include_order)
+#include "wpi/util/ct_string.hpp"  // NOLINT(build/include_order)
 
 #include <string>
 #include <string_view>
diff --git a/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp b/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
index 8d7bc583b5..4cc0647ae2 100644
--- a/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
+++ b/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
@@ -9,7 +9,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/expected"
+#include "wpi/util/expected"
 
 namespace {
 struct TakesInitAndVariadic {
diff --git a/wpiutil/src/test/native/cpp/future_test.cpp b/wpiutil/src/test/native/cpp/future_test.cpp
index aad45ea490..eb95e2ef27 100644
--- a/wpiutil/src/test/native/cpp/future_test.cpp
+++ b/wpiutil/src/test/native/cpp/future_test.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/future.h"  // NOLINT(build/include_order)
+#include "wpi/util/future.hpp"  // NOLINT(build/include_order)
 
 #include <utility>
 
diff --git a/wpiutil/src/test/native/cpp/llvm/Chrono.cpp b/wpiutil/src/test/native/cpp/llvm/Chrono.cpp
index 1a8369ff98..ea6e0cab90 100644
--- a/wpiutil/src/test/native/cpp/llvm/Chrono.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/Chrono.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/Chrono.h"
+#include "wpi/util/Chrono.hpp"
 #include "gtest/gtest.h"
 
 using namespace wpi;
diff --git a/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp b/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp
index 3ea7ab0ec9..54efb078f5 100644
--- a/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/ConvertUTFTest.cpp
@@ -6,9 +6,9 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/ConvertUTF.h"
-#include "wpi/SmallString.h"
-#include "wpi/SmallVector.h"
+#include "wpi/util/ConvertUTF.hpp"
+#include "wpi/util/SmallString.hpp"
+#include "wpi/util/SmallVector.hpp"
 #include "gtest/gtest.h"
 #include <string>
 #include <vector>
diff --git a/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp b/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp
index 985efefe64..6e402492bb 100644
--- a/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/CountCopyAndMove.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "CountCopyAndMove.h"
+#include "CountCopyAndMove.hpp"
 
 using namespace wpi;
 
diff --git a/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp b/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp
index 2358a38f70..985a4394d2 100644
--- a/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/DenseMapTest.cpp
@@ -10,10 +10,10 @@
 #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
 #endif
 
-#include "wpi/DenseMap.h"
-#include "CountCopyAndMove.h"
-#include "wpi/DenseMapInfo.h"
-#include "wpi/DenseMapInfoVariant.h"
+#include "wpi/util/DenseMap.hpp"
+#include "CountCopyAndMove.hpp"
+#include "wpi/util/DenseMapInfo.hpp"
+#include "wpi/util/DenseMapInfoVariant.hpp"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 #include <map>
diff --git a/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp b/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp
index 6784747c50..9da712e705 100644
--- a/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/EndianTest.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/Endian.h"
+#include "wpi/util/Endian.hpp"
 #include "gtest/gtest.h"
 #include <cstdlib>
 #include <ctime>
diff --git a/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp b/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp
index fed8ad61c0..bdd930cb6f 100644
--- a/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/ErrnoTest.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/Errno.h"
+#include "wpi/util/Errno.hpp"
 #include "gtest/gtest.h"
 
 using namespace wpi::sys;
diff --git a/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp b/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
index abea66842f..475161020b 100644
--- a/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
@@ -6,8 +6,8 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/FunctionExtras.h"
-#include "CountCopyAndMove.h"
+#include "wpi/util/FunctionExtras.hpp"
+#include "CountCopyAndMove.hpp"
 #include "gtest/gtest.h"
 
 #include <memory>
diff --git a/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp b/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp
index 37f87fadde..f8b287779d 100644
--- a/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/MathExtrasTest.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/MathExtras.h"
+#include "wpi/util/MathExtras.hpp"
 #include "gtest/gtest.h"
 #include <limits>
 
diff --git a/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp b/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp
index 03e22e1fba..96ee779375 100644
--- a/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/PointerIntPairTest.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/PointerIntPair.h"
+#include "wpi/util/PointerIntPair.hpp"
 #include "gtest/gtest.h"
 #include <limits>
 using namespace wpi;
diff --git a/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp b/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp
index 1bc2033895..95b28d7577 100644
--- a/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/PointerUnionTest.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/PointerUnion.h"
+#include "wpi/util/PointerUnion.hpp"
 #include "gtest/gtest.h"
 using namespace wpi;
 
diff --git a/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp b/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp
index 24f4d0c6fe..9fb5f1991a 100644
--- a/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/STLForwardCompatTest.cpp
@@ -6,8 +6,8 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/STLForwardCompat.h"
-#include "CountCopyAndMove.h"
+#include "wpi/util/STLForwardCompat.hpp"
+#include "CountCopyAndMove.hpp"
 #include "gtest/gtest.h"
 
 namespace {
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp
index 316f3a658b..fee4108e10 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallPtrSetTest.cpp
@@ -10,9 +10,9 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/SmallPtrSet.h"
-#include "wpi/PointerIntPair.h"
-#include "wpi/PointerLikeTypeTraits.h"
+#include "wpi/util/SmallPtrSet.hpp"
+#include "wpi/util/PointerIntPair.hpp"
+#include "wpi/util/PointerLikeTypeTraits.hpp"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp
index 8565d6602c..99626b2cc2 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallSetTest.cpp
@@ -10,7 +10,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/SmallSet.h"
+#include "wpi/util/SmallSet.hpp"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 #include <algorithm>
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp
index afb155ae4c..454d8566b9 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallStringTest.cpp
@@ -10,7 +10,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/SmallString.h"
+#include "wpi/util/SmallString.hpp"
 #include "gtest/gtest.h"
 #include <climits>
 #include <cstring>
diff --git a/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp b/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp
index 53a941ccc5..9b0d54d551 100644
--- a/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SmallVectorTest.cpp
@@ -10,8 +10,8 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/SmallVector.h"
-#include "wpi/Compiler.h"
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/Compiler.hpp"
 #include "gtest/gtest.h"
 #include <array>
 #include <list>
diff --git a/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp b/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp
index 23ad2aba7e..35301cc9ce 100644
--- a/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp
+++ b/wpiutil/src/test/native/cpp/llvm/SwapByteOrderTest.cpp
@@ -6,7 +6,7 @@
 //
 //===----------------------------------------------------------------------===//
 
-#include "wpi/SwapByteOrder.h"
+#include "wpi/util/SwapByteOrder.hpp"
 #include "gtest/gtest.h"
 #include <cstdlib>
 #include <ctime>
diff --git a/wpiutil/src/test/native/cpp/priority_mutex_test.cpp b/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
index 8e2ec3eafe..0f57886de5 100644
--- a/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
+++ b/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/priority_mutex.h>  // NOLINT(build/include_order)
+#include "wpi/util/priority_mutex.hpp"  // NOLINT(build/include_order)
 
 #include <atomic>
 #include <condition_variable>
diff --git a/wpiutil/src/test/native/cpp/proto/TestProto.cpp b/wpiutil/src/test/native/cpp/proto/TestProto.cpp
index a1b972ebec..a0f4bfc500 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProto.cpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProto.cpp
@@ -8,8 +8,8 @@
 
 #include <gtest/gtest.h>
 
-#include "TestProtoInner.h"
-#include "wpi/protobuf/ProtobufCallbacks.h"
+#include "TestProtoInner.hpp"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpiutil.npb.h"
 
 struct TestProto {
diff --git a/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp b/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp
index 9fb12d8f2f..2f6b6894a4 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProtoInner.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "TestProtoInner.h"
+#include "TestProtoInner.hpp"
 
 #include <string>
 #include <utility>
 
 #include <gtest/gtest.h>
 
-#include "wpi/protobuf/ProtobufCallbacks.h"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpiutil.npb.h"
 
 std::optional<TestProtoInner> wpi::Protobuf<TestProtoInner>::Unpack(
diff --git a/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp b/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp
index 37a88e71c5..5ab0573eb4 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProtoInner.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 #include <string>
 
diff --git a/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp b/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp
index b4e1107eba..638d034042 100644
--- a/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp
+++ b/wpiutil/src/test/native/cpp/proto/TestProtoRepeated.cpp
@@ -8,8 +8,8 @@
 
 #include <gtest/gtest.h>
 
-#include "TestProtoInner.h"
-#include "wpi/protobuf/ProtobufCallbacks.h"
+#include "TestProtoInner.hpp"
+#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
 #include "wpiutil.npb.h"
 
 struct RepeatedTestProto {
diff --git a/wpiutil/src/test/native/cpp/rotated_span_test.cpp b/wpiutil/src/test/native/cpp/rotated_span_test.cpp
index e2596bad6e..02752d6666 100644
--- a/wpiutil/src/test/native/cpp/rotated_span_test.cpp
+++ b/wpiutil/src/test/native/cpp/rotated_span_test.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/rotated_span.h"  // NOLINT(build/include_order)
+#include "wpi/util/rotated_span.hpp"  // NOLINT(build/include_order)
 
 #include <array>
 #include <vector>
diff --git a/wpiutil/src/test/native/cpp/sha1Test.cpp b/wpiutil/src/test/native/cpp/sha1Test.cpp
index 814e47edc4..1af32c4961 100644
--- a/wpiutil/src/test/native/cpp/sha1Test.cpp
+++ b/wpiutil/src/test/native/cpp/sha1Test.cpp
@@ -23,7 +23,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/sha1.h"
+#include "wpi/util/sha1.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp b/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp
index 9901488876..a4e1b2d871 100644
--- a/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/function-traits.cpp
@@ -31,7 +31,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
  */
 
-#include "wpi/Signal.h"  // NOLINT(build/include_order)
+#include "wpi/util/Signal.h"  // NOLINT(build/include_order)
 
 #include <type_traits>
 
diff --git a/wpiutil/src/test/native/cpp/sigslot/recursive.cpp b/wpiutil/src/test/native/cpp/sigslot/recursive.cpp
index 6d35f78faf..ce63b4717e 100644
--- a/wpiutil/src/test/native/cpp/sigslot/recursive.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/recursive.cpp
@@ -31,7 +31,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
  */
 
-#include "wpi/Signal.h"  // NOLINT(build/include_order)
+#include "wpi/util/Signal.h"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp b/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp
index e863ca6d2d..290ee71466 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal-extended.cpp
@@ -31,7 +31,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
  */
 
-#include "wpi/Signal.h"  // NOLINT(build/include_order)
+#include "wpi/util/Signal.h"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp b/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp
index 15dc3a89d8..76abf0cba1 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal-threaded.cpp
@@ -31,7 +31,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
  */
 
-#include "wpi/Signal.h"  // NOLINT(build/include_order)
+#include "wpi/util/Signal.h"  // NOLINT(build/include_order)
 
 #include <array>
 #include <atomic>
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp b/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
index 956f4660e5..21ec4e5d09 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
@@ -31,7 +31,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
  */
 
-#include "wpi/Signal.h"  // NOLINT(build/include_order)
+#include "wpi/util/Signal.h"  // NOLINT(build/include_order)
 
 #include <cmath>
 #include <memory>
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal.cpp b/wpiutil/src/test/native/cpp/sigslot/signal.cpp
index 5886ae931a..936f2ce696 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal.cpp
@@ -31,7 +31,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
  */
 
-#include "wpi/Signal.h"  // NOLINT(build/include_order)
+#include "wpi/util/Signal.h"  // NOLINT(build/include_order)
 
 #include <cmath>
 #include <sstream>
diff --git a/wpiutil/src/test/native/cpp/spinlock_bench.cpp b/wpiutil/src/test/native/cpp/spinlock_bench.cpp
index 251780a253..14d982b8c3 100644
--- a/wpiutil/src/test/native/cpp/spinlock_bench.cpp
+++ b/wpiutil/src/test/native/cpp/spinlock_bench.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/spinlock.h"  // NOLINT(build/include_order)
+#include "wpi/util/spinlock.hpp"  // NOLINT(build/include_order)
 
 #include <chrono>
 #include <mutex>
@@ -10,8 +10,8 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/mutex.h"
-#include "wpi/print.h"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/print.hpp"
 
 static std::mutex std_mutex;
 static std::recursive_mutex std_recursive_mutex;
diff --git a/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp b/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
index d7929e1744..955871c1ec 100644
--- a/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
+++ b/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/struct/DynamicStruct.h"  // NOLINT(build/include_order)
+#include "wpi/util/struct/DynamicStruct.hpp"  // NOLINT(build/include_order)
 
 #include <stdint.h>
 
diff --git a/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp b/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp
index bf241419a0..18c2be50ea 100644
--- a/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp
+++ b/wpiutil/src/test/native/cpp/struct/SchemaParserTest.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/struct/SchemaParser.h"  // NOLINT(build/include_order)
+#include "wpi/util/struct/SchemaParser.hpp"  // NOLINT(build/include_order)
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp b/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp
index 8930c9acf0..583f8993c5 100644
--- a/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp
+++ b/wpiutil/src/test/native/include/wpi/util/SpanMatcher.hpp
@@ -15,7 +15,7 @@
 
 #include <gmock/gmock.h>
 
-#include "wpi/TestPrinters.h"
+#include "wpi/util/TestPrinters.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp b/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp
index 72d7da37ca..1ae78ebeef 100644
--- a/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp
+++ b/wpiutil/src/test/native/include/wpi/util/TestPrinters.hpp
@@ -11,7 +11,7 @@
 
 #include <gtest/gtest.h>
 
-#include "wpi/json.h"
+#include "wpi/util/json.hpp"
 
 namespace wpi {
 
diff --git a/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp b/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp
index bc15a6053f..4d6cb87a31 100644
--- a/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp
+++ b/wpiutil/src/test/python/cpp/wpiutil_test/sendable_test.cpp
@@ -2,8 +2,8 @@
 #include <pybind11/functional.h>
 #include <pybind11/stl.h>
 #include <semiwrap.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
 class MySendableBuilder : public wpi::SendableBuilder {
 public:
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
index a312ab4189..1876e91c16 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/xrp/XRPGyro.h"
+#include "wpi/xrp/XRPGyro.hpp"
 
-#include <units/angle.h>
-#include <units/angular_velocity.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 using namespace frc;
 
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
index 4e63f49610..b3b96c022d 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/xrp/XRPMotor.h"
+#include "wpi/xrp/XRPMotor.hpp"
 
-#include <frc/Errors.h>
+#include "wpi/system/Errors.hpp"
 
 #include <map>
 #include <set>
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp
index c1d4b6a58c..d7039a098f 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp
@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/xrp/XRPOnBoardIO.h"
+#include "wpi/xrp/XRPOnBoardIO.hpp"
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalOutput.h>
-#include <frc/Errors.h>
-#include <frc/Timer.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
+#include "wpi/system/Errors.hpp"
+#include "wpi/system/Timer.hpp"
 
 using namespace frc;
 
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp
index c1222bde05..2704ff3a6c 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/xrp/XRPRangefinder.h"
+#include "wpi/xrp/XRPRangefinder.hpp"
 
 using namespace frc;
 
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp
index 5f8177476c..b38d3c7da9 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp
@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/xrp/XRPReflectanceSensor.h"
+#include "wpi/xrp/XRPReflectanceSensor.hpp"
 
 using namespace frc;
 
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
index 5637ce4e2e..bb47c40173 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/xrp/XRPServo.h"
+#include "wpi/xrp/XRPServo.hpp"
 
-#include <frc/Errors.h>
+#include "wpi/system/Errors.hpp"
 
 #include <map>
 #include <numbers>
 #include <set>
 #include <string>
 
-#include <units/angle.h>
+#include "wpi/units/angle.hpp"
 
 using namespace frc;
 
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp
index dbd2c1f1d7..f28e8f6acd 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPGyro.hpp
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <frc/geometry/Rotation2d.h>
+#include "wpi/math/geometry/Rotation2d.hpp"
 
-#include <hal/SimDevice.h>
-#include <units/angle.h>
-#include <units/angular_velocity.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 namespace frc {
 
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
index 59c049f70d..8d06d59f8d 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPMotor.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <frc/MotorSafety.h>
-#include <frc/motorcontrol/MotorController.h>
+#include "wpi/hardware/motor/MotorSafety.hpp"
+#include "wpi/hardware/motor/MotorController.hpp"
 
 #include <map>
 #include <set>
 #include <string>
 
-#include <hal/SimDevice.h>
-#include <wpi/deprecated.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/util/deprecated.hpp"
 
 namespace frc {
 
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp
index 48d5be173d..e5cb17529b 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPOnBoardIO.hpp
@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalOutput.h>
+#include "wpi/hardware/discrete/DigitalInput.hpp"
+#include "wpi/hardware/discrete/DigitalOutput.hpp"
 
 #include <memory>
 
-#include <units/time.h>
+#include "wpi/units/time.hpp"
 
 namespace frc {
 
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp
index 80f76166b4..ae343750cd 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPRangefinder.hpp
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <frc/AnalogInput.h>
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
-#include <units/length.h>
+#include "wpi/units/length.hpp"
 
 namespace frc {
 
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp
index f3411bbc92..cd774f4691 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPReflectanceSensor.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc/AnalogInput.h>
+#include "wpi/hardware/discrete/AnalogInput.hpp"
 
 namespace frc {
 
diff --git a/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp b/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp
index 653a16a072..fbec073ede 100644
--- a/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp
+++ b/xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp
@@ -8,8 +8,8 @@
 #include <set>
 #include <string>
 
-#include <hal/SimDevice.h>
-#include <units/angle.h>
+#include "wpi/hal/SimDevice.h"
+#include "wpi/units/angle.hpp"
 
 namespace frc {
 
diff --git a/xrpVendordep/src/main/python/pyproject.toml b/xrpVendordep/src/main/python/pyproject.toml
index 33a6c9b0e1..ba2b4a4438 100644
--- a/xrpVendordep/src/main/python/pyproject.toml
+++ b/xrpVendordep/src/main/python/pyproject.toml
@@ -58,9 +58,9 @@ depends = ["wpilib", "wpimath_geometry"]
 
 [tool.semiwrap.extension_modules."xrp._xrp".headers]
 # frc/xrp
-XRPGyro = "frc/xrp/XRPGyro.h"
-XRPMotor = "frc/xrp/XRPMotor.h"
-XRPOnBoardIO = "frc/xrp/XRPOnBoardIO.h"
-XRPRangefinder = "frc/xrp/XRPRangefinder.h"
-XRPReflectanceSensor = "frc/xrp/XRPReflectanceSensor.h"
-XRPServo = "frc/xrp/XRPServo.h"
+XRPGyro = "wpi/xrp/XRPGyro.hpp"
+XRPMotor = "wpi/xrp/XRPMotor.hpp"
+XRPOnBoardIO = "wpi/xrp/XRPOnBoardIO.hpp"
+XRPRangefinder = "wpi/xrp/XRPRangefinder.hpp"
+XRPReflectanceSensor = "wpi/xrp/XRPReflectanceSensor.hpp"
+XRPServo = "wpi/xrp/XRPServo.hpp"