SCRIPT namespace replacements

apriltag/src/dev/native/cpp/main.cpp

@@ -5,7 +5,7 @@
 #include "wpi/apriltag/AprilTagDetector.hpp"
 
 int main() {
-  frc::AprilTagDetector detector;
+  wpi::apriltag::AprilTagDetector detector;
   detector.AddFamily("tag16h5");
   detector.SetConfig({.refineEdges = false});
 }

apriltag/src/main/native/cpp/AprilTag.cpp

@@ -20,9 +20,9 @@
 #include "tag16h5.h"
 #include "tag36h11.h"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
-static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
+static bool FamilyToImage(wpi::util::RawFrame* frame, apriltag_family_t* family,
                           int id) {
   image_u8_t* image = apriltag_to_image(family, id);
   size_t totalDataSize = image->height * image->stride;
@@ -37,25 +37,25 @@ static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
   return rv;
 }
 
-bool AprilTag::Generate36h11AprilTagImage(wpi::RawFrame* frame, int id) {
+bool AprilTag::Generate36h11AprilTagImage(wpi::util::RawFrame* frame, int id) {
   apriltag_family_t* tagFamily = tag36h11_create();
   bool rv = FamilyToImage(frame, tagFamily, id);
   tag36h11_destroy(tagFamily);
   return rv;
 }
 
-bool AprilTag::Generate16h5AprilTagImage(wpi::RawFrame* frame, int id) {
+bool AprilTag::Generate16h5AprilTagImage(wpi::util::RawFrame* frame, int id) {
   apriltag_family_t* tagFamily = tag16h5_create();
   bool rv = FamilyToImage(frame, tagFamily, id);
   tag16h5_destroy(tagFamily);
   return rv;
 }
 
-void frc::to_json(wpi::json& json, const AprilTag& apriltag) {
-  json = wpi::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
+void wpi::apriltag::to_json(wpi::util::json& json, const AprilTag& apriltag) {
+  json = wpi::util::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
 }
 
-void frc::from_json(const wpi::json& json, AprilTag& apriltag) {
+void wpi::apriltag::from_json(const wpi::util::json& json, AprilTag& apriltag) {
   apriltag.ID = json.at("ID").get<int>();
-  apriltag.pose = json.at("pose").get<Pose3d>();
+  apriltag.pose = json.at("pose").get<wpi::math::Pose3d>();
 }

apriltag/src/main/native/cpp/AprilTagDetection.cpp

@@ -16,7 +16,7 @@
 
 #include "apriltag.h"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 static_assert(sizeof(AprilTagDetection) == sizeof(apriltag_detection_t),
               "structure sizes don't match");

apriltag/src/main/native/cpp/AprilTagDetector.cpp

@@ -19,7 +19,7 @@
 #include "tag16h5.h"
 #include "tag36h11.h"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 AprilTagDetector::Results::Results(void* impl, const private_init&)
     : span{reinterpret_cast<AprilTagDetection**>(

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -14,26 +14,26 @@
 #include "wpi/util/json.hpp"
 #include "wpi/util/raw_ostream.hpp"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(path);
   if (!fileBuffer) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
+  wpi::util::json json = wpi::util::json::parse(fileBuffer.value()->GetCharBuffer());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
   }
-  m_fieldWidth = units::meter_t{json.at("field").at("width").get<double>()};
-  m_fieldLength = units::meter_t{json.at("field").at("length").get<double>()};
+  m_fieldWidth = wpi::units::meter_t{json.at("field").at("width").get<double>()};
+  m_fieldLength = wpi::units::meter_t{json.at("field").at("length").get<double>()};
 }
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                                         units::meter_t fieldLength,
-                                         units::meter_t fieldWidth)
+                                         wpi::units::meter_t fieldLength,
+                                         wpi::units::meter_t fieldWidth)
     : m_fieldLength(std::move(fieldLength)),
       m_fieldWidth(std::move(fieldWidth)) {
   for (const auto& tag : apriltags) {
@@ -41,11 +41,11 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
-units::meter_t AprilTagFieldLayout::GetFieldLength() const {
+wpi::units::meter_t AprilTagFieldLayout::GetFieldLength() const {
   return m_fieldLength;
 }
 
-units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
+wpi::units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
   return m_fieldWidth;
 }
 
@@ -61,26 +61,26 @@ std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
 void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
   switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:
-      SetOrigin(Pose3d{});
+      SetOrigin(wpi::math::Pose3d{});
       break;
     case OriginPosition::kRedAllianceWallRightSide:
-      SetOrigin(Pose3d{Translation3d{m_fieldLength, m_fieldWidth, 0_m},
-                       Rotation3d{0_deg, 0_deg, 180_deg}});
+      SetOrigin(wpi::math::Pose3d{wpi::math::Translation3d{m_fieldLength, m_fieldWidth, 0_m},
+                       wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}});
       break;
     default:
       throw std::invalid_argument("Invalid origin");
   }
 }
 
-void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
+void AprilTagFieldLayout::SetOrigin(const wpi::math::Pose3d& origin) {
   m_origin = origin;
 }
 
-Pose3d AprilTagFieldLayout::GetOrigin() const {
+wpi::math::Pose3d AprilTagFieldLayout::GetOrigin() const {
   return m_origin;
 }
 
-std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
+std::optional<wpi::math::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
   const auto& it = m_apriltags.find(ID);
   if (it == m_apriltags.end()) {
     return std::nullopt;
@@ -91,43 +91,43 @@ std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
 void AprilTagFieldLayout::Serialize(std::string_view path) {
   std::error_code error_code;
 
-  wpi::raw_fd_ostream output{path, error_code};
+  wpi::util::raw_fd_ostream output{path, error_code};
   if (error_code) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = *this;
+  wpi::util::json json = *this;
   output << json;
   output.flush();
 }
 
-void frc::to_json(wpi::json& json, const AprilTagFieldLayout& layout) {
+void wpi::apriltag::to_json(wpi::util::json& json, const AprilTagFieldLayout& layout) {
   std::vector<AprilTag> tagVector;
   tagVector.reserve(layout.m_apriltags.size());
   for (const auto& pair : layout.m_apriltags) {
     tagVector.push_back(pair.second);
   }
 
-  json = wpi::json{{"field",
+  json = wpi::util::json{{"field",
                     {{"length", layout.m_fieldLength.value()},
                      {"width", layout.m_fieldWidth.value()}}},
                    {"tags", tagVector}};
 }
 
-void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
+void wpi::apriltag::from_json(const wpi::util::json& json, AprilTagFieldLayout& layout) {
   layout.m_apriltags.clear();
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     layout.m_apriltags[tag.ID] = tag;
   }
 
   layout.m_fieldLength =
-      units::meter_t{json.at("field").at("length").get<double>()};
+      wpi::units::meter_t{json.at("field").at("length").get<double>()};
   layout.m_fieldWidth =
-      units::meter_t{json.at("field").at("width").get<double>()};
+      wpi::units::meter_t{json.at("field").at("width").get<double>()};
 }
 
 // Use namespace declaration for forward declaration
-namespace frc {
+namespace wpi::apriltag {
 
 // C++ generated from resource files
 std::string_view GetResource_2022_rapidreact_json();
@@ -136,7 +136,7 @@ std::string_view GetResource_2024_crescendo_json();
 std::string_view GetResource_2025_reefscape_welded_json();
 std::string_view GetResource_2025_reefscape_andymark_json();
 
-}  // namespace frc
+}  // namespace wpi::apriltag
 
 AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
   std::string_view fieldString;
@@ -160,10 +160,10 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
       throw std::invalid_argument("Invalid Field");
   }
 
-  wpi::json json = wpi::json::parse(fieldString);
+  wpi::util::json json = wpi::util::json::parse(fieldString);
   return json.get<AprilTagFieldLayout>();
 }
 
-AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
+AprilTagFieldLayout wpi::apriltag::LoadAprilTagLayoutField(AprilTagField field) {
   return AprilTagFieldLayout::LoadField(field);
 }

apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp

@@ -6,7 +6,7 @@
 
 #include <algorithm>
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 double AprilTagPoseEstimate::GetAmbiguity() const {
   auto min = (std::min)(error1, error2);

apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp

@@ -19,7 +19,7 @@
 #include "apriltag.h"
 #include "apriltag_pose.h"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 static Eigen::Matrix3d OrthogonalizeRotationMatrix(
     const Eigen::Matrix3d& input) {
@@ -42,14 +42,14 @@ static Eigen::Matrix3d OrthogonalizeRotationMatrix(
   return Q;
 }
 
-static Transform3d MakePose(const apriltag_pose_t& pose) {
+static wpi::math::Transform3d MakePose(const apriltag_pose_t& pose) {
   if (!pose.R || !pose.t) {
     return {};
   }
-  return {Translation3d{units::meter_t{pose.t->data[0]},
-                        units::meter_t{pose.t->data[1]},
-                        units::meter_t{pose.t->data[2]}},
-          Rotation3d{OrthogonalizeRotationMatrix(
+  return {wpi::math::Translation3d{wpi::units::meter_t{pose.t->data[0]},
+                        wpi::units::meter_t{pose.t->data[1]},
+                        wpi::units::meter_t{pose.t->data[2]}},
+          wpi::math::Rotation3d{OrthogonalizeRotationMatrix(
               Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
                   pose.R->data})}};
 }
@@ -80,7 +80,7 @@ static apriltag_detection_t MakeBasicDet(
   return detection;
 }
 
-static Transform3d DoEstimateHomography(
+static wpi::math::Transform3d DoEstimateHomography(
     const apriltag_detection_t* detection,
     const AprilTagPoseEstimator::Config& config) {
   auto info = MakeDetectionInfo(detection, config);
@@ -89,13 +89,13 @@ static Transform3d DoEstimateHomography(
   return MakePose(pose);
 }
 
-Transform3d AprilTagPoseEstimator::EstimateHomography(
+wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
     const AprilTagDetection& detection) const {
   return DoEstimateHomography(
       reinterpret_cast<const apriltag_detection_t*>(&detection), m_config);
 }
 
-Transform3d AprilTagPoseEstimator::EstimateHomography(
+wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
     std::span<const double, 9> homography) const {
   auto detection = MakeBasicDet(homography, nullptr);
   auto rv = DoEstimateHomography(&detection, m_config);
@@ -130,7 +130,7 @@ AprilTagPoseEstimate AprilTagPoseEstimator::EstimateOrthogonalIteration(
   return rv;
 }
 
-static Transform3d DoEstimate(const apriltag_detection_t* detection,
+static wpi::math::Transform3d DoEstimate(const apriltag_detection_t* detection,
                               const AprilTagPoseEstimator::Config& config) {
   auto info = MakeDetectionInfo(detection, config);
   apriltag_pose_t pose;
@@ -138,13 +138,13 @@ static Transform3d DoEstimate(const apriltag_detection_t* detection,
   return MakePose(pose);
 }
 
-Transform3d AprilTagPoseEstimator::Estimate(
+wpi::math::Transform3d AprilTagPoseEstimator::Estimate(
     const AprilTagDetection& detection) const {
   return DoEstimate(reinterpret_cast<const apriltag_detection_t*>(&detection),
                     m_config);
 }
 
-Transform3d AprilTagPoseEstimator::Estimate(
+wpi::math::Transform3d AprilTagPoseEstimator::Estimate(
     std::span<const double, 9> homography,
     std::span<const double, 8> corners) const {
   auto detection = MakeBasicDet(homography, &corners);

apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp

@@ -16,8 +16,8 @@
 #include "wpi/apriltag/AprilTagDetector.hpp"
 #include "wpi/apriltag/AprilTagPoseEstimator.hpp"
 
-using namespace frc;
-using namespace wpi::java;
+using namespace wpi::apriltag;
+using namespace wpi::util::java;
 
 static JavaVM* jvm = nullptr;
 
@@ -162,7 +162,7 @@ static AprilTagDetector::QuadThresholdParameters FromJavaDetectorQTP(
   return {
       FIELD(int, Int, minClusterPixels),
       FIELD(int, Int, maxNumMaxima),
-      .criticalAngle = units::radian_t{static_cast<double>(
+      .criticalAngle = wpi::units::radian_t{static_cast<double>(
           env->GetDoubleField(jparams, criticalAngleField))},
       FIELD(float, Float, maxLineFitMSE),
       FIELD(int, Int, minWhiteBlackDiff),
@@ -256,7 +256,7 @@ static jobject MakeJObject(
                         static_cast<jboolean>(params.deglitch));
 }
 
-static jobject MakeJObject(JNIEnv* env, const Translation3d& xlate) {
+static jobject MakeJObject(JNIEnv* env, const wpi::math::Translation3d& xlate) {
   static jmethodID constructor =
       env->GetMethodID(translation3dCls, "<init>", "(DDD)V");
   if (!constructor) {
@@ -268,7 +268,7 @@ static jobject MakeJObject(JNIEnv* env, const Translation3d& xlate) {
       static_cast<jdouble>(xlate.Y()), static_cast<jdouble>(xlate.Z()));
 }
 
-static jobject MakeJObject(JNIEnv* env, const Quaternion& q) {
+static jobject MakeJObject(JNIEnv* env, const wpi::math::Quaternion& q) {
   static jmethodID constructor =
       env->GetMethodID(quaternionCls, "<init>", "(DDDD)V");
   if (!constructor) {
@@ -281,7 +281,7 @@ static jobject MakeJObject(JNIEnv* env, const Quaternion& q) {
                         static_cast<jdouble>(q.Z()));
 }
 
-static jobject MakeJObject(JNIEnv* env, const Rotation3d& rot) {
+static jobject MakeJObject(JNIEnv* env, const wpi::math::Rotation3d& rot) {
   static jmethodID constructor = env->GetMethodID(
       rotation3dCls, "<init>", "(Lorg/wpilib/math/geometry/Quaternion;)V");
   if (!constructor) {
@@ -292,7 +292,7 @@ static jobject MakeJObject(JNIEnv* env, const Rotation3d& rot) {
   return env->NewObject(rotation3dCls, constructor, q.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, const Transform3d& xform) {
+static jobject MakeJObject(JNIEnv* env, const wpi::math::Transform3d& xform) {
   static jmethodID constructor =
       env->GetMethodID(transform3dCls, "<init>",
                        "(Lorg/wpilib/math/geometry/Translation3d;"
@@ -517,7 +517,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseHomography
     return nullptr;
   }
 
-  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
+  AprilTagPoseEstimator estimator({wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env, estimator.EstimateHomography(harr));
 }
 
@@ -553,7 +553,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     return nullptr;
   }
 
-  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
+  AprilTagPoseEstimator estimator({wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env,
                      estimator.EstimateOrthogonalIteration(harr, carr, nIters));
 }
@@ -590,7 +590,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePose
     return nullptr;
   }
 
-  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
+  AprilTagPoseEstimator estimator({wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env, estimator.Estimate(harr, carr));
 }
 
@@ -603,13 +603,13 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
   (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
 {
-  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
   if (!frame) {
     nullPointerEx.Throw(env, "frame is null");
     return;
   }
   bool newData = AprilTag::Generate16h5AprilTagImage(frame, id);
-  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
+  wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
 }
 
 /*
@@ -621,14 +621,14 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
   (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
 {
-  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
   if (!frame) {
     nullPointerEx.Throw(env, "frame is null");
     return;
   }
   // function might reallocate
   bool newData = AprilTag::Generate36h11AprilTagImage(frame, id);
-  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
+  wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
 }
 
 }  // extern "C"

apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp

@@ -9,7 +9,7 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 /**
  * Represents an AprilTag's metadata.
@@ -19,18 +19,18 @@ struct WPILIB_DLLEXPORT AprilTag {
   int ID;
 
   /// The tag's pose.
-  Pose3d pose;
+  wpi::math::Pose3d pose;
 
   bool operator==(const AprilTag&) const = default;
 
-  static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);
-  static bool Generate16h5AprilTagImage(wpi::RawFrame* frame, int id);
+  static bool Generate36h11AprilTagImage(wpi::util::RawFrame* frame, int id);
+  static bool Generate16h5AprilTagImage(wpi::util::RawFrame* frame, int id);
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const AprilTag& apriltag);
+void to_json(wpi::util::json& json, const AprilTag& apriltag);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, AprilTag& apriltag);
+void from_json(const wpi::util::json& json, AprilTag& apriltag);
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp

@@ -13,7 +13,7 @@
 
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 /**
  * A detection of an AprilTag tag.
@@ -158,4 +158,4 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
   double p[4][2];
 };
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp

@@ -16,7 +16,7 @@
 #include "wpi/util/StringMap.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 /**
  * An AprilTag detector engine. This is expensive to set up and tear down, so
@@ -98,7 +98,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
      * angles that are close to straight or close to 180 degrees. Zero means
      * that no quads are rejected. Default is 45 degrees.
      */
-    units::radian_t criticalAngle = 45_deg;
+    wpi::units::radian_t criticalAngle = 45_deg;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error
@@ -254,8 +254,8 @@ class WPILIB_DLLEXPORT AprilTagDetector {
   void DestroyFamily(std::string_view name, void* data);
 
   void* m_impl;
-  wpi::StringMap<void*> m_families;
-  units::radian_t m_qtpCriticalAngle = 10_deg;
+  wpi::util::StringMap<void*> m_families;
+  wpi::units::radian_t m_qtpCriticalAngle = 10_deg;
 };
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp

@@ -8,11 +8,11 @@
 
 #include "wpi/apriltag/AprilTagDetector.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 inline AprilTagDetector::Results AprilTagDetect(AprilTagDetector& detector,
                                                 cv::Mat& image) {
   return detector.Detect(image.cols, image.rows, image.data);
 }
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp

@@ -16,14 +16,14 @@
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 /**
  * Class for representing a layout of AprilTags on a field and reading them from
  * a JSON format.
  *
  * The JSON format contains two top-level objects, "tags" and "field".
  * The "tags" object is a list of all AprilTags contained within a layout. Each
- * AprilTag serializes to a JSON object containing an ID and a Pose3d. The
+ * AprilTag serializes to a JSON object containing an ID and a wpi::math::Pose3d. The
  * "field" object is a descriptor of the size of the field in meters with
  * "width" and "length" values.  This is to account for arbitrary field sizes
  * when transforming the poses.
@@ -73,19 +73,19 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    * @param fieldWidth Width of field the layout is representing.
    */
   AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                      units::meter_t fieldLength, units::meter_t fieldWidth);
+                      wpi::units::meter_t fieldLength, wpi::units::meter_t fieldWidth);
 
   /**
    * Returns the length of the field the layout is representing.
    * @return length
    */
-  units::meter_t GetFieldLength() const;
+  wpi::units::meter_t GetFieldLength() const;
 
   /**
    * Returns the length of the field the layout is representing.
    * @return width
    */
-  units::meter_t GetFieldWidth() const;
+  wpi::units::meter_t GetFieldWidth() const;
 
   /**
    * Returns a vector of all the april tags used in this layout.
@@ -112,13 +112,13 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    *
    * @param origin The new origin for tag transformations
    */
-  void SetOrigin(const Pose3d& origin);
+  void SetOrigin(const wpi::math::Pose3d& origin);
 
   /**
    * Returns the origin used for tag pose transformation.
    * @return the origin
    */
-  Pose3d GetOrigin() const;
+  wpi::math::Pose3d GetOrigin() const;
 
   /**
    * Gets an AprilTag pose by its ID.
@@ -127,7 +127,7 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    * @return The pose corresponding to the ID that was passed in or an empty
    * optional if a tag with that ID is not found.
    */
-  std::optional<Pose3d> GetTagPose(int ID) const;
+  std::optional<wpi::math::Pose3d> GetTagPose(int ID) const;
 
   /**
    * Serializes an AprilTagFieldLayout to a JSON file.
@@ -143,22 +143,22 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
 
  private:
   std::unordered_map<int, AprilTag> m_apriltags;
-  units::meter_t m_fieldLength;
-  units::meter_t m_fieldWidth;
-  Pose3d m_origin;
+  wpi::units::meter_t m_fieldLength;
+  wpi::units::meter_t m_fieldWidth;
+  wpi::math::Pose3d m_origin;
 
-  friend WPILIB_DLLEXPORT void to_json(wpi::json& json,
+  friend WPILIB_DLLEXPORT void to_json(wpi::util::json& json,
                                        const AprilTagFieldLayout& layout);
 
-  friend WPILIB_DLLEXPORT void from_json(const wpi::json& json,
+  friend WPILIB_DLLEXPORT void from_json(const wpi::util::json& json,
                                          AprilTagFieldLayout& layout);
 };
 
 WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
+void to_json(wpi::util::json& json, const AprilTagFieldLayout& layout);
 
 WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
+void from_json(const wpi::util::json& json, AprilTagFieldLayout& layout);
 
 /**
  * Loads an AprilTagFieldLayout from a predefined field
@@ -171,4 +171,4 @@ void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
 WPILIB_DLLEXPORT AprilTagFieldLayout
 LoadAprilTagLayoutField(AprilTagField field);
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp

@@ -8,7 +8,7 @@
 
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 /**
  * Loadable AprilTag field layouts.
@@ -32,4 +32,4 @@ enum class AprilTagField {
   kNumFields,
 };
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp

@@ -7,15 +7,15 @@
 #include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 /** A pair of AprilTag pose estimates. */
 struct WPILIB_DLLEXPORT AprilTagPoseEstimate {
   /** Pose 1. */
-  Transform3d pose1;
+  wpi::math::Transform3d pose1;
 
   /** Pose 2. */
-  Transform3d pose2;
+  wpi::math::Transform3d pose2;
 
   /** Object-space error of pose 1. */
   double error1;
@@ -32,4 +32,4 @@ struct WPILIB_DLLEXPORT AprilTagPoseEstimate {
   double GetAmbiguity() const;
 };
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp

@@ -11,7 +11,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 class AprilTagDetection;
 
@@ -23,7 +23,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
     bool operator==(const Config&) const = default;
 
     /** The tag size. */
-    units::meter_t tagSize;
+    wpi::units::meter_t tagSize;
 
     /** Camera horizontal focal length, in pixels. */
     double fx;
@@ -65,7 +65,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
    * @param detection Tag detection
    * @return Pose estimate
    */
-  Transform3d EstimateHomography(const AprilTagDetection& detection) const;
+  wpi::math::Transform3d EstimateHomography(const AprilTagDetection& detection) const;
 
   /**
    * Estimates the pose of the tag using the homography method described in [1].
@@ -73,7 +73,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
    * @param homography Homography 3x3 matrix data
    * @return Pose estimate
    */
-  Transform3d EstimateHomography(std::span<const double, 9> homography) const;
+  wpi::math::Transform3d EstimateHomography(std::span<const double, 9> homography) const;
 
   /**
    * Estimates the pose of the tag. This returns one or two possible poses for
@@ -123,7 +123,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
    * @param detection Tag detection
    * @return Pose estimate
    */
-  Transform3d Estimate(const AprilTagDetection& detection) const;
+  wpi::math::Transform3d Estimate(const AprilTagDetection& detection) const;
 
   /**
    * Estimates tag pose. This method is an easier to use interface to
@@ -134,11 +134,11 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
    * @param corners Corner point array (X and Y for each corner in order)
    * @return Pose estimate
    */
-  Transform3d Estimate(std::span<const double, 9> homography,
+  wpi::math::Transform3d Estimate(std::span<const double, 9> homography,
                        std::span<const double, 8> corners) const;
 
  private:
   Config m_config;
 };
 
-}  // namespace frc
+}  // namespace wpi::apriltag

apriltag/src/main/python/semiwrap/AprilTag.yml

@@ -4,7 +4,7 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::AprilTag:
+  wpi::apriltag::AprilTag:
     attributes:
       ID:
       pose:

apriltag/src/main/python/semiwrap/AprilTagDetection.yml

@@ -2,7 +2,7 @@ extra_includes:
 - pybind11/eigen.h
 
 classes:
-  frc::AprilTagDetection:
+  wpi::apriltag::AprilTagDetection:
     methods:
       GetFamily:
       GetId:
@@ -18,7 +18,7 @@ classes:
         return py::str("<AprilTagDetection tag_family={} tag_id={} hamming={} decision_margin={} center={}>")
           .format(self.GetFamily(), self.GetId(), self.GetHamming(), self.GetDecisionMargin(), self.GetCenter());
       })
-  frc::AprilTagDetection::Point:
+  wpi::apriltag::AprilTagDetection::Point:
     attributes:
       x:
       y:

apriltag/src/main/python/semiwrap/AprilTagDetector.yml

@@ -2,7 +2,7 @@ extra_includes:
 - pybind11_typing.h
 
 classes:
-  frc::AprilTagDetector:
+  wpi::apriltag::AprilTagDetector:
     methods:
       AprilTagDetector:
       SetConfig:
@@ -59,7 +59,7 @@ classes:
           :return: list of results
         )doc"
       )
-  frc::AprilTagDetector::Config:
+  wpi::apriltag::AprilTagDetector::Config:
     attributes:
       numThreads:
       quadDecimate:
@@ -69,7 +69,7 @@ classes:
       debug:
     methods:
       operator==:
-  frc::AprilTagDetector::QuadThresholdParameters:
+  wpi::apriltag::AprilTagDetector::QuadThresholdParameters:
     attributes:
       minClusterPixels:
       maxNumMaxima:
@@ -79,7 +79,7 @@ classes:
       deglitch:
     methods:
       operator==:
-  frc::AprilTagDetector::Results:
+  wpi::apriltag::AprilTagDetector::Results:
     rename: _Results
     ignored_bases:
     - std::span<const AprilTagDetection* const>

apriltag/src/main/python/semiwrap/AprilTagFieldLayout.yml

@@ -6,7 +6,7 @@ functions:
   LoadAprilTagLayoutField:
     ignore: true
 classes:
-  frc::AprilTagFieldLayout:
+  wpi::apriltag::AprilTagFieldLayout:
     enums:
       OriginPosition:
     methods:
@@ -14,7 +14,7 @@ classes:
         overloads:
           '':
           std::string_view:
-          std::vector<AprilTag>, units::meter_t, units::meter_t:
+          std::vector<AprilTag>, wpi::units::meter_t, wpi::units::meter_t:
       LoadField:
       GetFieldLength:
       GetFieldWidth:
@@ -22,7 +22,7 @@ classes:
       SetOrigin:
         overloads:
           OriginPosition:
-          const Pose3d&:
+          const wpi::math::Pose3d&:
       GetOrigin:
       GetTagPose:
       Serialize:

apriltag/src/main/python/semiwrap/AprilTagPoseEstimate.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::AprilTagPoseEstimate:
+  wpi::apriltag::AprilTagPoseEstimate:
     attributes:
       pose1:
       pose2:

apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpi/apriltag/AprilTagDetection.hpp
 
 classes:
-  frc::AprilTagPoseEstimator:
+  wpi::apriltag::AprilTagPoseEstimator:
     methods:
       AprilTagPoseEstimator:
       SetConfig:
@@ -19,7 +19,7 @@ classes:
         overloads:
           const AprilTagDetection& [const]:
           std::span<const double, 9>, std::span<const double, 8> [const]:
-  frc::AprilTagPoseEstimator::Config:
+  wpi::apriltag::AprilTagPoseEstimator::Config:
     force_no_default_constructor: true
     attributes:
       tagSize:
@@ -30,7 +30,7 @@ classes:
     methods:
       operator==:
     inline_code: |
-      .def(py::init([](units::meter_t tagSize, double fx, double fy, double cx, double cy) {
+      .def(py::init([](wpi::units::meter_t tagSize, double fx, double fy, double cx, double cy) {
         AprilTagPoseEstimator::Config cfg{tagSize, fx, fy, cx, cy};
         return std::make_unique<AprilTagPoseEstimator::Config>(std::move(cfg));
       }), py::arg("tagSize"), py::arg("fx"), py::arg("fy"), py::arg("cx"), py::arg("cy"))

apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp

@@ -6,7 +6,7 @@
 
 #include "wpi/apriltag/AprilTagDetector.hpp"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 TEST(AprilTagDetectorTest, ConfigDefaults) {
   AprilTagDetector detector;

apriltag/src/test/native/cpp/AprilTagJsonTest.cpp

@@ -11,17 +11,17 @@
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 TEST(AprilTagJsonTest, DeserializeMatches) {
   auto layout = AprilTagFieldLayout{
       std::vector{
-          AprilTag{1, Pose3d{}},
-          AprilTag{3, Pose3d{0_m, 1_m, 0_m, Rotation3d{0_deg, 0_deg, 0_deg}}}},
+          AprilTag{1, wpi::math::Pose3d{}},
+          AprilTag{3, wpi::math::Pose3d{0_m, 1_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}}}},
       54_ft, 27_ft};
 
   AprilTagFieldLayout deserialized;
-  wpi::json json = layout;
+  wpi::util::json json = layout;
   EXPECT_NO_THROW(deserialized = json.get<AprilTagFieldLayout>());
   EXPECT_EQ(layout, deserialized);
 }

apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp

@@ -11,23 +11,23 @@
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/util/json.hpp"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 TEST(AprilTagPoseSetOriginTest, TransformationMatches) {
   auto layout = AprilTagFieldLayout{
       std::vector<AprilTag>{
           AprilTag{1,
-                   Pose3d{0_ft, 0_ft, 0_ft, Rotation3d{0_deg, 0_deg, 0_deg}}},
+                   wpi::math::Pose3d{0_ft, 0_ft, 0_ft, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}}},
           AprilTag{
-              2, Pose3d{4_ft, 4_ft, 4_ft, Rotation3d{0_deg, 0_deg, 180_deg}}}},
+              2, wpi::math::Pose3d{4_ft, 4_ft, 4_ft, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}}}},
       54_ft, 27_ft};
 
   layout.SetOrigin(
       AprilTagFieldLayout::OriginPosition::kRedAllianceWallRightSide);
 
   auto mirrorPose =
-      Pose3d{54_ft, 27_ft, 0_ft, Rotation3d{0_deg, 0_deg, 180_deg}};
+      wpi::math::Pose3d{54_ft, 27_ft, 0_ft, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}};
   EXPECT_EQ(mirrorPose, *layout.GetTagPose(1));
-  mirrorPose = Pose3d{50_ft, 23_ft, 4_ft, Rotation3d{0_deg, 0_deg, 0_deg}};
+  mirrorPose = wpi::math::Pose3d{50_ft, 23_ft, 4_ft, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}};
   EXPECT_EQ(mirrorPose, *layout.GetTagPose(2));
 }

apriltag/src/test/native/cpp/LoadConfigTest.cpp

@@ -9,7 +9,7 @@
 #include "wpi/apriltag/AprilTagFieldLayout.hpp"
 #include "wpi/apriltag/AprilTagFields.hpp"
 
-namespace frc {
+namespace wpi::apriltag {
 
 std::vector<AprilTagField> GetAllFields() {
   std::vector<AprilTagField> output;
@@ -27,21 +27,21 @@ TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
 
   // Blue Hangar Truss - Hub
   auto expectedPose =
-      Pose3d{127.272_in, 216.01_in, 67.932_in, Rotation3d{0_deg, 0_deg, 0_deg}};
+      wpi::math::Pose3d{127.272_in, 216.01_in, 67.932_in, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}};
   auto maybePose = layout.GetTagPose(1);
   EXPECT_TRUE(maybePose);
   EXPECT_EQ(expectedPose, *maybePose);
 
   // Blue Terminal Near Station
-  expectedPose = Pose3d{4.768_in, 67.631_in, 35.063_in,
-                        Rotation3d{0_deg, 0_deg, 46.25_deg}};
+  expectedPose = wpi::math::Pose3d{4.768_in, 67.631_in, 35.063_in,
+                        wpi::math::Rotation3d{0_deg, 0_deg, 46.25_deg}};
   maybePose = layout.GetTagPose(5);
   EXPECT_TRUE(maybePose);
   EXPECT_EQ(expectedPose, *maybePose);
 
   // Upper Hub Blue-Near
-  expectedPose = Pose3d{332.321_in, 183.676_in, 95.186_in,
-                        Rotation3d{0_deg, 26.75_deg, 69_deg}};
+  expectedPose = wpi::math::Pose3d{332.321_in, 183.676_in, 95.186_in,
+                        wpi::math::Rotation3d{0_deg, 26.75_deg, 69_deg}};
   maybePose = layout.GetTagPose(53);
   EXPECT_TRUE(maybePose);
   EXPECT_EQ(expectedPose, *maybePose);
@@ -62,4 +62,4 @@ TEST_P(AllFieldsFixtureTest, CheckEntireEnum) {
 INSTANTIATE_TEST_SUITE_P(ValuesEnumTestInstTests, AllFieldsFixtureTest,
                          ::testing::ValuesIn(GetAllFields()));
 
-}  // namespace frc
+}  // namespace wpi::apriltag

benchmark/src/main/native/cpp/Main.cpp

@@ -10,17 +10,17 @@
 #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},
-    frc::Pose2d{0_m, 0_m, 0_deg},    frc::Pose2d{0_m, 3_m, -90_deg},
-    frc::Pose2d{1_m, 1_m, 90_deg},   frc::Pose2d{1_m, 2_m, 90_deg},
+static constexpr wpi::util::array<wpi::math::Pose2d, 6> poses{
+    wpi::math::Pose2d{-1_m, 1_m, -90_deg}, wpi::math::Pose2d{-1_m, 2_m, 90_deg},
+    wpi::math::Pose2d{0_m, 0_m, 0_deg},    wpi::math::Pose2d{0_m, 3_m, -90_deg},
+    wpi::math::Pose2d{1_m, 1_m, 90_deg},   wpi::math::Pose2d{1_m, 2_m, 90_deg},
 };
 static constexpr int iterations = 100;
 
 void BM_Transform(benchmark::State& state) {
-  frc::TravelingSalesman traveler{[](auto pose1, auto pose2) {
+  wpi::math::TravelingSalesman traveler{[](auto pose1, auto pose2) {
     auto transform = pose2 - pose1;
-    return units::math::hypot(transform.X(), transform.Y()).value();
+    return wpi::units::math::hypot(transform.X(), transform.Y()).value();
   }};
   // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {
@@ -30,9 +30,9 @@ void BM_Transform(benchmark::State& state) {
 BENCHMARK(BM_Transform);
 
 void BM_Twist(benchmark::State& state) {
-  frc::TravelingSalesman traveler{[](auto pose1, auto pose2) {
+  wpi::math::TravelingSalesman traveler{[](auto pose1, auto pose2) {
     auto twist = (pose2 - pose1).Log();
-    return units::math::hypot(twist.dx, twist.dy).value();
+    return wpi::units::math::hypot(twist.dx, twist.dy).value();
   }};
   // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {

cameraserver/multiCameraServer/src/main/native/cpp/main.cpp

@@ -59,19 +59,19 @@ bool server = false;
 struct CameraConfig {
   std::string name;
   std::string path;
-  wpi::json config;
+  wpi::util::json config;
 };
 
 std::vector<CameraConfig> cameras;
 
-bool ReadCameraConfig(const wpi::json& config) {
+bool ReadCameraConfig(const wpi::util::json& config) {
   CameraConfig c;
 
   // name
   try {
     c.name = config.at("name").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "config error in '{}': could not read camera name: {}\n",
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "config error in '{}': could not read camera name: {}\n",
                configFile, e.what());
     return false;
   }
@@ -79,8 +79,8 @@ bool ReadCameraConfig(const wpi::json& config) {
   // path
   try {
     c.path = config.at("path").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr,
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr,
                "config error in '{}': camera '{}': could not read path: {}\n",
                configFile, c.name, e.what());
     return false;
@@ -94,26 +94,26 @@ bool ReadCameraConfig(const wpi::json& config) {
 
 bool ReadConfig() {
   // open config file
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(configFile);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(configFile);
   if (!fileBuffer) {
-    wpi::print(stderr, "could not open '{}': {}\n", configFile,
+    wpi::util::print(stderr, "could not open '{}': {}\n", configFile,
                fileBuffer.error().message());
     return false;
   }
 
   // parse file
-  wpi::json j;
+  wpi::util::json j;
   try {
-    j = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
-  } catch (const wpi::json::parse_error& e) {
-    wpi::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
+    j = wpi::util::json::parse(fileBuffer.value()->GetCharBuffer());
+  } catch (const wpi::util::json::parse_error& e) {
+    wpi::util::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
                e.byte, e.what());
     return false;
   }
 
   // top level must be an object
   if (!j.is_object()) {
-    wpi::print(stderr, "config error in '{}': must be JSON object\n",
+    wpi::util::print(stderr, "config error in '{}': must be JSON object\n",
                configFile);
     return false;
   }
@@ -121,8 +121,8 @@ bool ReadConfig() {
   // team number
   try {
     team = j.at("team").get<unsigned int>();
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "config error in '{}': could not read team number: {}\n",
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "config error in '{}': could not read team number: {}\n",
                configFile, e.what());
     return false;
   }
@@ -131,18 +131,18 @@ bool ReadConfig() {
   if (j.count("ntmode") != 0) {
     try {
       auto str = j.at("ntmode").get<std::string>();
-      if (wpi::equals_lower(str, "client")) {
+      if (wpi::util::equals_lower(str, "client")) {
         server = false;
-      } else if (wpi::equals_lower(str, "server")) {
+      } else if (wpi::util::equals_lower(str, "server")) {
         server = true;
       } else {
-        wpi::print(
+        wpi::util::print(
             stderr,
             "config error in '{}': could not understand ntmode value '{}'\n",
             configFile, str);
       }
-    } catch (const wpi::json::exception& e) {
-      wpi::print(stderr, "config error in '{}': could not read ntmode: {}\n",
+    } catch (const wpi::util::json::exception& e) {
+      wpi::util::print(stderr, "config error in '{}': could not read ntmode: {}\n",
                  configFile, e.what());
     }
   }
@@ -154,8 +154,8 @@ bool ReadConfig() {
         return false;
       }
     }
-  } catch (const wpi::json::exception& e) {
-    wpi::print(stderr, "config error in '{}': could not read cameras: {}\n",
+  } catch (const wpi::util::json::exception& e) {
+    wpi::util::print(stderr, "config error in '{}': could not read cameras: {}\n",
                configFile, e.what());
     return false;
   }
@@ -164,9 +164,9 @@ bool ReadConfig() {
 }
 
 void StartCamera(const CameraConfig& config) {
-  wpi::print("Starting camera '{}' on {}\n", config.name, config.path);
+  wpi::util::print("Starting camera '{}' on {}\n", config.name, config.path);
   auto camera =
-      frc::CameraServer::StartAutomaticCapture(config.name, config.path);
+      wpi::CameraServer::StartAutomaticCapture(config.name, config.path);
 
   camera.SetConfigJson(config.config);
 }
@@ -183,12 +183,12 @@ int main(int argc, char* argv[]) {
   }
 
   // start NetworkTables
-  auto ntinst = nt::NetworkTableInstance::GetDefault();
+  auto ntinst = wpi::nt::NetworkTableInstance::GetDefault();
   if (server) {
     std::puts("Setting up NetworkTables server");
     ntinst.StartServer();
   } else {
-    wpi::print("Setting up NetworkTables client for team {}\n", team);
+    wpi::util::print("Setting up NetworkTables client for team {}\n", team);
     ntinst.StartClient("multicameraserver");
     ntinst.SetServerTeam(team);
   }

cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp

@@ -26,7 +26,7 @@
 #include "wpi/util/StringMap.hpp"
 #include "wpi/util/mutex.hpp"
 
-using namespace frc;
+using namespace wpi;
 
 static constexpr char const* kPublishName = "/CameraPublisher";
 
@@ -61,7 +61,7 @@ struct SourcePublisher {
   nt::StringArrayPublisher streamsPublisher;
   nt::StringEntry modeEntry;
   nt::StringArrayPublisher modesPublisher;
-  wpi::DenseMap<CS_Property, PropertyPublisher> properties;
+  wpi::util::DenseMap<CS_Property, PropertyPublisher> properties;
 };
 
 struct Instance {
@@ -71,13 +71,13 @@ struct Instance {
   std::vector<std::string> GetSourceStreamValues(CS_Source source);
   void UpdateStreamValues();
 
-  wpi::mutex m_mutex;
+  wpi::util::mutex m_mutex;
   std::atomic<int> m_defaultUsbDevice{0};
   std::string m_primarySourceName;
-  wpi::StringMap<cs::VideoSource> m_sources;
-  wpi::StringMap<cs::VideoSink> m_sinks;
-  wpi::DenseMap<CS_Sink, CS_Source> m_fixedSources;
-  wpi::DenseMap<CS_Source, SourcePublisher> m_publishers;
+  wpi::util::StringMap<cs::VideoSource> m_sources;
+  wpi::util::StringMap<cs::VideoSink> m_sinks;
+  wpi::util::DenseMap<CS_Sink, CS_Source> m_fixedSources;
+  wpi::util::DenseMap<CS_Source, SourcePublisher> m_publishers;
   std::shared_ptr<nt::NetworkTable> m_publishTable{
       nt::NetworkTableInstance::GetDefault().GetTable(kPublishName)};
   cs::VideoListener m_videoListener;
@@ -94,7 +94,7 @@ static Instance& GetInstance() {
 }
 
 static std::string_view MakeSourceValue(CS_Source source,
-                                        wpi::SmallVectorImpl<char>& buf) {
+                                        wpi::util::SmallVectorImpl<char>& buf) {
   CS_Status status = 0;
   buf.clear();
   switch (cs::GetSourceKind(source, &status)) {
@@ -282,7 +282,7 @@ PropertyPublisher::PropertyPublisher(nt::NetworkTable& table,
                                      const cs::VideoEvent& event) {
   std::string name;
   std::string infoName;
-  if (wpi::starts_with(event.name, "raw_")) {
+  if (wpi::util::starts_with(event.name, "raw_")) {
     name = fmt::format("RawProperty/{}", event.name);
     infoName = fmt::format("RawPropertyInfo/{}", event.name);
   } else {
@@ -361,9 +361,9 @@ SourcePublisher::SourcePublisher(Instance& inst,
       modeEntry{table->GetStringTopic("mode").GetEntry("")},
       modesPublisher{table->GetStringArrayTopic("modes").Publish()} {
   CS_Status status = 0;
-  wpi::SmallString<64> buf;
+  wpi::util::SmallString<64> buf;
   sourcePublisher.Set(MakeSourceValue(source, buf));
-  wpi::SmallString<64> descBuf;
+  wpi::util::SmallString<64> descBuf;
   descriptionPublisher.Set(cs::GetSourceDescription(source, descBuf, &status));
   connectedPublisher.Set(cs::IsSourceConnected(source, &status));
   streamsPublisher.Set(inst.GetSourceStreamValues(source));
@@ -404,7 +404,7 @@ Instance::Instance() {
           case cs::VideoEvent::kSourceConnected:
             if (auto publisher = GetPublisher(event.sourceHandle)) {
               // update the description too (as it may have changed)
-              wpi::SmallString<64> descBuf;
+              wpi::util::SmallString<64> descBuf;
               publisher->descriptionPublisher.Set(cs::GetSourceDescription(
                   event.sourceHandle, descBuf, &status));
               publisher->connectedPublisher.Set(true);
@@ -543,7 +543,7 @@ cs::CvSink CameraServer::GetVideo() {
 
 cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
   auto& inst = ::GetInstance();
-  wpi::SmallString<64> name{"opencv_"};
+  wpi::util::SmallString<64> name{"opencv_"};
   name += camera.GetName();
 
   {
@@ -570,7 +570,7 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
 cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera,
                                   cs::VideoMode::PixelFormat pixelFormat) {
   auto& inst = ::GetInstance();
-  wpi::SmallString<64> name{"opencv_"};
+  wpi::util::SmallString<64> name{"opencv_"};
   name += camera.GetName();
 
   {

cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp

@@ -10,7 +10,7 @@
 #include "wpi/util/mutex.hpp"
 
 namespace {
-class DefaultCameraServerShared : public frc::CameraServerShared {
+class DefaultCameraServerShared : public wpi::CameraServerShared {
  public:
   void ReportUsage(std::string_view resource, std::string_view data) override {}
   void SetCameraServerErrorV(fmt::string_view format,
@@ -25,10 +25,10 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
 };
 }  // namespace
 
-static std::unique_ptr<frc::CameraServerShared> cameraServerShared = nullptr;
-static wpi::mutex setLock;
+static std::unique_ptr<wpi::CameraServerShared> cameraServerShared = nullptr;
+static wpi::util::mutex setLock;
 
-namespace frc {
+namespace wpi {
 CameraServerShared* GetCameraServerShared() {
   std::unique_lock lock(setLock);
   if (!cameraServerShared) {
@@ -36,10 +36,10 @@ CameraServerShared* GetCameraServerShared() {
   }
   return cameraServerShared.get();
 }
-}  // namespace frc
+}  // namespace wpi
 
 extern "C" {
-void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared) {
+void CameraServer_SetCameraServerShared(wpi::CameraServerShared* shared) {
   std::unique_lock lock(setLock);
   cameraServerShared.reset(shared);
 }

cameraserver/src/main/native/cpp/vision/VisionRunner.cpp

@@ -11,7 +11,7 @@
 
 #include "wpi/cameraserver/CameraServerShared.hpp"
 
-using namespace frc;
+using namespace wpi::vision;
 
 VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
     : m_image(std::make_unique<cv::Mat>()),
@@ -24,7 +24,7 @@ VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
 VisionRunnerBase::~VisionRunnerBase() = default;
 
 void VisionRunnerBase::RunOnce() {
-  auto csShared = frc::GetCameraServerShared();
+  auto csShared = wpi::vision::GetCameraServerShared();
   auto res = csShared->GetRobotMainThreadId();
   if (res.second && (std::this_thread::get_id() == res.first)) {
     csShared->SetVisionRunnerError(
@@ -41,7 +41,7 @@ void VisionRunnerBase::RunOnce() {
 }
 
 void VisionRunnerBase::RunForever() {
-  auto csShared = frc::GetCameraServerShared();
+  auto csShared = wpi::vision::GetCameraServerShared();
   auto res = csShared->GetRobotMainThreadId();
   if (res.second && (std::this_thread::get_id() == res.first)) {
     csShared->SetVisionRunnerError(

cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp

@@ -13,7 +13,7 @@
 
 #include "wpi/cs/cscore_cv.hpp"
 
-namespace frc {
+namespace wpi {
 
 /**
  * Singleton class for creating and keeping camera servers.
@@ -200,4 +200,4 @@ class CameraServer {
   CameraServer() = default;
 };
 
-}  // namespace frc
+}  // namespace wpi

cameraserver/src/main/native/include/wpi/cameraserver/CameraServerShared.hpp

@@ -11,7 +11,7 @@
 
 #include <fmt/format.h>
 
-namespace frc {
+namespace wpi {
 class CameraServerShared {
  public:
   virtual ~CameraServerShared() = default;
@@ -42,9 +42,9 @@ class CameraServerShared {
 };
 
 CameraServerShared* GetCameraServerShared();
-}  // namespace frc
+}  // namespace wpi
 
 extern "C" {
 // Takes ownership
-void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared);
+void CameraServer_SetCameraServerShared(wpi::CameraServerShared* shared);
 }  // extern "C"

cameraserver/src/main/native/include/wpi/vision/VisionPipeline.hpp

@@ -8,7 +8,7 @@ namespace cv {
 class Mat;
 }  // namespace cv
 
-namespace frc {
+namespace wpi::vision {
 
 /**
  * A vision pipeline is responsible for running a group of OpenCV algorithms to
@@ -26,4 +26,4 @@ class VisionPipeline {
    */
   virtual void Process(cv::Mat& mat) = 0;
 };
-}  // namespace frc
+}  // namespace wpi::vision

cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp

@@ -11,7 +11,7 @@
 #include "wpi/cs/cscore_cv.hpp"
 #include "wpi/vision/VisionPipeline.hpp"
 
-namespace frc {
+namespace wpi::vision {
 
 /**
  * Non-template base class for VisionRunner.
@@ -111,4 +111,4 @@ class VisionRunner : public VisionRunnerBase {
   std::function<void(T&)> m_listener;
 };
 
-}  // namespace frc
+}  // namespace wpi::vision

commandsv2/src/generate/main/native/cpp/wpi/commands2/button/commandhid.cpp.jinja

@@ -8,23 +8,23 @@
 {%- endmacro %}
 #include "wpi/commands2/button/Command{{ ConsoleName }}Controller.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 Command{{ ConsoleName }}Controller::Command{{ ConsoleName }}Controller(int port)
-    : CommandGenericHID(port), m_hid{frc::{{ ConsoleName }}Controller(port)} {}
+    : CommandGenericHID(port), m_hid{wpi::{{ ConsoleName }}Controller(port)} {}
 
-frc::{{ ConsoleName }}Controller& Command{{ ConsoleName }}Controller::GetHID() {
+wpi::{{ ConsoleName }}Controller& Command{{ ConsoleName }}Controller::GetHID() {
   return m_hid;
 }
 {% for button in buttons %}
-Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(frc::EventLoop* loop) const {
-  return Button(frc::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
+Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(wpi::EventLoop* loop) const {
+  return Button(wpi::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
 }
 {% endfor -%}
 {% for trigger in triggers -%}
 {% if trigger.UseThresholdMethods %}
 Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold,
-                                           frc::EventLoop* loop) const {
+                                           wpi::EventLoop* loop) const {
   return Trigger(loop, [this, threshold] {
     return m_hid.Get{{ capitalize_first(trigger.name) }}Axis() > threshold;
   });

commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja

@@ -13,12 +13,12 @@
 #include "wpi/commands2/CommandScheduler.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
- * A version of {@link frc::{{ ConsoleName }}Controller} with {@link Trigger} factories for
+ * A version of {@link wpi::{{ ConsoleName }}Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see frc::{{ ConsoleName }}Controller
+ * @see wpi::{{ ConsoleName }}Controller
  */
 class Command{{ ConsoleName }}Controller : public CommandGenericHID {
  public:
@@ -35,7 +35,7 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::{{ ConsoleName }}Controller& GetHID();
+  wpi::{{ ConsoleName }}Controller& GetHID();
 {% for button in buttons %}
   /**
    * Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's
@@ -46,7 +46,7 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
    * @return a Trigger instance representing the {{ button.DocName|default(button.name) }} button's
    * digital signal attached to the given loop.
    */
-  Trigger {{ capitalize_first(button.name) }}(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger {{ capitalize_first(button.name) }}(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 {% endfor -%}
 {% for trigger in triggers -%}
@@ -65,7 +65,7 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
    * exceeds the provided threshold, attached to the given loop
    */
   Trigger {{ capitalize_first(trigger.name) }}(double threshold = 0.5,
-                      frc::EventLoop* loop = CommandScheduler::GetInstance()
+                      wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                  .GetDefaultButtonLoop()) const;
 {% endif -%}
 {% endfor -%}
@@ -87,6 +87,6 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
   double Get{{ capitalize_first(trigger.name) }}Axis() const;
 {% endfor %}
  private:
-  frc::{{ ConsoleName }}Controller m_hid;
+  wpi::{{ ConsoleName }}Controller m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS4Controller.cpp

@@ -6,69 +6,69 @@
 
 #include "wpi/commands2/button/CommandPS4Controller.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandPS4Controller::CommandPS4Controller(int port)
-    : CommandGenericHID(port), m_hid{frc::PS4Controller(port)} {}
+    : CommandGenericHID(port), m_hid{wpi::PS4Controller(port)} {}
 
-frc::PS4Controller& CommandPS4Controller::GetHID() {
+wpi::PS4Controller& CommandPS4Controller::GetHID() {
   return m_hid;
 }
 
-Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kSquare, loop);
+Trigger CommandPS4Controller::Square(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kSquare, loop);
 }
 
-Trigger CommandPS4Controller::Cross(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kCross, loop);
+Trigger CommandPS4Controller::Cross(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kCross, loop);
 }
 
-Trigger CommandPS4Controller::Circle(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kCircle, loop);
+Trigger CommandPS4Controller::Circle(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kCircle, loop);
 }
 
-Trigger CommandPS4Controller::Triangle(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kTriangle, loop);
+Trigger CommandPS4Controller::Triangle(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kTriangle, loop);
 }
 
-Trigger CommandPS4Controller::L1(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kL1, loop);
+Trigger CommandPS4Controller::L1(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kL1, loop);
 }
 
-Trigger CommandPS4Controller::R1(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kR1, loop);
+Trigger CommandPS4Controller::R1(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kR1, loop);
 }
 
-Trigger CommandPS4Controller::L2(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kL2, loop);
+Trigger CommandPS4Controller::L2(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kL2, loop);
 }
 
-Trigger CommandPS4Controller::R2(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kR2, loop);
+Trigger CommandPS4Controller::R2(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kR2, loop);
 }
 
-Trigger CommandPS4Controller::Share(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kShare, loop);
+Trigger CommandPS4Controller::Share(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kShare, loop);
 }
 
-Trigger CommandPS4Controller::Options(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kOptions, loop);
+Trigger CommandPS4Controller::Options(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kOptions, loop);
 }
 
-Trigger CommandPS4Controller::L3(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kL3, loop);
+Trigger CommandPS4Controller::L3(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kL3, loop);
 }
 
-Trigger CommandPS4Controller::R3(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kR3, loop);
+Trigger CommandPS4Controller::R3(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kR3, loop);
 }
 
-Trigger CommandPS4Controller::PS(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kPS, loop);
+Trigger CommandPS4Controller::PS(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kPS, loop);
 }
 
-Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
-  return Button(frc::PS4Controller::Button::kTouchpad, loop);
+Trigger CommandPS4Controller::Touchpad(wpi::EventLoop* loop) const {
+  return Button(wpi::PS4Controller::Button::kTouchpad, loop);
 }
 
 double CommandPS4Controller::GetLeftX() const {

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandPS5Controller.cpp

@@ -6,69 +6,69 @@
 
 #include "wpi/commands2/button/CommandPS5Controller.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandPS5Controller::CommandPS5Controller(int port)
-    : CommandGenericHID(port), m_hid{frc::PS5Controller(port)} {}
+    : CommandGenericHID(port), m_hid{wpi::PS5Controller(port)} {}
 
-frc::PS5Controller& CommandPS5Controller::GetHID() {
+wpi::PS5Controller& CommandPS5Controller::GetHID() {
   return m_hid;
 }
 
-Trigger CommandPS5Controller::Square(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kSquare, loop);
+Trigger CommandPS5Controller::Square(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kSquare, loop);
 }
 
-Trigger CommandPS5Controller::Cross(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kCross, loop);
+Trigger CommandPS5Controller::Cross(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kCross, loop);
 }
 
-Trigger CommandPS5Controller::Circle(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kCircle, loop);
+Trigger CommandPS5Controller::Circle(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kCircle, loop);
 }
 
-Trigger CommandPS5Controller::Triangle(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kTriangle, loop);
+Trigger CommandPS5Controller::Triangle(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kTriangle, loop);
 }
 
-Trigger CommandPS5Controller::L1(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kL1, loop);
+Trigger CommandPS5Controller::L1(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kL1, loop);
 }
 
-Trigger CommandPS5Controller::R1(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kR1, loop);
+Trigger CommandPS5Controller::R1(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kR1, loop);
 }
 
-Trigger CommandPS5Controller::L2(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kL2, loop);
+Trigger CommandPS5Controller::L2(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kL2, loop);
 }
 
-Trigger CommandPS5Controller::R2(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kR2, loop);
+Trigger CommandPS5Controller::R2(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kR2, loop);
 }
 
-Trigger CommandPS5Controller::Create(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kCreate, loop);
+Trigger CommandPS5Controller::Create(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kCreate, loop);
 }
 
-Trigger CommandPS5Controller::Options(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kOptions, loop);
+Trigger CommandPS5Controller::Options(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kOptions, loop);
 }
 
-Trigger CommandPS5Controller::L3(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kL3, loop);
+Trigger CommandPS5Controller::L3(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kL3, loop);
 }
 
-Trigger CommandPS5Controller::R3(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kR3, loop);
+Trigger CommandPS5Controller::R3(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kR3, loop);
 }
 
-Trigger CommandPS5Controller::PS(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kPS, loop);
+Trigger CommandPS5Controller::PS(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kPS, loop);
 }
 
-Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
-  return Button(frc::PS5Controller::Button::kTouchpad, loop);
+Trigger CommandPS5Controller::Touchpad(wpi::EventLoop* loop) const {
+  return Button(wpi::PS5Controller::Button::kTouchpad, loop);
 }
 
 double CommandPS5Controller::GetLeftX() const {

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandStadiaController.cpp

@@ -6,73 +6,73 @@
 
 #include "wpi/commands2/button/CommandStadiaController.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandStadiaController::CommandStadiaController(int port)
-    : CommandGenericHID(port), m_hid{frc::StadiaController(port)} {}
+    : CommandGenericHID(port), m_hid{wpi::StadiaController(port)} {}
 
-frc::StadiaController& CommandStadiaController::GetHID() {
+wpi::StadiaController& CommandStadiaController::GetHID() {
   return m_hid;
 }
 
-Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kA, loop);
+Trigger CommandStadiaController::A(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kA, loop);
 }
 
-Trigger CommandStadiaController::B(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kB, loop);
+Trigger CommandStadiaController::B(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kB, loop);
 }
 
-Trigger CommandStadiaController::X(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kX, loop);
+Trigger CommandStadiaController::X(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kX, loop);
 }
 
-Trigger CommandStadiaController::Y(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kY, loop);
+Trigger CommandStadiaController::Y(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kY, loop);
 }
 
-Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kLeftBumper, loop);
+Trigger CommandStadiaController::LeftBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kLeftBumper, loop);
 }
 
-Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kRightBumper, loop);
+Trigger CommandStadiaController::RightBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kRightBumper, loop);
 }
 
-Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kLeftStick, loop);
+Trigger CommandStadiaController::LeftStick(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kLeftStick, loop);
 }
 
-Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kRightStick, loop);
+Trigger CommandStadiaController::RightStick(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kRightStick, loop);
 }
 
-Trigger CommandStadiaController::Ellipses(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kEllipses, loop);
+Trigger CommandStadiaController::Ellipses(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kEllipses, loop);
 }
 
-Trigger CommandStadiaController::Hamburger(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kHamburger, loop);
+Trigger CommandStadiaController::Hamburger(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kHamburger, loop);
 }
 
-Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kStadia, loop);
+Trigger CommandStadiaController::Stadia(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kStadia, loop);
 }
 
-Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kRightTrigger, loop);
+Trigger CommandStadiaController::RightTrigger(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kRightTrigger, loop);
 }
 
-Trigger CommandStadiaController::LeftTrigger(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kLeftTrigger, loop);
+Trigger CommandStadiaController::LeftTrigger(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kLeftTrigger, loop);
 }
 
-Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kGoogle, loop);
+Trigger CommandStadiaController::Google(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kGoogle, loop);
 }
 
-Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
-  return Button(frc::StadiaController::Button::kFrame, loop);
+Trigger CommandStadiaController::Frame(wpi::EventLoop* loop) const {
+  return Button(wpi::StadiaController::Button::kFrame, loop);
 }
 
 double CommandStadiaController::GetLeftX() const {

commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandXboxController.cpp

@@ -6,64 +6,64 @@
 
 #include "wpi/commands2/button/CommandXboxController.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandXboxController::CommandXboxController(int port)
-    : CommandGenericHID(port), m_hid{frc::XboxController(port)} {}
+    : CommandGenericHID(port), m_hid{wpi::XboxController(port)} {}
 
-frc::XboxController& CommandXboxController::GetHID() {
+wpi::XboxController& CommandXboxController::GetHID() {
   return m_hid;
 }
 
-Trigger CommandXboxController::A(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kA, loop);
+Trigger CommandXboxController::A(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kA, loop);
 }
 
-Trigger CommandXboxController::B(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kB, loop);
+Trigger CommandXboxController::B(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kB, loop);
 }
 
-Trigger CommandXboxController::X(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kX, loop);
+Trigger CommandXboxController::X(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kX, loop);
 }
 
-Trigger CommandXboxController::Y(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kY, loop);
+Trigger CommandXboxController::Y(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kY, loop);
 }
 
-Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kLeftBumper, loop);
+Trigger CommandXboxController::LeftBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kLeftBumper, loop);
 }
 
-Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kRightBumper, loop);
+Trigger CommandXboxController::RightBumper(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kRightBumper, loop);
 }
 
-Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kBack, loop);
+Trigger CommandXboxController::Back(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kBack, loop);
 }
 
-Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kStart, loop);
+Trigger CommandXboxController::Start(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kStart, loop);
 }
 
-Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kLeftStick, loop);
+Trigger CommandXboxController::LeftStick(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kLeftStick, loop);
 }
 
-Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
-  return Button(frc::XboxController::Button::kRightStick, loop);
+Trigger CommandXboxController::RightStick(wpi::EventLoop* loop) const {
+  return Button(wpi::XboxController::Button::kRightStick, loop);
 }
 
 Trigger CommandXboxController::LeftTrigger(double threshold,
-                                           frc::EventLoop* loop) const {
+                                           wpi::EventLoop* loop) const {
   return Trigger(loop, [this, threshold] {
     return m_hid.GetLeftTriggerAxis() > threshold;
   });
 }
 
 Trigger CommandXboxController::RightTrigger(double threshold,
-                                           frc::EventLoop* loop) const {
+                                           wpi::EventLoop* loop) const {
   return Trigger(loop, [this, threshold] {
     return m_hid.GetRightTriggerAxis() > threshold;
   });

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS4Controller.hpp

@@ -11,12 +11,12 @@
 #include "wpi/commands2/CommandScheduler.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
- * A version of {@link frc::PS4Controller} with {@link Trigger} factories for
+ * A version of {@link wpi::PS4Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see frc::PS4Controller
+ * @see wpi::PS4Controller
  */
 class CommandPS4Controller : public CommandGenericHID {
  public:
@@ -33,7 +33,7 @@ class CommandPS4Controller : public CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::PS4Controller& GetHID();
+  wpi::PS4Controller& GetHID();
 
   /**
    * Constructs a Trigger instance around the square button's
@@ -44,7 +44,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the square button's
    * digital signal attached to the given loop.
    */
-  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Square(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -56,7 +56,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the cross button's
    * digital signal attached to the given loop.
    */
-  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Cross(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -68,7 +68,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the circle button's
    * digital signal attached to the given loop.
    */
-  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Circle(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -80,7 +80,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the triangle button's
    * digital signal attached to the given loop.
    */
-  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Triangle(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -92,7 +92,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the left trigger 1 button's
    * digital signal attached to the given loop.
    */
-  Trigger L1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger L1(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -104,7 +104,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the right trigger 1 button's
    * digital signal attached to the given loop.
    */
-  Trigger R1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger R1(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -116,7 +116,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the left trigger 2 button's
    * digital signal attached to the given loop.
    */
-  Trigger L2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger L2(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -128,7 +128,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the right trigger 2 button's
    * digital signal attached to the given loop.
    */
-  Trigger R2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger R2(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -140,7 +140,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the share button's
    * digital signal attached to the given loop.
    */
-  Trigger Share(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Share(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -152,7 +152,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the options button's
    * digital signal attached to the given loop.
    */
-  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Options(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -164,7 +164,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the L3 (left stick) button's
    * digital signal attached to the given loop.
    */
-  Trigger L3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger L3(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -176,7 +176,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the R3 (right stick) button's
    * digital signal attached to the given loop.
    */
-  Trigger R3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger R3(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -188,7 +188,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the PlayStation button's
    * digital signal attached to the given loop.
    */
-  Trigger PS(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger PS(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -200,7 +200,7 @@ class CommandPS4Controller : public CommandGenericHID {
    * @return a Trigger instance representing the touchpad button's
    * digital signal attached to the given loop.
    */
-  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Touchpad(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -248,6 +248,6 @@ class CommandPS4Controller : public CommandGenericHID {
   double GetR2Axis() const;
 
  private:
-  frc::PS4Controller m_hid;
+  wpi::PS4Controller m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandPS5Controller.hpp

@@ -11,12 +11,12 @@
 #include "wpi/commands2/CommandScheduler.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
- * A version of {@link frc::PS5Controller} with {@link Trigger} factories for
+ * A version of {@link wpi::PS5Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see frc::PS5Controller
+ * @see wpi::PS5Controller
  */
 class CommandPS5Controller : public CommandGenericHID {
  public:
@@ -33,7 +33,7 @@ class CommandPS5Controller : public CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::PS5Controller& GetHID();
+  wpi::PS5Controller& GetHID();
 
   /**
    * Constructs a Trigger instance around the square button's
@@ -44,7 +44,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the square button's
    * digital signal attached to the given loop.
    */
-  Trigger Square(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Square(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -56,7 +56,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the cross button's
    * digital signal attached to the given loop.
    */
-  Trigger Cross(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Cross(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -68,7 +68,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the circle button's
    * digital signal attached to the given loop.
    */
-  Trigger Circle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Circle(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -80,7 +80,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the triangle button's
    * digital signal attached to the given loop.
    */
-  Trigger Triangle(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Triangle(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -92,7 +92,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the left trigger 1 button's
    * digital signal attached to the given loop.
    */
-  Trigger L1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger L1(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -104,7 +104,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the right trigger 1 button's
    * digital signal attached to the given loop.
    */
-  Trigger R1(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger R1(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -116,7 +116,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the left trigger 2 button's
    * digital signal attached to the given loop.
    */
-  Trigger L2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger L2(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -128,7 +128,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the right trigger 2 button's
    * digital signal attached to the given loop.
    */
-  Trigger R2(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger R2(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -140,7 +140,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the create button's
    * digital signal attached to the given loop.
    */
-  Trigger Create(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Create(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -152,7 +152,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the options button's
    * digital signal attached to the given loop.
    */
-  Trigger Options(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Options(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -164,7 +164,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the L3 (left stick) button's
    * digital signal attached to the given loop.
    */
-  Trigger L3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger L3(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -176,7 +176,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the R3 (right stick) button's
    * digital signal attached to the given loop.
    */
-  Trigger R3(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger R3(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -188,7 +188,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the PlayStation button's
    * digital signal attached to the given loop.
    */
-  Trigger PS(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger PS(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -200,7 +200,7 @@ class CommandPS5Controller : public CommandGenericHID {
    * @return a Trigger instance representing the touchpad button's
    * digital signal attached to the given loop.
    */
-  Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Touchpad(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -248,6 +248,6 @@ class CommandPS5Controller : public CommandGenericHID {
   double GetR2Axis() const;
 
  private:
-  frc::PS5Controller m_hid;
+  wpi::PS5Controller m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandStadiaController.hpp

@@ -11,12 +11,12 @@
 #include "wpi/commands2/CommandScheduler.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
- * A version of {@link frc::StadiaController} with {@link Trigger} factories for
+ * A version of {@link wpi::StadiaController} with {@link Trigger} factories for
  * command-based.
  *
- * @see frc::StadiaController
+ * @see wpi::StadiaController
  */
 class CommandStadiaController : public CommandGenericHID {
  public:
@@ -33,7 +33,7 @@ class CommandStadiaController : public CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::StadiaController& GetHID();
+  wpi::StadiaController& GetHID();
 
   /**
    * Constructs a Trigger instance around the A button's
@@ -44,7 +44,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the A button's
    * digital signal attached to the given loop.
    */
-  Trigger A(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger A(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -56,7 +56,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the B button's
    * digital signal attached to the given loop.
    */
-  Trigger B(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger B(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -68,7 +68,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the X button's
    * digital signal attached to the given loop.
    */
-  Trigger X(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger X(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -80,7 +80,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the Y button's
    * digital signal attached to the given loop.
    */
-  Trigger Y(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Y(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -92,7 +92,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the left bumper button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger LeftBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -104,7 +104,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the right bumper button's
    * digital signal attached to the given loop.
    */
-  Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger RightBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -116,7 +116,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the left stick button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger LeftStick(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -128,7 +128,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the right stick button's
    * digital signal attached to the given loop.
    */
-  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger RightStick(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -140,7 +140,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the ellipses button's
    * digital signal attached to the given loop.
    */
-  Trigger Ellipses(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Ellipses(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -152,7 +152,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the hamburger button's
    * digital signal attached to the given loop.
    */
-  Trigger Hamburger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Hamburger(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -164,7 +164,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the stadia button's
    * digital signal attached to the given loop.
    */
-  Trigger Stadia(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Stadia(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -176,7 +176,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the right trigger button's
    * digital signal attached to the given loop.
    */
-  Trigger RightTrigger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger RightTrigger(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -188,7 +188,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the left trigger button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftTrigger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger LeftTrigger(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -200,7 +200,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the google button's
    * digital signal attached to the given loop.
    */
-  Trigger Google(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Google(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -212,7 +212,7 @@ class CommandStadiaController : public CommandGenericHID {
    * @return a Trigger instance representing the frame button's
    * digital signal attached to the given loop.
    */
-  Trigger Frame(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Frame(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -244,6 +244,6 @@ class CommandStadiaController : public CommandGenericHID {
   double GetRightY() const;
 
  private:
-  frc::StadiaController m_hid;
+  wpi::StadiaController m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandXboxController.hpp

@@ -11,12 +11,12 @@
 #include "wpi/commands2/CommandScheduler.hpp"
 #include "wpi/commands2/button/CommandGenericHID.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
- * A version of {@link frc::XboxController} with {@link Trigger} factories for
+ * A version of {@link wpi::XboxController} with {@link Trigger} factories for
  * command-based.
  *
- * @see frc::XboxController
+ * @see wpi::XboxController
  */
 class CommandXboxController : public CommandGenericHID {
  public:
@@ -33,7 +33,7 @@ class CommandXboxController : public CommandGenericHID {
    *
    * @return the wrapped GenericHID object
    */
-  frc::XboxController& GetHID();
+  wpi::XboxController& GetHID();
 
   /**
    * Constructs a Trigger instance around the A button's
@@ -44,7 +44,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the A button's
    * digital signal attached to the given loop.
    */
-  Trigger A(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger A(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -56,7 +56,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the B button's
    * digital signal attached to the given loop.
    */
-  Trigger B(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger B(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -68,7 +68,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the X button's
    * digital signal attached to the given loop.
    */
-  Trigger X(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger X(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -80,7 +80,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the Y button's
    * digital signal attached to the given loop.
    */
-  Trigger Y(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Y(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -92,7 +92,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the left bumper button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger LeftBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -104,7 +104,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the right bumper button's
    * digital signal attached to the given loop.
    */
-  Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger RightBumper(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -116,7 +116,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the back button's
    * digital signal attached to the given loop.
    */
-  Trigger Back(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Back(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -128,7 +128,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the start button's
    * digital signal attached to the given loop.
    */
-  Trigger Start(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger Start(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -140,7 +140,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the left stick button's
    * digital signal attached to the given loop.
    */
-  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger LeftStick(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -152,7 +152,7 @@ class CommandXboxController : public CommandGenericHID {
    * @return a Trigger instance representing the right stick button's
    * digital signal attached to the given loop.
    */
-  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+  Trigger RightStick(wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                 .GetDefaultButtonLoop()) const;
 
   /**
@@ -169,7 +169,7 @@ class CommandXboxController : public CommandGenericHID {
    * exceeds the provided threshold, attached to the given loop
    */
   Trigger LeftTrigger(double threshold = 0.5,
-                      frc::EventLoop* loop = CommandScheduler::GetInstance()
+                      wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                  .GetDefaultButtonLoop()) const;
 
   /**
@@ -186,7 +186,7 @@ class CommandXboxController : public CommandGenericHID {
    * exceeds the provided threshold, attached to the given loop
    */
   Trigger RightTrigger(double threshold = 0.5,
-                      frc::EventLoop* loop = CommandScheduler::GetInstance()
+                      wpi::EventLoop* loop = CommandScheduler::GetInstance()
                                                  .GetDefaultButtonLoop()) const;
 
   /**
@@ -234,6 +234,6 @@ class CommandXboxController : public CommandGenericHID {
   double GetRightTriggerAxis() const;
 
  private:
-  frc::XboxController m_hid;
+  wpi::XboxController m_hid;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/cpp/frc2/command/Command.cpp

@@ -13,10 +13,10 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 Command::Command() {
-  wpi::SendableRegistry::Add(this, GetTypeName(*this));
+  wpi::util::SendableRegistry::Add(this, GetTypeName(*this));
 }
 
 Command::~Command() {
@@ -32,7 +32,7 @@ void Command::Initialize() {}
 void Command::Execute() {}
 void Command::End(bool interrupted) {}
 
-wpi::SmallSet<Subsystem*, 4> Command::GetRequirements() const {
+wpi::util::SmallSet<Subsystem*, 4> Command::GetRequirements() const {
   return m_requirements;
 }
 
@@ -40,7 +40,7 @@ void Command::AddRequirements(Requirements requirements) {
   m_requirements.insert(requirements.begin(), requirements.end());
 }
 
-void Command::AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements) {
+void Command::AddRequirements(wpi::util::SmallSet<Subsystem*, 4> requirements) {
   m_requirements.insert(requirements.begin(), requirements.end());
 }
 
@@ -49,22 +49,22 @@ void Command::AddRequirements(Subsystem* requirement) {
 }
 
 void Command::SetName(std::string_view name) {
-  wpi::SendableRegistry::SetName(this, name);
+  wpi::util::SendableRegistry::SetName(this, name);
 }
 
 std::string Command::GetName() const {
-  return wpi::SendableRegistry::GetName(this);
+  return wpi::util::SendableRegistry::GetName(this);
 }
 
 std::string Command::GetSubsystem() const {
-  return wpi::SendableRegistry::GetSubsystem(this);
+  return wpi::util::SendableRegistry::GetSubsystem(this);
 }
 
 void Command::SetSubsystem(std::string_view subsystem) {
-  wpi::SendableRegistry::SetSubsystem(this, subsystem);
+  wpi::util::SendableRegistry::SetSubsystem(this, subsystem);
 }
 
-CommandPtr Command::WithTimeout(units::second_t duration) && {
+CommandPtr Command::WithTimeout(wpi::units::second_t duration) && {
   return std::move(*this).ToPtr().WithTimeout(duration);
 }
 
@@ -178,7 +178,7 @@ bool Command::IsComposed() const {
 
 void Command::SetComposed(bool isComposed) {
   if (isComposed) {
-    m_previousComposition = wpi::GetStackTrace(1);
+    m_previousComposition = wpi::util::GetStackTrace(1);
   } else {
     m_previousComposition.reset();
   }
@@ -188,7 +188,7 @@ std::optional<std::string> Command::GetPreviousCompositionSite() const {
   return m_previousComposition;
 }
 
-void Command::InitSendable(wpi::SendableBuilder& builder) {
+void Command::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Command");
   builder.AddStringProperty(".name", [this] { return GetName(); }, nullptr);
   builder.AddBooleanProperty(
@@ -220,7 +220,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
       "runsWhenDisabled", [this] { return RunsWhenDisabled(); }, nullptr);
 }
 
-namespace frc2 {
+namespace wpi::cmd {
 bool RequirementsDisjoint(Command* first, Command* second) {
   bool disjoint = true;
   auto&& requirements = second->GetRequirements();
@@ -229,4 +229,4 @@ bool RequirementsDisjoint(Command* first, Command* second) {
   }
   return disjoint;
 }
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp

@@ -22,7 +22,7 @@
 #include "wpi/commands2/WrapperCommand.hpp"
 #include "wpi/system/Errors.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandPtr::CommandPtr(std::unique_ptr<Command>&& command)
     : m_ptr(std::move(command)) {
@@ -32,12 +32,12 @@ CommandPtr::CommandPtr(std::unique_ptr<Command>&& command)
 CommandPtr::CommandPtr(CommandPtr&& rhs) {
   m_ptr = std::move(rhs.m_ptr);
   AssertValid();
-  rhs.m_moveOutSite = wpi::GetStackTrace(1);
+  rhs.m_moveOutSite = wpi::util::GetStackTrace(1);
 }
 
 void CommandPtr::AssertValid() const {
   if (!m_ptr) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse,
+    throw FRC_MakeError(wpi::err::CommandIllegalUse,
                         "Moved-from CommandPtr object used!\nMoved out at:\n{}",
                         m_moveOutSite);
   }
@@ -131,7 +131,7 @@ CommandPtr CommandPtr::BeforeStarting(CommandPtr&& before) && {
   return std::move(*this);
 }
 
-CommandPtr CommandPtr::WithTimeout(units::second_t duration) && {
+CommandPtr CommandPtr::WithTimeout(wpi::units::second_t duration) && {
   AssertValid();
   std::vector<std::unique_ptr<Command>> temp;
   temp.emplace_back(std::move(m_ptr));

commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -24,39 +24,39 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 class CommandScheduler::Impl {
  public:
   // A set of the currently-running commands.
-  wpi::SmallSet<Command*, 12> scheduledCommands;
+  wpi::util::SmallSet<Command*, 12> scheduledCommands;
 
   // A map from required subsystems to their requiring commands.  Also used as a
   // set of the currently-required subsystems.
-  wpi::DenseMap<Subsystem*, Command*> requirements;
+  wpi::util::DenseMap<Subsystem*, Command*> requirements;
 
   // A map from subsystems registered with the scheduler to their default
   // commands.  Also used as a list of currently-registered subsystems.
-  wpi::DenseMap<Subsystem*, std::unique_ptr<Command>> subsystems;
+  wpi::util::DenseMap<Subsystem*, std::unique_ptr<Command>> subsystems;
 
-  frc::EventLoop defaultButtonLoop;
+  wpi::EventLoop defaultButtonLoop;
   // The set of currently-registered buttons that will be polled every
   // iteration.
-  frc::EventLoop* activeButtonLoop{&defaultButtonLoop};
+  wpi::EventLoop* activeButtonLoop{&defaultButtonLoop};
 
   bool disabled{false};
 
   // Lists of user-supplied actions to be executed on scheduling events for
   // every command.
-  wpi::SmallVector<Action, 4> initActions;
-  wpi::SmallVector<Action, 4> executeActions;
-  wpi::SmallVector<InterruptAction, 4> interruptActions;
-  wpi::SmallVector<Action, 4> finishActions;
+  wpi::util::SmallVector<Action, 4> initActions;
+  wpi::util::SmallVector<Action, 4> executeActions;
+  wpi::util::SmallVector<InterruptAction, 4> interruptActions;
+  wpi::util::SmallVector<Action, 4> finishActions;
 
   // Map of Command* -> CommandPtr for CommandPtrs transferred to the scheduler
   // via Schedule(CommandPtr&&). These are erased (destroyed) at the very end of
   // the loop cycle when the command lifecycle is complete.
-  wpi::DenseMap<Command*, CommandPtr> ownedCommands;
+  wpi::util::DenseMap<Command*, CommandPtr> ownedCommands;
 };
 
 template <typename TMap, typename TKey>
@@ -65,15 +65,15 @@ static bool ContainsKey(const TMap& map, TKey keyToCheck) {
 }
 
 CommandScheduler::CommandScheduler()
-    : m_impl(new Impl), m_watchdog(frc::TimedRobot::kDefaultPeriod, [] {
+    : m_impl(new Impl), m_watchdog(wpi::TimedRobot::kDefaultPeriod, [] {
         std::puts("CommandScheduler loop time overrun.");
       }) {
   HAL_ReportUsage("CommandScheduler", "");
-  wpi::SendableRegistry::Add(this, "Scheduler");
+  wpi::util::SendableRegistry::Add(this, "Scheduler");
 }
 
 CommandScheduler::~CommandScheduler() {
-  wpi::SendableRegistry::Remove(this);
+  wpi::util::SendableRegistry::Remove(this);
   std::unique_ptr<Impl>().swap(m_impl);
 }
 
@@ -82,19 +82,19 @@ CommandScheduler& CommandScheduler::GetInstance() {
   return scheduler;
 }
 
-void CommandScheduler::SetPeriod(units::second_t period) {
+void CommandScheduler::SetPeriod(wpi::units::second_t period) {
   m_watchdog.SetTimeout(period);
 }
 
-frc::EventLoop* CommandScheduler::GetActiveButtonLoop() const {
+wpi::EventLoop* CommandScheduler::GetActiveButtonLoop() const {
   return m_impl->activeButtonLoop;
 }
 
-void CommandScheduler::SetActiveButtonLoop(frc::EventLoop* loop) {
+void CommandScheduler::SetActiveButtonLoop(wpi::EventLoop* loop) {
   m_impl->activeButtonLoop = loop;
 }
 
-frc::EventLoop* CommandScheduler::GetDefaultButtonLoop() const {
+wpi::EventLoop* CommandScheduler::GetDefaultButtonLoop() const {
   return &(m_impl->defaultButtonLoop);
 }
 
@@ -102,13 +102,13 @@ void CommandScheduler::Schedule(Command* command) {
   RequireUngrouped(command);
 
   if (m_impl->disabled || m_impl->scheduledCommands.contains(command) ||
-      (frc::RobotState::IsDisabled() && !command->RunsWhenDisabled())) {
+      (wpi::RobotState::IsDisabled() && !command->RunsWhenDisabled())) {
     return;
   }
 
   const auto& requirements = command->GetRequirements();
 
-  wpi::SmallVector<Command*, 8> intersection;
+  wpi::util::SmallVector<Command*, 8> intersection;
 
   bool isDisjoint = true;
   bool allInterruptible = true;
@@ -171,7 +171,7 @@ void CommandScheduler::Run() {
   // Run the periodic method of all registered subsystems.
   for (auto&& subsystem : m_impl->subsystems) {
     subsystem.getFirst()->Periodic();
-    if constexpr (frc::RobotBase::IsSimulation()) {
+    if constexpr (wpi::RobotBase::IsSimulation()) {
       subsystem.getFirst()->SimulationPeriodic();
     }
     m_watchdog.AddEpoch(subsystem.getFirst()->GetName() + ".Periodic()");
@@ -179,14 +179,14 @@ void CommandScheduler::Run() {
 
   // Cache the active instance to avoid concurrency problems if SetActiveLoop()
   // is called from inside the button bindings.
-  frc::EventLoop* loopCache = m_impl->activeButtonLoop;
+  wpi::EventLoop* loopCache = m_impl->activeButtonLoop;
   // Poll buttons for new commands to add.
   loopCache->Poll();
   m_watchdog.AddEpoch("buttons.Run()");
 
-  bool isDisabled = frc::RobotState::IsDisabled();
+  bool isDisabled = wpi::RobotState::IsDisabled();
   // create a new set to avoid iterator invalidation.
-  for (Command* command : wpi::SmallSet(m_impl->scheduledCommands)) {
+  for (Command* command : wpi::util::SmallSet(m_impl->scheduledCommands)) {
     if (!IsScheduled(command)) {
       continue;  // skip as the normal scheduledCommands was modified
     }
@@ -284,7 +284,7 @@ void CommandScheduler::UnregisterAllSubsystems() {
 void CommandScheduler::SetDefaultCommand(Subsystem* subsystem,
                                          CommandPtr&& defaultCommand) {
   if (!defaultCommand.get()->HasRequirement(subsystem)) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
+    throw FRC_MakeError(wpi::err::CommandIllegalUse, "{}",
                         "Default commands must require their subsystem!");
   }
   RequireUngrouped(defaultCommand.get());
@@ -347,7 +347,7 @@ void CommandScheduler::Cancel(std::initializer_list<Command*> commands) {
 }
 
 void CommandScheduler::CancelAll() {
-  wpi::SmallVector<Command*, 16> commands;
+  wpi::util::SmallVector<Command*, 16> commands;
   for (auto&& command : m_impl->scheduledCommands) {
     commands.emplace_back(command);
   }
@@ -430,7 +430,7 @@ void CommandScheduler::OnCommandFinish(Action action) {
 void CommandScheduler::RequireUngrouped(const Command* command) {
   auto stacktrace = command->GetPreviousCompositionSite();
   if (stacktrace.has_value()) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse,
+    throw FRC_MakeError(wpi::err::CommandIllegalUse,
                         "Commands that have been composed may not be added to "
                         "another composition or scheduled individually!"
                         "\nOriginally composed at:\n{}",
@@ -454,7 +454,7 @@ void CommandScheduler::RequireUngrouped(
 
 void CommandScheduler::RequireUngroupedAndUnscheduled(const Command* command) {
   if (IsScheduled(command)) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse,
+    throw FRC_MakeError(wpi::err::CommandIllegalUse,
                         "Commands that have been scheduled individually may "
                         "not be added to another composition!");
   }
@@ -475,7 +475,7 @@ void CommandScheduler::RequireUngroupedAndUnscheduled(
   }
 }
 
-void CommandScheduler::InitSendable(wpi::SendableBuilder& builder) {
+void CommandScheduler::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Scheduler");
   builder.AddStringArrayProperty(
       "Names",

commandsv2/src/main/native/cpp/frc2/command/Commands.cpp

@@ -23,7 +23,7 @@
 #include "wpi/util/FunctionExtras.hpp"
 #include "wpi/util/deprecated.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 // Factories
 
@@ -73,7 +73,7 @@ CommandPtr cmd::Print(std::string_view msg) {
   return PrintCommand(msg).ToPtr();
 }
 
-CommandPtr cmd::DeferredProxy(wpi::unique_function<Command*()> supplier) {
+CommandPtr cmd::DeferredProxy(wpi::util::unique_function<Command*()> supplier) {
   return Defer(
       [supplier = std::move(supplier)]() mutable {
         // There is no non-owning version of AsProxy(), so use the non-owning
@@ -83,13 +83,13 @@ CommandPtr cmd::DeferredProxy(wpi::unique_function<Command*()> supplier) {
       {});
 }
 
-CommandPtr cmd::DeferredProxy(wpi::unique_function<CommandPtr()> supplier) {
+CommandPtr cmd::DeferredProxy(wpi::util::unique_function<CommandPtr()> supplier) {
   return Defer([supplier = std::move(
                     supplier)]() mutable { return supplier().AsProxy(); },
                {});
 }
 
-CommandPtr cmd::Wait(units::second_t duration) {
+CommandPtr cmd::Wait(wpi::units::second_t duration) {
   return WaitCommand(duration).ToPtr();
 }
 
@@ -104,7 +104,7 @@ CommandPtr cmd::Either(CommandPtr&& onTrue, CommandPtr&& onFalse,
       .ToPtr();
 }
 
-CommandPtr cmd::Defer(wpi::unique_function<CommandPtr()> supplier,
+CommandPtr cmd::Defer(wpi::util::unique_function<CommandPtr()> supplier,
                       Requirements requirements) {
   return DeferredCommand(std::move(supplier), requirements).ToPtr();
 }

commandsv2/src/main/native/cpp/frc2/command/ConditionalCommand.cpp

@@ -10,7 +10,7 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 ConditionalCommand::ConditionalCommand(std::unique_ptr<Command>&& onTrue,
                                        std::unique_ptr<Command>&& onFalse,
@@ -69,7 +69,7 @@ Command::InterruptionBehavior ConditionalCommand::GetInterruptionBehavior()
   }
 }
 
-void ConditionalCommand::InitSendable(wpi::SendableBuilder& builder) {
+void ConditionalCommand::InitSendable(wpi::util::SendableBuilder& builder) {
   Command::InitSendable(builder);
   builder.AddStringProperty(
       "onTrue", [this] { return m_onTrue->GetName(); }, nullptr);

commandsv2/src/main/native/cpp/frc2/command/DeferredCommand.cpp

@@ -9,9 +9,9 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
-DeferredCommand::DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
+DeferredCommand::DeferredCommand(wpi::util::unique_function<CommandPtr()> supplier,
                                  Requirements requirements)
     : m_supplier{std::move(supplier)} {
   AddRequirements(requirements);
@@ -40,7 +40,7 @@ bool DeferredCommand::IsFinished() {
   return m_command->IsFinished();
 }
 
-void DeferredCommand::InitSendable(wpi::SendableBuilder& builder) {
+void DeferredCommand::InitSendable(wpi::util::SendableBuilder& builder) {
   Command::InitSendable(builder);
   builder.AddStringProperty(
       "deferred", [this] { return m_command->GetName(); }, nullptr);

commandsv2/src/main/native/cpp/frc2/command/FunctionalCommand.cpp

@@ -6,7 +6,7 @@
 
 #include <utility>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 FunctionalCommand::FunctionalCommand(std::function<void()> onInit,
                                      std::function<void()> onExecute,

commandsv2/src/main/native/cpp/frc2/command/InstantCommand.cpp

@@ -6,7 +6,7 @@
 
 #include <utility>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 InstantCommand::InstantCommand(std::function<void()> toRun,
                                Requirements requirements)

commandsv2/src/main/native/cpp/frc2/command/NotifierCommand.cpp

@@ -6,10 +6,10 @@
 
 #include <utility>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 NotifierCommand::NotifierCommand(std::function<void()> toRun,
-                                 units::second_t period,
+                                 wpi::units::second_t period,
                                  Requirements requirements)
     : m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
   AddRequirements(requirements);
@@ -24,7 +24,7 @@ NotifierCommand::NotifierCommand(NotifierCommand&& other)
 NotifierCommand::NotifierCommand(const NotifierCommand& other)
     : CommandHelper(other),
       m_toRun(other.m_toRun),
-      m_notifier(frc::Notifier(other.m_toRun)),
+      m_notifier(wpi::Notifier(other.m_toRun)),
       m_period(other.m_period) {}
 
 void NotifierCommand::Initialize() {

commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp

@@ -7,7 +7,7 @@
 #include <utility>
 #include <vector>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 ParallelCommandGroup::ParallelCommandGroup(
     std::vector<std::unique_ptr<Command>>&& commands) {
@@ -69,7 +69,7 @@ void ParallelCommandGroup::AddCommands(
   CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
 
   if (isRunning) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse,
+    throw FRC_MakeError(wpi::err::CommandIllegalUse,
                         "Commands cannot be added to a CommandGroup "
                         "while the group is running");
   }
@@ -85,7 +85,7 @@ void ParallelCommandGroup::AddCommands(
       }
       m_commands.emplace_back(std::move(command), false);
     } else {
-      throw FRC_MakeError(frc::err::CommandIllegalUse,
+      throw FRC_MakeError(wpi::err::CommandIllegalUse,
                           "Multiple commands in a parallel group cannot "
                           "require the same subsystems");
     }

commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp

@@ -10,7 +10,7 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 ParallelDeadlineGroup::ParallelDeadlineGroup(
     std::unique_ptr<Command>&& deadline,
@@ -69,7 +69,7 @@ void ParallelDeadlineGroup::AddCommands(
   CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
 
   if (!m_finished) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse,
+    throw FRC_MakeError(wpi::err::CommandIllegalUse,
                         "Commands cannot be added to a CommandGroup "
                         "while the group is running");
   }
@@ -85,7 +85,7 @@ void ParallelDeadlineGroup::AddCommands(
       }
       m_commands.emplace_back(std::move(command), false);
     } else {
-      throw FRC_MakeError(frc::err::CommandIllegalUse,
+      throw FRC_MakeError(wpi::err::CommandIllegalUse,
                           "Multiple commands in a parallel group cannot "
                           "require the same subsystems");
     }
@@ -100,7 +100,7 @@ void ParallelDeadlineGroup::SetDeadline(std::unique_ptr<Command>&& deadline) {
   m_runWhenDisabled &= m_deadline->RunsWhenDisabled();
 }
 
-void ParallelDeadlineGroup::InitSendable(wpi::SendableBuilder& builder) {
+void ParallelDeadlineGroup::InitSendable(wpi::util::SendableBuilder& builder) {
   Command::InitSendable(builder);
 
   builder.AddStringProperty(

commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp

@@ -7,7 +7,7 @@
 #include <utility>
 #include <vector>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 ParallelRaceGroup::ParallelRaceGroup(
     std::vector<std::unique_ptr<Command>>&& commands) {
@@ -56,7 +56,7 @@ void ParallelRaceGroup::AddCommands(
   CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
 
   if (isRunning) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse,
+    throw FRC_MakeError(wpi::err::CommandIllegalUse,
                         "Commands cannot be added to a CommandGroup "
                         "while the group is running");
   }
@@ -72,7 +72,7 @@ void ParallelRaceGroup::AddCommands(
       }
       m_commands.emplace_back(std::move(command));
     } else {
-      throw FRC_MakeError(frc::err::CommandIllegalUse,
+      throw FRC_MakeError(wpi::err::CommandIllegalUse,
                           "Multiple commands in a parallel group cannot "
                           "require the same subsystems");
     }

commandsv2/src/main/native/cpp/frc2/command/PrintCommand.cpp

@@ -8,10 +8,10 @@
 
 #include "wpi/util/print.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 PrintCommand::PrintCommand(std::string_view message)
-    : CommandHelper{[str = std::string(message)] { wpi::print("{}\n", str); },
+    : CommandHelper{[str = std::string(message)] { wpi::util::print("{}\n", str); },
                     {}} {}
 
 bool PrintCommand::RunsWhenDisabled() const {

commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp

@@ -12,13 +12,13 @@
 #include "wpi/util/deprecated.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 WPI_IGNORE_DEPRECATED
-ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
+ProxyCommand::ProxyCommand(wpi::util::unique_function<Command*()> supplier)
     : m_supplier(std::move(supplier)) {}
 
-ProxyCommand::ProxyCommand(wpi::unique_function<CommandPtr()> supplier)
+ProxyCommand::ProxyCommand(wpi::util::unique_function<CommandPtr()> supplier)
     : ProxyCommand([supplier = std::move(supplier),
                     holder = std::optional<CommandPtr>{}]() mutable {
         holder = supplier();
@@ -38,7 +38,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {
 
 void ProxyCommand::Initialize() {
   m_command = m_supplier();
-  frc2::CommandScheduler::GetInstance().Schedule(m_command);
+  wpi::cmd::CommandScheduler::GetInstance().Schedule(m_command);
 }
 
 void ProxyCommand::End(bool interrupted) {
@@ -55,7 +55,7 @@ bool ProxyCommand::IsFinished() {
   return m_command == nullptr || !m_command->IsScheduled();
 }
 
-void ProxyCommand::InitSendable(wpi::SendableBuilder& builder) {
+void ProxyCommand::InitSendable(wpi::util::SendableBuilder& builder) {
   Command::InitSendable(builder);
   builder.AddStringProperty(
       "proxied",

commandsv2/src/main/native/cpp/frc2/command/RepeatCommand.cpp

@@ -9,7 +9,7 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
   CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(command.get());
@@ -58,7 +58,7 @@ Command::InterruptionBehavior RepeatCommand::GetInterruptionBehavior() const {
   return m_command->GetInterruptionBehavior();
 }
 
-void RepeatCommand::InitSendable(wpi::SendableBuilder& builder) {
+void RepeatCommand::InitSendable(wpi::util::SendableBuilder& builder) {
   Command::InitSendable(builder);
   builder.AddStringProperty(
       "command", [this] { return m_command->GetName(); }, nullptr);

commandsv2/src/main/native/cpp/frc2/command/RunCommand.cpp

@@ -6,7 +6,7 @@
 
 #include <utility>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 RunCommand::RunCommand(std::function<void()> toRun, Requirements requirements)
     : CommandHelper([] {}, std::move(toRun), [](bool interrupted) {},

commandsv2/src/main/native/cpp/frc2/command/ScheduleCommand.cpp

@@ -4,7 +4,7 @@
 
 #include "wpi/commands2/ScheduleCommand.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 ScheduleCommand::ScheduleCommand(std::span<Command* const> toSchedule) {
   for (auto cmd : toSchedule) {
@@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) {
 
 void ScheduleCommand::Initialize() {
   for (auto command : m_toSchedule) {
-    frc2::CommandScheduler::GetInstance().Schedule(command);
+    wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
   }
 }
 

commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp

@@ -9,7 +9,7 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 SequentialCommandGroup::SequentialCommandGroup(
     std::vector<std::unique_ptr<Command>>&& commands) {
@@ -68,7 +68,7 @@ void SequentialCommandGroup::AddCommands(
   CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
 
   if (m_currentCommandIndex != invalid_index) {
-    throw FRC_MakeError(frc::err::CommandIllegalUse,
+    throw FRC_MakeError(wpi::err::CommandIllegalUse,
                         "Commands cannot be added to a CommandGroup "
                         "while the group is running");
   }
@@ -85,7 +85,7 @@ void SequentialCommandGroup::AddCommands(
   }
 }
 
-void SequentialCommandGroup::InitSendable(wpi::SendableBuilder& builder) {
+void SequentialCommandGroup::InitSendable(wpi::util::SendableBuilder& builder) {
   Command::InitSendable(builder);
   builder.AddIntegerProperty(
       "index", [this] { return m_currentCommandIndex; }, nullptr);

commandsv2/src/main/native/cpp/frc2/command/StartEndCommand.cpp

@@ -6,7 +6,7 @@
 
 #include <utility>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 StartEndCommand::StartEndCommand(std::function<void()> onInit,
                                  std::function<void()> onEnd,

commandsv2/src/main/native/cpp/frc2/command/Subsystem.cpp

@@ -11,7 +11,7 @@
 #include "wpi/commands2/Commands.hpp"
 #include "wpi/util/Demangle.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 Subsystem::~Subsystem() {
   CommandScheduler::GetInstance().UnregisterSubsystem(this);
 }
@@ -21,7 +21,7 @@ void Subsystem::Periodic() {}
 void Subsystem::SimulationPeriodic() {}
 
 std::string Subsystem::GetName() const {
-  return wpi::GetTypeName(*this);
+  return wpi::util::GetTypeName(*this);
 }
 
 void Subsystem::SetDefaultCommand(CommandPtr&& defaultCommand) {
@@ -72,6 +72,6 @@ CommandPtr Subsystem::StartRun(std::function<void()> start,
   return cmd::StartRun(std::move(start), std::move(run), {this});
 }
 
-CommandPtr Subsystem::Defer(wpi::unique_function<CommandPtr()> supplier) {
+CommandPtr Subsystem::Defer(wpi::util::unique_function<CommandPtr()> supplier) {
   return cmd::Defer(std::move(supplier), {this});
 }

commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp

@@ -11,19 +11,19 @@
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 SubsystemBase::SubsystemBase() {
-  wpi::SendableRegistry::Add(this, GetTypeName(*this));
+  wpi::util::SendableRegistry::Add(this, GetTypeName(*this));
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
 SubsystemBase::SubsystemBase(std::string_view name) {
-  wpi::SendableRegistry::Add(this, name);
+  wpi::util::SendableRegistry::Add(this, name);
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
-void SubsystemBase::InitSendable(wpi::SendableBuilder& builder) {
+void SubsystemBase::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Subsystem");
   builder.AddBooleanProperty(
       ".hasDefault", [this] { return GetDefaultCommand() != nullptr; },
@@ -54,21 +54,21 @@ void SubsystemBase::InitSendable(wpi::SendableBuilder& builder) {
 }
 
 std::string SubsystemBase::GetName() const {
-  return wpi::SendableRegistry::GetName(this);
+  return wpi::util::SendableRegistry::GetName(this);
 }
 
 void SubsystemBase::SetName(std::string_view name) {
-  wpi::SendableRegistry::SetName(this, name);
+  wpi::util::SendableRegistry::SetName(this, name);
 }
 
 std::string SubsystemBase::GetSubsystem() const {
-  return wpi::SendableRegistry::GetSubsystem(this);
+  return wpi::util::SendableRegistry::GetSubsystem(this);
 }
 
 void SubsystemBase::SetSubsystem(std::string_view name) {
-  wpi::SendableRegistry::SetSubsystem(this, name);
+  wpi::util::SendableRegistry::SetSubsystem(this, name);
 }
 
-void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
-  wpi::SendableRegistry::Add(child, GetSubsystem(), name);
+void SubsystemBase::AddChild(std::string name, wpi::util::Sendable* child) {
+  wpi::util::SendableRegistry::Add(child, GetSubsystem(), name);
 }

commandsv2/src/main/native/cpp/frc2/command/WaitCommand.cpp

@@ -8,9 +8,9 @@
 
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
-WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
+WaitCommand::WaitCommand(wpi::units::second_t duration) : m_duration{duration} {
   SetName(fmt::format("{}: {}", GetName(), duration));
 }
 
@@ -30,7 +30,7 @@ bool WaitCommand::RunsWhenDisabled() const {
   return true;
 }
 
-void WaitCommand::InitSendable(wpi::SendableBuilder& builder) {
+void WaitCommand::InitSendable(wpi::util::SendableBuilder& builder) {
   Command::InitSendable(builder);
   builder.AddDoubleProperty(
       "duration", [this] { return m_duration.value(); }, nullptr);

commandsv2/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp

@@ -8,13 +8,13 @@
 
 #include "wpi/system/Timer.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 WaitUntilCommand::WaitUntilCommand(std::function<bool()> condition)
     : m_condition{std::move(condition)} {}
 
-WaitUntilCommand::WaitUntilCommand(units::second_t time)
-    : m_condition{[=] { return frc::Timer::GetMatchTime() - time > 0_s; }} {}
+WaitUntilCommand::WaitUntilCommand(wpi::units::second_t time)
+    : m_condition{[=] { return wpi::Timer::GetMatchTime() - time > 0_s; }} {}
 
 bool WaitUntilCommand::IsFinished() {
   return m_condition();

commandsv2/src/main/native/cpp/frc2/command/WrapperCommand.cpp

@@ -8,7 +8,7 @@
 
 #include "wpi/commands2/Command.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 WrapperCommand::WrapperCommand(std::unique_ptr<Command>&& command) {
   CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(command.get());
@@ -42,6 +42,6 @@ Command::InterruptionBehavior WrapperCommand::GetInterruptionBehavior() const {
   return m_command->GetInterruptionBehavior();
 }
 
-wpi::SmallSet<Subsystem*, 4> WrapperCommand::GetRequirements() const {
+wpi::util::SmallSet<Subsystem*, 4> WrapperCommand::GetRequirements() const {
   return m_command->GetRequirements();
 }

commandsv2/src/main/native/cpp/frc2/command/button/CommandGamepad.cpp

@@ -4,128 +4,128 @@
 
 #include "wpi/commands2/button/CommandGamepad.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandGamepad::CommandGamepad(int port)
-    : CommandGenericHID(port), m_hid{frc::Gamepad(port)} {}
+    : CommandGenericHID(port), m_hid{wpi::Gamepad(port)} {}
 
-frc::Gamepad& CommandGamepad::GetHID() {
+wpi::Gamepad& CommandGamepad::GetHID() {
   return m_hid;
 }
 
-Trigger CommandGamepad::SouthFace(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kSouthFace, loop);
+Trigger CommandGamepad::SouthFace(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kSouthFace, loop);
 }
 
-Trigger CommandGamepad::EastFace(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kEastFace, loop);
+Trigger CommandGamepad::EastFace(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kEastFace, loop);
 }
 
-Trigger CommandGamepad::WestFace(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kWestFace, loop);
+Trigger CommandGamepad::WestFace(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kWestFace, loop);
 }
 
-Trigger CommandGamepad::NorthFace(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kNorthFace, loop);
+Trigger CommandGamepad::NorthFace(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kNorthFace, loop);
 }
 
-Trigger CommandGamepad::Back(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kBack, loop);
+Trigger CommandGamepad::Back(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kBack, loop);
 }
 
-Trigger CommandGamepad::Guide(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kGuide, loop);
+Trigger CommandGamepad::Guide(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kGuide, loop);
 }
 
-Trigger CommandGamepad::Start(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kStart, loop);
+Trigger CommandGamepad::Start(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kStart, loop);
 }
 
-Trigger CommandGamepad::LeftStick(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kLeftStick, loop);
+Trigger CommandGamepad::LeftStick(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kLeftStick, loop);
 }
 
-Trigger CommandGamepad::RightStick(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kRightStick, loop);
+Trigger CommandGamepad::RightStick(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kRightStick, loop);
 }
 
-Trigger CommandGamepad::LeftShoulder(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kLeftShoulder, loop);
+Trigger CommandGamepad::LeftShoulder(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kLeftShoulder, loop);
 }
 
-Trigger CommandGamepad::RightShoulder(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kRightShoulder, loop);
+Trigger CommandGamepad::RightShoulder(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kRightShoulder, loop);
 }
 
-Trigger CommandGamepad::DpadUp(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kDpadUp, loop);
+Trigger CommandGamepad::DpadUp(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kDpadUp, loop);
 }
 
-Trigger CommandGamepad::DpadDown(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kDpadDown, loop);
+Trigger CommandGamepad::DpadDown(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kDpadDown, loop);
 }
 
-Trigger CommandGamepad::DpadLeft(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kDpadLeft, loop);
+Trigger CommandGamepad::DpadLeft(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kDpadLeft, loop);
 }
 
-Trigger CommandGamepad::DpadRight(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kDpadRight, loop);
+Trigger CommandGamepad::DpadRight(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kDpadRight, loop);
 }
 
-Trigger CommandGamepad::Misc1(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kMisc1, loop);
+Trigger CommandGamepad::Misc1(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kMisc1, loop);
 }
 
-Trigger CommandGamepad::RightPaddle1(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kRightPaddle1, loop);
+Trigger CommandGamepad::RightPaddle1(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kRightPaddle1, loop);
 }
 
-Trigger CommandGamepad::LeftPaddle1(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kLeftPaddle1, loop);
+Trigger CommandGamepad::LeftPaddle1(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kLeftPaddle1, loop);
 }
 
-Trigger CommandGamepad::RightPaddle2(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kRightPaddle2, loop);
+Trigger CommandGamepad::RightPaddle2(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kRightPaddle2, loop);
 }
 
-Trigger CommandGamepad::LeftPaddle2(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kLeftPaddle2, loop);
+Trigger CommandGamepad::LeftPaddle2(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kLeftPaddle2, loop);
 }
 
-Trigger CommandGamepad::Touchpad(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kTouchpad, loop);
+Trigger CommandGamepad::Touchpad(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kTouchpad, loop);
 }
 
-Trigger CommandGamepad::Misc2(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kMisc2, loop);
+Trigger CommandGamepad::Misc2(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kMisc2, loop);
 }
 
-Trigger CommandGamepad::Misc3(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kMisc3, loop);
+Trigger CommandGamepad::Misc3(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kMisc3, loop);
 }
 
-Trigger CommandGamepad::Misc4(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kMisc4, loop);
+Trigger CommandGamepad::Misc4(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kMisc4, loop);
 }
 
-Trigger CommandGamepad::Misc5(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kMisc5, loop);
+Trigger CommandGamepad::Misc5(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kMisc5, loop);
 }
 
-Trigger CommandGamepad::Misc6(frc::EventLoop* loop) const {
-  return Button(frc::Gamepad::Button::kMisc6, loop);
+Trigger CommandGamepad::Misc6(wpi::EventLoop* loop) const {
+  return Button(wpi::Gamepad::Button::kMisc6, loop);
 }
 
 Trigger CommandGamepad::LeftTrigger(double threshold,
-                                    frc::EventLoop* loop) const {
+                                    wpi::EventLoop* loop) const {
   return Trigger(loop, [this, threshold] {
     return m_hid.GetLeftTriggerAxis() > threshold;
   });
 }
 
 Trigger CommandGamepad::RightTrigger(double threshold,
-                                     frc::EventLoop* loop) const {
+                                     wpi::EventLoop* loop) const {
   return Trigger(loop, [this, threshold] {
     return m_hid.GetRightTriggerAxis() > threshold;
   });

commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp

@@ -4,87 +4,87 @@
 
 #include "wpi/commands2/button/CommandGenericHID.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandGenericHID::CommandGenericHID(int port) : m_hid{port} {}
 
-frc::GenericHID& CommandGenericHID::GetHID() {
+wpi::GenericHID& CommandGenericHID::GetHID() {
   return m_hid;
 }
 
-Trigger CommandGenericHID::Button(int button, frc::EventLoop* loop) const {
+Trigger CommandGenericHID::Button(int button, wpi::EventLoop* loop) const {
   return Trigger(loop, [this, button] { return m_hid.GetRawButton(button); });
 }
 
-Trigger CommandGenericHID::POV(frc::DriverStation::POVDirection angle,
-                               frc::EventLoop* loop) const {
+Trigger CommandGenericHID::POV(wpi::DriverStation::POVDirection angle,
+                               wpi::EventLoop* loop) const {
   return POV(0, angle, loop);
 }
 
-Trigger CommandGenericHID::POV(int pov, frc::DriverStation::POVDirection angle,
-                               frc::EventLoop* loop) const {
+Trigger CommandGenericHID::POV(int pov, wpi::DriverStation::POVDirection angle,
+                               wpi::EventLoop* loop) const {
   return Trigger(loop,
                  [this, pov, angle] { return m_hid.GetPOV(pov) == angle; });
 }
 
-Trigger CommandGenericHID::POVUp(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kUp, loop);
+Trigger CommandGenericHID::POVUp(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kUp, loop);
 }
 
-Trigger CommandGenericHID::POVUpRight(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kUpRight, loop);
+Trigger CommandGenericHID::POVUpRight(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kUpRight, loop);
 }
 
-Trigger CommandGenericHID::POVRight(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kRight, loop);
+Trigger CommandGenericHID::POVRight(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kRight, loop);
 }
 
-Trigger CommandGenericHID::POVDownRight(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kDownRight, loop);
+Trigger CommandGenericHID::POVDownRight(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kDownRight, loop);
 }
 
-Trigger CommandGenericHID::POVDown(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kDown, loop);
+Trigger CommandGenericHID::POVDown(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kDown, loop);
 }
 
-Trigger CommandGenericHID::POVDownLeft(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kDownLeft, loop);
+Trigger CommandGenericHID::POVDownLeft(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kDownLeft, loop);
 }
 
-Trigger CommandGenericHID::POVLeft(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kLeft, loop);
+Trigger CommandGenericHID::POVLeft(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kLeft, loop);
 }
 
-Trigger CommandGenericHID::POVUpLeft(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kUpLeft, loop);
+Trigger CommandGenericHID::POVUpLeft(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kUpLeft, loop);
 }
 
-Trigger CommandGenericHID::POVCenter(frc::EventLoop* loop) const {
-  return POV(frc::DriverStation::POVDirection::kCenter, loop);
+Trigger CommandGenericHID::POVCenter(wpi::EventLoop* loop) const {
+  return POV(wpi::DriverStation::POVDirection::kCenter, loop);
 }
 
 Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,
-                                        frc::EventLoop* loop) const {
+                                        wpi::EventLoop* loop) const {
   return Trigger(loop, [this, axis, threshold]() {
     return m_hid.GetRawAxis(axis) < threshold;
   });
 }
 
 Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
-                                           frc::EventLoop* loop) const {
+                                           wpi::EventLoop* loop) const {
   return Trigger(loop, [this, axis, threshold]() {
     return m_hid.GetRawAxis(axis) > threshold;
   });
 }
 
 Trigger CommandGenericHID::AxisMagnitudeGreaterThan(
-    int axis, double threshold, frc::EventLoop* loop) const {
+    int axis, double threshold, wpi::EventLoop* loop) const {
   return Trigger(loop, [this, axis, threshold]() {
     return std::abs(m_hid.GetRawAxis(axis)) > threshold;
   });
 }
 
-void CommandGenericHID::SetRumble(frc::GenericHID::RumbleType type,
+void CommandGenericHID::SetRumble(wpi::GenericHID::RumbleType type,
                                   double value) {
   m_hid.SetRumble(type, value);
 }

commandsv2/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp

@@ -4,28 +4,28 @@
 
 #include "wpi/commands2/button/CommandJoystick.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 CommandJoystick::CommandJoystick(int port)
-    : CommandGenericHID(port), m_hid{frc::Joystick(port)} {}
+    : CommandGenericHID(port), m_hid{wpi::Joystick(port)} {}
 
-frc::Joystick& CommandJoystick::GetHID() {
+wpi::Joystick& CommandJoystick::GetHID() {
   return m_hid;
 }
 
-Trigger CommandJoystick::Trigger(frc::EventLoop* loop) const {
-  return Button(frc::Joystick::ButtonType::kTriggerButton, loop);
+Trigger CommandJoystick::Trigger(wpi::EventLoop* loop) const {
+  return Button(wpi::Joystick::ButtonType::kTriggerButton, loop);
 }
 
-Trigger CommandJoystick::Top(frc::EventLoop* loop) const {
-  return Button(frc::Joystick::ButtonType::kTopButton, loop);
+Trigger CommandJoystick::Top(wpi::EventLoop* loop) const {
+  return Button(wpi::Joystick::ButtonType::kTopButton, loop);
 }
 
 double CommandJoystick::GetMagnitude() const {
   return m_hid.GetMagnitude();
 }
 
-units::radian_t CommandJoystick::GetDirection() const {
+wpi::units::radian_t CommandJoystick::GetDirection() const {
   // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
   // A positive rotation around the X axis moves the joystick right, and a
   // positive rotation around the Y axis moves the joystick backward. When

commandsv2/src/main/native/cpp/frc2/command/button/NetworkButton.cpp

@@ -7,23 +7,23 @@
 #include <memory>
 #include <utility>
 
-using namespace frc2;
+using namespace wpi::cmd;
 
-NetworkButton::NetworkButton(nt::BooleanTopic topic)
+NetworkButton::NetworkButton(wpi::nt::BooleanTopic topic)
     : NetworkButton(topic.Subscribe(false)) {}
 
-NetworkButton::NetworkButton(nt::BooleanSubscriber sub)
-    : Trigger([sub = std::make_shared<nt::BooleanSubscriber>(std::move(sub))] {
+NetworkButton::NetworkButton(wpi::nt::BooleanSubscriber sub)
+    : Trigger([sub = std::make_shared<wpi::nt::BooleanSubscriber>(std::move(sub))] {
         return sub->GetTopic().GetInstance().IsConnected() && sub->Get();
       }) {}
 
-NetworkButton::NetworkButton(std::shared_ptr<nt::NetworkTable> table,
+NetworkButton::NetworkButton(std::shared_ptr<wpi::nt::NetworkTable> table,
                              std::string_view field)
     : NetworkButton(table->GetBooleanTopic(field)) {}
 
 NetworkButton::NetworkButton(std::string_view table, std::string_view field)
-    : NetworkButton(nt::NetworkTableInstance::GetDefault(), table, field) {}
+    : NetworkButton(wpi::nt::NetworkTableInstance::GetDefault(), table, field) {}
 
-NetworkButton::NetworkButton(nt::NetworkTableInstance inst,
+NetworkButton::NetworkButton(wpi::nt::NetworkTableInstance inst,
                              std::string_view table, std::string_view field)
     : NetworkButton(inst.GetTable(table), field) {}

commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp

@@ -6,20 +6,20 @@
 
 #include "wpi/driverstation/DriverStation.hpp"
 
-using namespace frc2;
+using namespace wpi::cmd;
 
 Trigger RobotModeTriggers::Autonomous() {
-  return Trigger{&frc::DriverStation::IsAutonomousEnabled};
+  return Trigger{&wpi::DriverStation::IsAutonomousEnabled};
 }
 
 Trigger RobotModeTriggers::Teleop() {
-  return Trigger{&frc::DriverStation::IsTeleopEnabled};
+  return Trigger{&wpi::DriverStation::IsTeleopEnabled};
 }
 
 Trigger RobotModeTriggers::Disabled() {
-  return Trigger{&frc::DriverStation::IsDisabled};
+  return Trigger{&wpi::DriverStation::IsDisabled};
 }
 
 Trigger RobotModeTriggers::Test() {
-  return Trigger{&frc::DriverStation::IsTestEnabled};
+  return Trigger{&wpi::DriverStation::IsTestEnabled};
 }

commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp

@@ -10,11 +10,11 @@
 #include "wpi/math/filter/Debouncer.hpp"
 
 using namespace frc;
-using namespace frc2;
+using namespace wpi::cmd;
 
 Trigger::Trigger(const Trigger& other) = default;
 
-void Trigger::AddBinding(wpi::unique_function<void(bool, bool)>&& body) {
+void Trigger::AddBinding(wpi::util::unique_function<void(bool, bool)>&& body) {
   m_loop->Bind([condition = m_condition, previous = m_condition(),
                 body = std::move(body)]() mutable {
     bool current = condition();
@@ -28,7 +28,7 @@ void Trigger::AddBinding(wpi::unique_function<void(bool, bool)>&& body) {
 Trigger Trigger::OnChange(Command* command) {
   AddBinding([command](bool previous, bool current) {
     if (previous != current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -37,7 +37,7 @@ Trigger Trigger::OnChange(Command* command) {
 Trigger Trigger::OnChange(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (previous != current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -46,7 +46,7 @@ Trigger Trigger::OnChange(CommandPtr&& command) {
 Trigger Trigger::OnTrue(Command* command) {
   AddBinding([command](bool previous, bool current) {
     if (!previous && current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -55,7 +55,7 @@ Trigger Trigger::OnTrue(Command* command) {
 Trigger Trigger::OnTrue(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -64,7 +64,7 @@ Trigger Trigger::OnTrue(CommandPtr&& command) {
 Trigger Trigger::OnFalse(Command* command) {
   AddBinding([command](bool previous, bool current) {
     if (previous && !current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -73,7 +73,7 @@ Trigger Trigger::OnFalse(Command* command) {
 Trigger Trigger::OnFalse(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (previous && !current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     }
   });
   return *this;
@@ -82,7 +82,7 @@ Trigger Trigger::OnFalse(CommandPtr&& command) {
 Trigger Trigger::WhileTrue(Command* command) {
   AddBinding([command](bool previous, bool current) {
     if (!previous && current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     } else if (previous && !current) {
       command->Cancel();
     }
@@ -93,7 +93,7 @@ Trigger Trigger::WhileTrue(Command* command) {
 Trigger Trigger::WhileTrue(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     } else if (previous && !current) {
       command.Cancel();
     }
@@ -104,7 +104,7 @@ Trigger Trigger::WhileTrue(CommandPtr&& command) {
 Trigger Trigger::WhileFalse(Command* command) {
   AddBinding([command](bool previous, bool current) {
     if (previous && !current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     } else if (!previous && current) {
       command->Cancel();
     }
@@ -115,7 +115,7 @@ Trigger Trigger::WhileFalse(Command* command) {
 Trigger Trigger::WhileFalse(CommandPtr&& command) {
   AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
-      frc2::CommandScheduler::GetInstance().Schedule(command);
+      wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
     } else if (previous && !current) {
       command.Cancel();
     }
@@ -129,7 +129,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) {
       if (command->IsScheduled()) {
         command->Cancel();
       } else {
-        frc2::CommandScheduler::GetInstance().Schedule(command);
+        wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
       }
     }
   });
@@ -142,7 +142,7 @@ Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
       if (command.IsScheduled()) {
         command.Cancel();
       } else {
-        frc2::CommandScheduler::GetInstance().Schedule(command);
+        wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
       }
     }
   });
@@ -155,7 +155,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) {
       if (command->IsScheduled()) {
         command->Cancel();
       } else {
-        frc2::CommandScheduler::GetInstance().Schedule(command);
+        wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
       }
     }
   });
@@ -168,16 +168,16 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
       if (command.IsScheduled()) {
         command.Cancel();
       } else {
-        frc2::CommandScheduler::GetInstance().Schedule(command);
+        wpi::cmd::CommandScheduler::GetInstance().Schedule(command);
       }
     }
   });
   return *this;
 }
 
-Trigger Trigger::Debounce(units::second_t debounceTime,
-                          frc::Debouncer::DebounceType type) {
-  return Trigger(m_loop, [debouncer = frc::Debouncer(debounceTime, type),
+Trigger Trigger::Debounce(wpi::units::second_t debounceTime,
+                          wpi::math::Debouncer::DebounceType type) {
+  return Trigger(m_loop, [debouncer = wpi::math::Debouncer(debounceTime, type),
                           condition = m_condition]() mutable {
     return debouncer.Calculate(condition());
   });

commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp

@@ -6,14 +6,14 @@
 
 #include "wpi/sysid/SysIdRoutineLog.hpp"
 
-using namespace frc2::sysid;
+using namespace wpi::cmd::sysid;
 
-frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
-  frc::sysid::State state;
+wpi::cmd::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
+  wpi::sysid::State state;
   if (direction == Direction::kForward) {
-    state = frc::sysid::State::kQuasistaticForward;
+    state = wpi::sysid::State::kQuasistaticForward;
   } else {  // if (direction == Direction::kReverse) {
-    state = frc::sysid::State::kQuasistaticReverse;
+    state = wpi::sysid::State::kQuasistaticReverse;
   }
 
   double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
@@ -29,21 +29,21 @@ frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
               })
               .FinallyDo([this] {
                 m_mechanism.m_drive(0_V);
-                m_recordState(frc::sysid::State::kNone);
+                m_recordState(wpi::sysid::State::kNone);
                 timer.Stop();
               })
               .WithName("sysid-" +
-                        frc::sysid::SysIdRoutineLog::StateEnumToString(state) +
+                        wpi::sysid::SysIdRoutineLog::StateEnumToString(state) +
                         "-" + m_mechanism.m_name)
               .WithTimeout(m_config.m_timeout));
 }
 
-frc2::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
-  frc::sysid::State state;
+wpi::cmd::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
+  wpi::sysid::State state;
   if (direction == Direction::kForward) {
-    state = frc::sysid::State::kDynamicForward;
+    state = wpi::sysid::State::kDynamicForward;
   } else {  // if (direction == Direction::kReverse) {
-    state = frc::sysid::State::kDynamicReverse;
+    state = wpi::sysid::State::kDynamicReverse;
   }
 
   double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
@@ -57,10 +57,10 @@ frc2::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
       }))
       .FinallyDo([this] {
         m_mechanism.m_drive(0_V);
-        m_recordState(frc::sysid::State::kNone);
+        m_recordState(wpi::sysid::State::kNone);
       })
       .WithName("sysid-" +
-                frc::sysid::SysIdRoutineLog::StateEnumToString(state) + "-" +
+                wpi::sysid::SysIdRoutineLog::StateEnumToString(state) + "-" +
                 m_mechanism.m_name)
       .WithTimeout(m_config.m_timeout);
 }

commandsv2/src/main/native/include/wpi/commands2/Command.hpp

@@ -17,7 +17,7 @@
 #include "wpi/util/StackTrace.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 /**
  * A state machine representing a complete action to be performed by the robot.
@@ -37,7 +37,7 @@ namespace frc2 {
  * @see CommandScheduler
  * @see CommandHelper
  */
-class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
+class Command : public wpi::util::Sendable, public wpi::util::SendableHelper<Command> {
  public:
   ~Command() override;
 
@@ -87,7 +87,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
    * @return the set of subsystems that are required
    * @see InterruptionBehavior
    */
-  virtual wpi::SmallSet<Subsystem*, 4> GetRequirements() const;
+  virtual wpi::util::SmallSet<Subsystem*, 4> GetRequirements() const;
 
   /**
    * Adds the specified Subsystem requirements to the command.
@@ -121,7 +121,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
    *
    * @param requirements the Subsystem requirements to add
    */
-  void AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements);
+  void AddRequirements(wpi::util::SmallSet<Subsystem*, 4> requirements);
 
   /**
    * Adds the specified Subsystem requirement to the command.
@@ -191,7 +191,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  CommandPtr WithTimeout(units::second_t duration) &&;
+  CommandPtr WithTimeout(wpi::units::second_t duration) &&;
 
   /**
    * Decorates this command with an interrupt condition. If the specified
@@ -473,14 +473,14 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
    */
   virtual CommandPtr ToPtr() && = 0;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  protected:
   Command();
 
  private:
   /// Requirements set.
-  wpi::SmallSet<Subsystem*, 4> m_requirements;
+  wpi::util::SmallSet<Subsystem*, 4> m_requirements;
 
   std::optional<std::string> m_previousComposition;
 };
@@ -493,4 +493,4 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
  * @return False if first and second share a requirement.
  */
 bool RequirementsDisjoint(Command* first, Command* second);
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/CommandHelper.hpp

@@ -11,7 +11,7 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandPtr.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 /**
  * CRTP implementation to allow polymorphic decorator functions in Command.
@@ -33,4 +33,4 @@ class CommandHelper : public Base {
         std::make_unique<CRTP>(std::move(*static_cast<CRTP*>(this))));
   }
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp

@@ -14,7 +14,7 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/Requirements.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A wrapper around std::unique_ptr<Command> so commands have move-only
  * semantics. Commands should only be stored and passed around when held in a
@@ -125,7 +125,7 @@ class [[nodiscard]] CommandPtr final {
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  CommandPtr WithTimeout(units::second_t duration) &&;
+  CommandPtr WithTimeout(wpi::units::second_t duration) &&;
 
   /**
    * Decorates this command with an interrupt condition. If the specified
@@ -339,4 +339,4 @@ class [[nodiscard]] CommandPtr final {
   void AssertValid() const;
 };
 
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp

@@ -20,7 +20,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 class Command;
 class CommandPtr;
 class Subsystem;
@@ -34,8 +34,8 @@ class Subsystem;
  *
  * This class is provided by the NewCommands VendorDep
  */
-class CommandScheduler final : public wpi::Sendable,
-                               public wpi::SendableHelper<CommandScheduler> {
+class CommandScheduler final : public wpi::util::Sendable,
+                               public wpi::util::SendableHelper<CommandScheduler> {
  public:
   /**
    * Returns the Scheduler instance.
@@ -56,30 +56,30 @@ class CommandScheduler final : public wpi::Sendable,
    * Changes the period of the loop overrun watchdog. This should be kept in
    * sync with the TimedRobot period.
    */
-  void SetPeriod(units::second_t period);
+  void SetPeriod(wpi::units::second_t period);
 
   /**
    * Get the active button poll.
    *
-   * @return a reference to the current {@link frc::EventLoop} object polling
+   * @return a reference to the current {@link wpi::EventLoop} object polling
    * buttons.
    */
-  frc::EventLoop* GetActiveButtonLoop() const;
+  wpi::EventLoop* GetActiveButtonLoop() const;
 
   /**
    * Replace the button poll with another one.
    *
    * @param loop the new button polling loop object.
    */
-  void SetActiveButtonLoop(frc::EventLoop* loop);
+  void SetActiveButtonLoop(wpi::EventLoop* loop);
 
   /**
    * Get the default button poll.
    *
-   * @return a reference to the default {@link frc::EventLoop} object polling
+   * @return a reference to the default {@link wpi::EventLoop} object polling
    * buttons.
    */
-  frc::EventLoop* GetDefaultButtonLoop() const;
+  wpi::EventLoop* GetDefaultButtonLoop() const;
 
   /**
    * Schedules a command for execution. Does nothing if the command is already
@@ -212,7 +212,7 @@ class CommandScheduler final : public wpi::Sendable,
   template <std::derived_from<Command> T>
   void SetDefaultCommand(Subsystem* subsystem, T&& defaultCommand) {
     if (!defaultCommand.HasRequirement(subsystem)) {
-      throw FRC_MakeError(frc::err::CommandIllegalUse,
+      throw FRC_MakeError(wpi::err::CommandIllegalUse,
                           "Default commands must require their subsystem!");
     }
     SetDefaultCommandImpl(subsystem, std::make_unique<std::decay_t<T>>(
@@ -467,7 +467,7 @@ class CommandScheduler final : public wpi::Sendable,
   void RequireUngroupedAndUnscheduled(
       std::initializer_list<const Command*> commands);
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   // Constructor; private as this is a singleton
@@ -481,11 +481,11 @@ class CommandScheduler final : public wpi::Sendable,
   class Impl;
   std::unique_ptr<Impl> m_impl;
 
-  frc::Watchdog m_watchdog;
+  wpi::Watchdog m_watchdog;
 
   friend class CommandTestBase;
 
   template <typename T>
   friend class CommandTestBaseWithParam;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/Commands.hpp

@@ -17,7 +17,7 @@
 #include "wpi/commands2/SelectCommand.hpp"
 #include "wpi/util/deprecated.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 class Subsystem;
 
 /**
@@ -104,7 +104,7 @@ CommandPtr Print(std::string_view msg);
  *
  * @param duration after how long the command finishes
  */
-CommandPtr Wait(units::second_t duration);
+CommandPtr Wait(wpi::units::second_t duration);
 
 /**
  * Constructs a command that does nothing, finishing once a condition becomes
@@ -149,7 +149,7 @@ CommandPtr Select(std::function<Key()> selector,
  * @param supplier the command supplier
  * @param requirements the set of requirements for this command
  */
-CommandPtr Defer(wpi::unique_function<CommandPtr()> supplier,
+CommandPtr Defer(wpi::util::unique_function<CommandPtr()> supplier,
                  Requirements requirements);
 
 /**
@@ -159,7 +159,7 @@ CommandPtr Defer(wpi::unique_function<CommandPtr()> supplier,
  *
  * @param supplier the command supplier
  */
-CommandPtr DeferredProxy(wpi::unique_function<Command*()> supplier);
+CommandPtr DeferredProxy(wpi::util::unique_function<Command*()> supplier);
 
 /**
  * Constructs a command that schedules the command returned from the supplier
@@ -168,7 +168,7 @@ CommandPtr DeferredProxy(wpi::unique_function<Command*()> supplier);
  *
  * @param supplier the command supplier
  */
-CommandPtr DeferredProxy(wpi::unique_function<CommandPtr()> supplier);
+CommandPtr DeferredProxy(wpi::util::unique_function<CommandPtr()> supplier);
 // Command Groups
 
 namespace impl {
@@ -263,4 +263,4 @@ CommandPtr Deadline(CommandPtr&& deadline, CommandPtrs&&... commands) {
 
 }  // namespace cmd
 
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/ConditionalCommand.hpp

@@ -12,7 +12,7 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandHelper.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command composition that runs one of two commands, depending on the value
  * of the given condition when this command is initialized.
@@ -73,7 +73,7 @@ class ConditionalCommand : public CommandHelper<Command, ConditionalCommand> {
 
   InterruptionBehavior GetInterruptionBehavior() const override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::unique_ptr<Command> m_onTrue;
@@ -82,4 +82,4 @@ class ConditionalCommand : public CommandHelper<Command, ConditionalCommand> {
   Command* m_selectedCommand{nullptr};
   bool m_runsWhenDisabled = true;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/DeferredCommand.hpp

@@ -11,7 +11,7 @@
 #include "wpi/commands2/Requirements.hpp"
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * Defers Command construction to runtime. Runs the command returned by a
  * supplier when this command is initialized, and ends when it ends. Useful for
@@ -37,7 +37,7 @@ class DeferredCommand : public CommandHelper<Command, DeferredCommand> {
    * @param requirements The command requirements.
    *
    */
-  DeferredCommand(wpi::unique_function<CommandPtr()> supplier,
+  DeferredCommand(wpi::util::unique_function<CommandPtr()> supplier,
                   Requirements requirements);
 
   DeferredCommand(DeferredCommand&& other) = default;
@@ -50,10 +50,10 @@ class DeferredCommand : public CommandHelper<Command, DeferredCommand> {
 
   bool IsFinished() override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  wpi::unique_function<CommandPtr()> m_supplier;
+  wpi::util::unique_function<CommandPtr()> m_supplier;
   std::unique_ptr<Command> m_command;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/FunctionalCommand.hpp

@@ -10,7 +10,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/commands2/Requirements.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that allows the user to pass in functions for each of the basic
  * command methods through the constructor.  Useful for inline definitions of
@@ -56,4 +56,4 @@ class FunctionalCommand : public CommandHelper<Command, FunctionalCommand> {
   std::function<void(bool)> m_onEnd;
   std::function<bool()> m_isFinished;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/InstantCommand.hpp

@@ -10,7 +10,7 @@
 #include "wpi/commands2/FunctionalCommand.hpp"
 #include "wpi/commands2/Requirements.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A Command that runs instantly; it will initialize, execute once, and end on
  * the same iteration of the scheduler.  Users can either pass in a Runnable and
@@ -40,4 +40,4 @@ class InstantCommand : public CommandHelper<FunctionalCommand, InstantCommand> {
    */
   InstantCommand();
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/NotifierCommand.hpp

@@ -12,7 +12,7 @@
 #include "wpi/system/Notifier.hpp"
 #include "wpi/units/time.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that starts a notifier to run the given runnable periodically in a
  * separate thread. Has no end condition as-is; either subclass it or use
@@ -34,7 +34,7 @@ class NotifierCommand : public CommandHelper<Command, NotifierCommand> {
    * @param period       the period at which the notifier should run
    * @param requirements the subsystems required by this command
    */
-  NotifierCommand(std::function<void()> toRun, units::second_t period,
+  NotifierCommand(std::function<void()> toRun, wpi::units::second_t period,
                   Requirements requirements = {});
 
   NotifierCommand(NotifierCommand&& other);
@@ -47,7 +47,7 @@ class NotifierCommand : public CommandHelper<Command, NotifierCommand> {
 
  private:
   std::function<void()> m_toRun;
-  frc::Notifier m_notifier;
-  units::second_t m_period;
+  wpi::Notifier m_notifier;
+  wpi::units::second_t m_period;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/ParallelCommandGroup.hpp

@@ -17,7 +17,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/util/DecayedDerivedFrom.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command composition that runs a set of commands in parallel, ending when
  * the last command ends.
@@ -51,7 +51,7 @@ class ParallelCommandGroup
    *
    * @param commands the commands to include in this composition.
    */
-  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command>... Commands>
   explicit ParallelCommandGroup(Commands&&... commands) {
     AddCommands(std::forward<Commands>(commands)...);
   }
@@ -69,7 +69,7 @@ class ParallelCommandGroup
    *
    * @param commands Commands to add to the group.
    */
-  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command>... Commands>
   void AddCommands(Commands&&... commands) {
     std::vector<std::unique_ptr<Command>> foo;
     ((void)foo.emplace_back(std::make_unique<std::decay_t<Commands>>(
@@ -99,7 +99,7 @@ class ParallelCommandGroup
       Command::InterruptionBehavior::kCancelIncoming};
   bool isRunning = false;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
 
 #ifdef _WIN32
 #pragma warning(pop)

commandsv2/src/main/native/include/wpi/commands2/ParallelDeadlineGroup.hpp

@@ -17,7 +17,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/util/DecayedDerivedFrom.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command composition that runs a set of commands in parallel, ending only
  * when a specific command (the "deadline") ends, interrupting all other
@@ -55,8 +55,8 @@ class ParallelDeadlineGroup
    * @param deadline the command that determines when the composition ends
    * @param commands the commands to be executed
    */
-  template <wpi::DecayedDerivedFrom<Command> T,
-            wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command> T,
+            wpi::util::DecayedDerivedFrom<Command>... Commands>
   explicit ParallelDeadlineGroup(T&& deadline, Commands&&... commands) {
     SetDeadline(std::make_unique<std::decay_t<T>>(std::forward<T>(deadline)));
     AddCommands(std::forward<Commands>(commands)...);
@@ -75,7 +75,7 @@ class ParallelDeadlineGroup
    *
    * @param commands Commands to add to the group.
    */
-  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command>... Commands>
   void AddCommands(Commands&&... commands) {
     std::vector<std::unique_ptr<Command>> foo;
     ((void)foo.emplace_back(std::make_unique<std::decay_t<Commands>>(
@@ -96,7 +96,7 @@ class ParallelDeadlineGroup
 
   Command::InterruptionBehavior GetInterruptionBehavior() const override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   void AddCommands(std::vector<std::unique_ptr<Command>>&& commands);
@@ -110,7 +110,7 @@ class ParallelDeadlineGroup
       Command::InterruptionBehavior::kCancelIncoming};
   bool m_finished{true};
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
 
 #ifdef _WIN32
 #pragma warning(pop)

commandsv2/src/main/native/include/wpi/commands2/ParallelRaceGroup.hpp

@@ -17,7 +17,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/util/DecayedDerivedFrom.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A composition that runs a set of commands in parallel, ending when any one of
  * the commands ends and interrupting all the others.
@@ -40,7 +40,7 @@ class ParallelRaceGroup : public CommandHelper<Command, ParallelRaceGroup> {
    */
   explicit ParallelRaceGroup(std::vector<std::unique_ptr<Command>>&& commands);
 
-  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command>... Commands>
   explicit ParallelRaceGroup(Commands&&... commands) {
     AddCommands(std::forward<Commands>(commands)...);
   }
@@ -58,7 +58,7 @@ class ParallelRaceGroup : public CommandHelper<Command, ParallelRaceGroup> {
    *
    * @param commands Commands to add to the group.
    */
-  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command>... Commands>
   void AddCommands(Commands&&... commands) {
     std::vector<std::unique_ptr<Command>> foo;
     ((void)foo.emplace_back(std::make_unique<std::decay_t<Commands>>(
@@ -89,7 +89,7 @@ class ParallelRaceGroup : public CommandHelper<Command, ParallelRaceGroup> {
   bool m_finished{false};
   bool isRunning = false;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
 
 #ifdef _WIN32
 #pragma warning(pop)

commandsv2/src/main/native/include/wpi/commands2/PrintCommand.hpp

@@ -9,7 +9,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/commands2/InstantCommand.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that prints a string when initialized.
  *
@@ -30,4 +30,4 @@ class PrintCommand : public CommandHelper<InstantCommand, PrintCommand> {
 
   bool RunsWhenDisabled() const override;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp

@@ -11,7 +11,7 @@
 #include "wpi/util/FunctionExtras.hpp"
 #include "wpi/util/deprecated.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * Schedules a given command when this command is initialized and ends when it
  * ends, but does not directly run it. Use this for including a command in a
@@ -45,7 +45,7 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
    */
   WPI_IGNORE_DEPRECATED
   [[deprecated("Defer a proxy command instead.")]]
-  explicit ProxyCommand(wpi::unique_function<Command*()> supplier);
+  explicit ProxyCommand(wpi::util::unique_function<Command*()> supplier);
 
   /**
    * Creates a new ProxyCommand that schedules the supplied command when
@@ -64,7 +64,7 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
    * @see DeferredCommand
    */
   [[deprecated("Defer a proxy command instead.")]]
-  explicit ProxyCommand(wpi::unique_function<CommandPtr()> supplier);
+  explicit ProxyCommand(wpi::util::unique_function<CommandPtr()> supplier);
   WPI_UNIGNORE_DEPRECATED
 
   /**
@@ -94,10 +94,10 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
 
   bool IsFinished() override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  wpi::unique_function<Command*()> m_supplier;
+  wpi::util::unique_function<Command*()> m_supplier;
   Command* m_command = nullptr;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/RepeatCommand.hpp

@@ -16,7 +16,7 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandHelper.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that runs another command repeatedly, restarting it when it ends,
  * until this command is interrupted. Command instances that are passed to it
@@ -71,13 +71,13 @@ class RepeatCommand : public CommandHelper<Command, RepeatCommand> {
 
   Command::InterruptionBehavior GetInterruptionBehavior() const override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   std::unique_ptr<Command> m_command;
   bool m_ended;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
 
 #ifdef _WIN32
 #pragma warning(pop)

commandsv2/src/main/native/include/wpi/commands2/Requirements.hpp

@@ -10,7 +10,7 @@
 
 #include "wpi/commands2/Subsystem.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 /**
  * Represents requirements for a command, which is a set of (pointers to)
@@ -43,4 +43,4 @@ class Requirements {
   std::vector<Subsystem*> m_subsystems;
 };
 
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/RunCommand.hpp

@@ -10,7 +10,7 @@
 #include "wpi/commands2/FunctionalCommand.hpp"
 #include "wpi/commands2/Requirements.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that runs a Runnable continuously.  Has no end condition as-is;
  * either subclass it or use Command.WithTimeout() or
@@ -35,4 +35,4 @@ class RunCommand : public CommandHelper<FunctionalCommand, RunCommand> {
 
   RunCommand(const RunCommand& other) = default;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/ScheduleCommand.hpp

@@ -10,7 +10,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/util/SmallSet.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * Schedules the given commands when this command is initialized. Useful for
  * forking off from CommandGroups. Note that if run from a composition, the
@@ -42,6 +42,6 @@ class ScheduleCommand : public CommandHelper<Command, ScheduleCommand> {
   bool RunsWhenDisabled() const override;
 
  private:
-  wpi::SmallSet<Command*, 4> m_toSchedule;
+  wpi::util::SmallSet<Command*, 4> m_toSchedule;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/SelectCommand.hpp

@@ -21,7 +21,7 @@
 #include "wpi/commands2/PrintCommand.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command composition that runs one of a selection of commands using a
  * selector and a key to command mapping.
@@ -117,7 +117,7 @@ class SelectCommand : public CommandHelper<Command, SelectCommand<Key>> {
     return m_interruptBehavior;
   }
 
-  void InitSendable(wpi::SendableBuilder& builder) override {
+  void InitSendable(wpi::util::SendableBuilder& builder) override {
     Command::InitSendable(builder);
 
     builder.AddStringProperty(
@@ -155,7 +155,7 @@ void SelectCommand<T>::Initialize() {
   m_selectedCommand->Initialize();
 }
 
-}  // namespace frc2
+}  // namespace wpi::cmd
 
 #ifdef _WIN32
 #pragma warning(pop)

commandsv2/src/main/native/include/wpi/commands2/SequentialCommandGroup.hpp

@@ -18,7 +18,7 @@
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/util/DecayedDerivedFrom.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 
 const size_t invalid_index = std::numeric_limits<size_t>::max();
 
@@ -52,7 +52,7 @@ class SequentialCommandGroup
    *
    * @param commands the commands to include in this composition.
    */
-  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command>... Commands>
   explicit SequentialCommandGroup(Commands&&... commands) {
     AddCommands(std::forward<Commands>(commands)...);
   }
@@ -70,7 +70,7 @@ class SequentialCommandGroup
    *
    * @param commands Commands to add, in order of execution.
    */
-  template <wpi::DecayedDerivedFrom<Command>... Commands>
+  template <wpi::util::DecayedDerivedFrom<Command>... Commands>
   void AddCommands(Commands&&... commands) {
     std::vector<std::unique_ptr<Command>> foo;
     ((void)foo.emplace_back(std::make_unique<std::decay_t<Commands>>(
@@ -91,18 +91,18 @@ class SequentialCommandGroup
 
   Command::InterruptionBehavior GetInterruptionBehavior() const override;
 
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
   void AddCommands(std::vector<std::unique_ptr<Command>>&& commands);
 
-  wpi::SmallVector<std::unique_ptr<Command>, 4> m_commands;
+  wpi::util::SmallVector<std::unique_ptr<Command>, 4> m_commands;
   size_t m_currentCommandIndex{invalid_index};
   bool m_runWhenDisabled{true};
   Command::InterruptionBehavior m_interruptBehavior{
       Command::InterruptionBehavior::kCancelIncoming};
 };
-}  // namespace frc2
+}  // namespace wpi::cmd
 
 #ifdef _WIN32
 #pragma warning(pop)

commandsv2/src/main/native/include/wpi/commands2/StartEndCommand.hpp

@@ -10,7 +10,7 @@
 #include "wpi/commands2/FunctionalCommand.hpp"
 #include "wpi/commands2/Requirements.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A command that runs a given runnable when it is initialized, and another
  * runnable when it ends. Useful for running and then stopping a motor, or
@@ -38,4 +38,4 @@ class StartEndCommand
 
   StartEndCommand(const StartEndCommand& other) = default;
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/Subsystem.hpp

@@ -12,7 +12,7 @@
 #include "wpi/commands2/CommandScheduler.hpp"
 #include "wpi/util/FunctionExtras.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 class Command;
 class CommandPtr;
 /**
@@ -179,6 +179,6 @@ class Subsystem {
    * @param supplier the command supplier.
    * @return the command.
    */
-  CommandPtr Defer(wpi::unique_function<CommandPtr()> supplier);
+  CommandPtr Defer(wpi::util::unique_function<CommandPtr()> supplier);
 };
-}  // namespace frc2
+}  // namespace wpi::cmd

commandsv2/src/main/native/include/wpi/commands2/SubsystemBase.hpp

@@ -11,7 +11,7 @@
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
-namespace frc2 {
+namespace wpi::cmd {
 /**
  * A base for subsystems that handles registration in the constructor, and
  * provides a more intuitive method for setting the default command.
@@ -19,10 +19,10 @@ namespace frc2 {
  * This class is provided by the NewCommands VendorDep
  */
 class SubsystemBase : public Subsystem,
-                      public wpi::Sendable,
-                      public wpi::SendableHelper<SubsystemBase> {
+                      public wpi::util::Sendable,
+                      public wpi::util::SendableHelper<SubsystemBase> {
  public:
-  void InitSendable(wpi::SendableBuilder& builder) override;
+  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
   /**
    * Gets the name of this Subsystem.
@@ -59,7 +59,7 @@ class SubsystemBase : public Subsystem,
    * @param name name to give child
    * @param child sendable
    */
-  void AddChild(std::string name, wpi::Sendable* child);
+  void AddChild(std::string name, wpi::util::Sendable* child);
 
  protected:
   /**
@@ -73,4 +73,4 @@ class SubsystemBase : public Subsystem,
    */
   explicit SubsystemBase(std::string_view name);
 };
-}  // namespace frc2
+}  // namespace wpi::cmd